JP2003337920A - Code read system, holding device, and reader - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a code read system which has a fixed-focus lens and can improve the read rate of, specially, a two-dimensional bar code, and a holding device and a reader used for the system. <P>SOLUTION: A robot hand part 1 is connected to an actuator 30 which is driven under the control of a computer 10 and can perform reciprocating operation vertically by a specified interval from a specified position and during this period, a microtube T gripped by grip rods 1a and 1b of the robot hand part 1 also vertically reciprocates. Further, the reader 5 makes a plurality of scans by a reader camera part 3 while the microtube T reciprocates. <P>COPYRIGHT: (C)2004,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a code reading system for reading a code used for article management, slip management, etc., a holding device and a reading device used in the system.

[0002]

2. Description of the Related Art Conventionally, a large number of articles or vouchers are provided with a bar code (one-dimensional bar code) which has a plurality of stripes and can be distinguished from each other. , Manages by identifying each item or slip. Further, in recent years, the number of items to be managed has become enormous, and it is desired that the barcode also include other information related to the items in addition to the information for identifying each item. Two-dimensional bar codes are being used that can be contained in a small space. The two-dimensional barcode is used, for example, when storing a large number of microtubes enclosing medicines, chemical substances and the like.

FIG. 4 is a schematic diagram showing a schematic configuration of a conventional code reading system for reading a two-dimensional bar code. In the figure, reference numeral 1 denotes a robot hand portion (holding portion), which is provided with a pair of gripping bars 1a and 1b at its lower portion. The gripping rods 1a and 1b are inserted from an upper opening of a cylindrical microtube T having a bottom portion which is stored in a storage cabinet or the like, and the microtube T is gripped from the inside by widening the interval. can do. The operation of the robot hand unit 1 is controlled by a computer (not shown), and it is possible to convey the grasped microtube T to the vicinity of a reader (reading unit) 5 which will be described later and is installed at a predetermined position in a storage cabinet or the like. .

A two-dimensional bar code distinguishable from the others is attached to the bottom of the microtube T, and the reader 5 is for reading the two-dimensional bar code. The reader 5 includes a reader lens unit 2 having a fixed focus lens L, a reader camera unit 3, and a code processing unit 4, and is controlled by a computer. Lens L
Is the microtube T at a position separated by the focal length D.
When the bottom portion of the image is located, the image of the two-dimensional barcode attached to the bottom portion is enlarged and projected on the reader camera unit 3. The reader camera unit 3 scans (reads) this image with a CCD or the like, and inputs the obtained electric signal to the code processing unit 4. The scanning timing is controlled by a computer, and is performed a plurality of times at predetermined time intervals so that a reading error of the two-dimensional bar code can be corrected. The code processing unit 4 reads a two-dimensional bar code based on the electric signal input from the reader camera unit 3.

[0005]

In the case of the conventional two-dimensional bar code reading system, since the reader 5 has the fixed focus type lens L, the bottom of the microtube T is only the focal length D from the lens L. It is necessary to position them as accurately as possible in separate positions. However, it is difficult in terms of technology and cost to improve the driving accuracy of the robot hand unit 1, and it is difficult to accurately stop the robot hand unit 1 at a position separated from the lens L by the focal length D.
Further, if a slight deviation occurs in the position where the robot hand unit 1 holds the microtube T, the bottom cannot be accurately positioned at a position separated from the lens L by the focal length D, and this cannot be fixed. Since there is no correction means, the reading rate is low and accurate reading cannot be performed even when the reader camera unit 3 scans a plurality of times.

The present invention has been made in view of the above circumstances, and a two-dimensional bar code attached to the bottom of the microtube T by reciprocating the robot hand 1 side or the reader 5 side. And the distance between the lenses L is changed with the focal length D as a reference. Therefore, even when the stop position of the robot hand unit 1 and the gripping position of the microtube T by the robot hand unit 1 are deviated by scanning a plurality of times while changing the distance between the two, the focus is reduced. There is a high possibility that scanning can be performed in a state in which the distance corresponding to the distance D is separated, and the reading rate of the two-dimensional bar code can be dramatically improved compared to the conventional one, and the robot hand unit 1 can be positioned at an accurate position. An object of the present invention is to provide a code reading system which does not need to be stopped and whose drive control is easy, a holding device and a reading device used in the system.

[0007]

A code reading system according to a first aspect of the present invention is a code reading system including a holding unit for holding a coded object and a reading unit for reading the code. It is characterized in that a distance changing means for changing the distance between the reading section and the code is provided.

A code reading system according to a second invention is the code reading system according to the first invention, wherein the distance changing means changes a distance between the reading unit and the code so that the reading unit and the code are brought into contact with each other. The reading unit includes a reading unit that reads the code a plurality of times while the distance between the reading unit and the code is changed by the distance changing unit.

A code reading system according to a third aspect of the present invention is the code reading system according to the first or second aspect of the present invention, wherein the distance changing means drives holding section driving means for driving the holding section, or drives the reading section. It is characterized by comprising a reading unit driving means.

A code reading system according to a fourth aspect of the present invention is a code reading system including a holding unit for holding a coded object and a reading unit having a lens for reading the code, wherein the lens and the code are provided. Is provided with means for moving the lens so that the lens is moved toward and away from each other, and the reading unit is configured to read the code a plurality of times while the distance between the lens and the code is changed by the means. .

According to the fourth aspect of the invention, the lens of the reading unit is reciprocally moved, and the distance between the holding unit and the lens is changed by using the distance at which the reading unit can read the code as a reference. Even if the stop position and the holding position of the object by the holding unit are misaligned, the reading unit is more likely to be able to read the code, and the reading rate of the code is higher than before. It is possible to realize a code reading system in which the holding unit does not have to be accurately stopped at a position where the reading unit can read the code, and the drive control of the holding unit is easy.

A code reading system according to a fifth aspect of the present invention is a code reading system including a holding section for holding a coded object and a reading section for reading the code, wherein the reading section is the code. A plurality of lenses having different focal lengths, and a unit for reading the code by each of the plurality of lenses.

According to the fifth aspect of the invention, when the reading section reads the code by each of the plurality of lenses having different focal lengths, the stop position of the holding section and the holding position of the object by the holding section are deviated. Also, there is a high possibility that the reading unit can read the code by any of the lenses, the reading rate of the code can be dramatically improved as compared with the conventional one, and the reading unit can read the code. It is not necessary to stop the holding part accurately in position,
It is possible to realize a code reading system that facilitates drive control of the holding unit.

A code reading system according to a sixth aspect of the present invention is a code reading system including a holding section for holding a coded object and a reading section for reading the code, wherein the reading section is the code. It is characterized in that it is provided with a lens for reading, and an automatic focusing device for focusing the lens.

According to the sixth aspect of the invention, the reading unit reads the code in a state where the lens is focused by the automatic focusing device, whereby the stop position of the holding unit and the holding position of the object by the holding unit are displaced. Even when it occurs, the reading unit can read the code, the reading rate of the code can be dramatically improved as compared with the conventional technique, and the holding unit is provided at a position where the reading unit can read the code. It is possible to realize a code reading system in which it is not necessary to accurately stop and the drive control of the holding unit is easy.

A code reading system according to a seventh aspect of the present invention is a code reading system including a holding unit for holding a coded object and a reading unit having a lens for reading the code. A light amount changing means for changing the light amount of irradiating the code, or a diaphragm changing means for changing the diaphragm of the lens, while the light amount changing means changes the light quantity, or the diaphragm changing means changes the diaphragm. In the meantime, the code is read a plurality of times.

In the case of the seventh invention, the light quantity changing means is
By changing the amount of light that irradiates the code, or by changing the aperture change means, the aperture of the lens is changed.
The depth of focus changes, so even if the reading unit reads the code multiple times during that time, even if the stop position of the holding unit or the holding position of the target object by the holding unit is deviated, the reading unit reads the code. The possibility of being able to read the code is increased, the code reading rate can be dramatically improved compared to the conventional one, and it is necessary to stop the holding section accurately at a position where the reading section can read the code. In addition, it is possible to realize a code reading system that facilitates drive control of the holding unit.

A holding device according to an eighth aspect of the present invention is a holding device including a holding portion for holding an object to which a cord is attached, wherein the holding portion reciprocates in a direction substantially perpendicular to the surface to which the cord is attached. It is characterized in that it is provided with reciprocating means for operating.

According to a ninth aspect of the present invention, there is provided a reading device including a reading unit for reading a code, which includes reciprocating means for reciprocating the reading unit in a direction substantially perpendicular to the surface to which the code is attached. It is characterized by

In the case of the first to third inventions and the eighth and ninth inventions, the holding portion or the reading portion is reciprocally moved, and the distance between the holding portion and the reading portion is set substantially as a reference, based on the interval at which the reading portion can read the code. Even if the stop position of the holding unit and the holding position of the target object by the holding unit are deviated by changing the distance of, the state in which the reading unit is separated from the code by the reading unit There is a high possibility that the code can be read by the code, the code reading rate can be dramatically improved compared to the conventional one, and it is necessary to accurately stop the holding section at a position where the reading section can read the code. In addition, it is possible to realize a code reading system that facilitates drive control of the holding unit, a holding device and a reading device used in the system.

[0021]

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described in detail below with reference to the drawings showing the embodiments thereof. FIG. 1 is a schematic external view showing an example of a storage 100 to which the code reading system according to the present invention is applied. The storage 100 has a plurality of trays 102, 10 each capable of storing a plurality of micro tubes.
2, ... Are stored in the storage shelf 101, and a belt conveyor 103 is installed near the storage shelf. Also,
The picking robot 10 is provided with transfer devices 104, 104 near the start position and the end position of the belt conveyor, respectively, and is provided across the belt conveyor 103.
5, the tray 102 taken out from the storage shelf 101 is transferred to and placed on the belt conveyor 103, and the belt conveyor 10
The tray 102 placed on the sheet 3 and transported can be moved to the vicinity of the code reading system according to the present invention, which is provided in the vicinity of the outlet W provided in the storage 100. The operations of the belt conveyor 103, the transfer devices 104, 104, the picking robot 105, etc.
It is controlled by the computer 10 installed on the side by the user appropriately inputting an instruction regarding the microtube requested to be taken out.

FIG. 2 is a schematic diagram showing a schematic configuration of the code reading system according to the present invention. In the figure, reference numeral 1 is a robot hand portion (holding portion), and a pair of gripping bars 1a, 1 is provided at the bottom.
b. The grip bars 1a and 1b are microtubes T each having a bottom portion in which a drug or chemical substance is put.
The microtube T is gripped from the inside by being inserted from the upper opening and widening the interval. A plurality of the micro tubes T are stored in a tray in the storage 100, and the bottom of each micro tube T is
A two-dimensional barcode that can be distinguished from others is attached.

The robot hand unit 1 reads a two-dimensional bar code attached to the microtube T which is grasped and taken out from the tray, so that the reader 5 described later is driven by a driving device (not shown) controlled by the computer 10.
To a position (hereinafter, referred to as a focal position) which is separated from the lens L of the reader 5 by approximately the focal distance D and is temporarily stopped. A plunger 30 a of an actuator 30 is connected to the robot hand unit 1, and the actuator 30 (distance changing unit, holding unit driving unit) is controlled by the control unit 2 based on an instruction from the computer 10.
The driving is controlled by 0, and the robot hand unit 1 can be reciprocally moved in the vertical direction by an interval d which is a distance shorter than the focal length D.

The reader 5 (reading unit) is for reading (encoding) the two-dimensional bar code, and has a fixed focus type reader lens unit 2 having a lens L having a focal length D, a CCD, and the like. A reader camera unit 3 and a code processing unit 4 that encodes a two-dimensional bar code based on an electric signal obtained by scanning with the reader camera unit 3 are provided. Further, the code processing unit 4 is connected to the computer 10, and in accordance with an instruction from the computer 10, the reader camera unit 3 executes a plurality of scans within a predetermined time, and the two-dimensional bar is obtained based on the obtained electric signal. The code is encoded and the encoded information is transmitted to the computer 10.

It should be noted that a computer on which the user inputs,
The computer that controls the operations of the belt conveyor 103, the transfer device 104, the picking robot 105, and the computer that controls the operations of the robot hand unit 1, the reader 5, the control unit 20, the actuator 30, and the like are the computer 1
It is not necessary to realize it only by 0, and the role may be shared by using a plurality of computers.

The operation of the code reading system according to this embodiment having the above-mentioned configuration will be described. The code reading system according to the present embodiment describes the case of reading a two-dimensional bar code.
Others such as a dimensional barcode may be used. First, the computer 10 drives the drive device to move the robot hand unit 1 to the vicinity of the tray according to a preset program or an instruction appropriately input by the user.
Then, one microtube T stored in the tray is gripped by using the gripping rods 1a and 1b, and the bottom of the microtube T is located above the reader 5 and at the substantially focal position of the lens L by the driving of the driving device. To move.

The computer 10 is a robot hand unit 1.
After confirming that the position has reached the above position, the reader 5 is instructed to execute the continuous scan by the reader camera unit 3, and the reader 5 which has received the instruction executes the continuous scan. Also, during this time, the computer 10
The controller 20 receives an instruction to reciprocate the robot hand unit 1 in the vertical direction by the distance d, and the control unit 20 drives the actuator 30 to reciprocate the robot hand unit 1 in the vertical direction by the distance d. It should be noted that when the scanning by the reader camera unit 3 is started and when the robot hand unit 1
The start time of the reciprocating motion may be before or after, and may be the same time.

FIG. 3 is a graph showing the relationship between the timing of continuous scanning by the reader camera unit 1 and the distance (objective distance) to the lens L by the reciprocating motion of the robot hand unit 1 in the vertical direction. In FIG. 3, the grip bar 1a,
The bottom position of the microtube T is away from the focus position by Δd as viewed from the lens L (lens L due to the deviation of the holding position of the microtube T by 1b, the deviation of the stop position of the robot hand unit 1 by the driving device, or the like). The relationship between the subsequent scan timing and the objective distance is shown for the case of the distance D1) from the.

The computer 10 is a microtube T
Has reached a substantially focal position (a position above the lens L and D + Δd), and the scanning by the reader camera unit 3 is started. The reader camera unit 3 that started scanning from time t1 continuously scans at appropriate time intervals. In addition, the robot hand unit 1 includes a computer
By driving the actuator 30 based on the instruction from, the reciprocating operation in the vertical direction of the interval d is started with the position separated from the lens L by the distance D1 as a reference.

More specifically, from the lens L to D2 = D1
A position separated by + d / 2 (time t2), and D3 = D
While the microtube T reciprocates between the positions 1-d / 2 apart (time t4), the reader camera unit 3 performs a plurality of scans. As a result, the position where the microtube T is stopped at the start of the reciprocating operation (the position at a distance D1 from the lens L) and the focal position of the lens L (focal length D
When the deviation from the position (d) is less than or equal to d / 2, any timing of a plurality of scans (time t3 in FIG. 2).
At t5), the bottom of the microtube T is at the focal position,
You can scan at that position. Further, the electric signals obtained by scanning at the respective timings are input to the code processing device 4, and all the electric signals are encoded. As a result, the time t at which the reading rate becomes highest
The information encoded from the electric signal obtained by scanning at the timing of 3 or time t5 is the computer 1
Sent to 0.

According to the code reading system of this embodiment, the robot hand unit 1 reciprocates in the vertical direction by driving the actuator 30, and the gripping rod 1 accordingly.
The bottom position of the microtube T held by a and 1b can also reciprocate in the vertical direction to change the distance between the lens L of the reader 5 and the bottom. Therefore,
Even if the position of the robot hand unit 1 before the start of scanning by the reader camera unit 3 or the position of the grip between the microphone T and the tube T by the grip bars 1a and 1b deviates, the robot hand unit 1 reciprocates. By continuously scanning with the reader camera unit 3, it is possible to scan the two-dimensional barcode attached to the bottom when the bottom is located at the focal length D at any timing.
Even if the accuracy of the stop position of the robot hand unit 1 is not improved, the reading rate of the two-dimensional barcode can be significantly improved.

In the code reading system according to the present embodiment, the robot hand unit 1 is reciprocated in order to change the distance between the lens L and the bottom of the microtube T, but the invention is not limited to this. For example, a plunger of an actuator may be connected to reciprocate the reader 5 or any one of the reader lens unit 2 and the reader camera unit 3 constituting the reader 5 in the vertical direction, or both may reciprocate. .

Further, the reader lens unit 2 may be provided with a plurality of lenses having different focal lengths, and the reader camera unit 3 may read the respective lenses. In addition, the reader 5
A light amount changing means for changing the light amount for irradiating the two-dimensional barcode or a diaphragm changing means for changing the diaphragm (F value) of the lens L is provided, and the light quantity or the diaphragm of the lens L is changed to change the focal depth of the lens L. It may be allowed to. It goes without saying that the reader camera unit 3 may be provided with an autofocus device.

Furthermore, in the code reading system according to the present embodiment, the case where the robot hand unit 1 and the reader 5 have a vertical positional relationship has been described, but the present invention is not limited to this, and a horizontal positional relationship or Needless to say, it may have a skewed positional relationship, and in any case, by changing the relative distance between the lens L and the bottom of the microtube T provided with the two-dimensional barcode. The same effects as those of the code reading system according to this embodiment can be obtained.

[0035]

According to the first to third inventions and the eighth and ninth inventions, even if the stop position of the holding unit and the holding position of the object by the holding unit are deviated, the reading unit can read the code. There is a high possibility that the code can be read at an interval that matches the readable interval, and the code reading rate can be dramatically improved compared to the past, and the holding unit can be driven. It is possible to realize a code reading system that can be easily controlled, and a holding device and a reading device used in the system.

According to the fourth aspect of the invention, it is highly possible that the reading unit can read the code even when the holding position of the holding unit and the holding position of the object by the holding unit are deviated. Therefore, it is possible to dramatically improve the code reading rate as compared with the conventional one, and it is not necessary to accurately stop the holding unit at a position where the reading unit can read the code.
It is possible to realize a code reading system that facilitates drive control of the holding unit.

According to the fifth and seventh aspects of the invention, even if the stop position of the holding unit and the holding position of the object by the holding unit are deviated, the reading unit reads the code by any lens. It is possible that the reading rate of the code can be dramatically improved as compared with the conventional one, and the holding section does not need to be accurately stopped at a position where the reading section can read the code. It is possible to realize a code reading system in which the drive control of is easy.

According to the sixth aspect of the present invention, the code can be read by the reading unit even when the holding position of the holding unit and the holding position of the object by the holding unit are deviated. A code reading system that can dramatically improve the rate compared to the past and does not need to stop the holding unit accurately at the position where the reading unit can read the code, and facilitates drive control of the holding unit. can do.

[Brief description of drawings]

FIG. 1 is a schematic external view showing an example of a storage to which a code reading system according to the present invention is applied.

FIG. 2 is a schematic diagram showing a schematic configuration of a code reading system according to the present invention.

FIG. 3 is a graph showing the relationship between the timing of continuous scanning by the reader camera unit and the distance (object distance) to the lens due to the vertical reciprocating motion of the robot hand unit.

FIG. 4 is a schematic diagram showing a schematic configuration of a conventional code reading system for reading a two-dimensional bar code.

[Explanation of symbols]

1 Robot Hand Unit (Holding Unit) 1a, 1b Gripping Rod 2 Reader Lens Unit 3 Reader Camera Unit 4 Code Processing Unit 5 Reader (Reading Unit) 10 Computer 20 Control Unit 30 Actuator (Distance Change Unit, Holding Unit Drive Unit) 30a Plunger 100 Storage Cabinet 101 Storage Shelf 102 Tray 103 Belt Conveyor 104 Transfer Device 105 Picking Robot D Focal Length L Lens T Micro Tube

Continued front page    (72) Inventor Yukinori Hamada             2-61, Jomi, Chuo-ku, Osaka-shi, Osaka             Tsubakimoto Chain Co., Ltd. (72) Inventor Shoichiro Ide             1-16-13 Kitakasai, Edogawa-ku, Tokyo             Within Ichi Pharmaceutical Co., Ltd. F-term (reference) 5B072 AA02 CC13 CC21 CC24 DD01                       KK02 LL19

Claims (9)

[Claims] 1. A code reading system comprising a holding unit for holding an object to which a code is attached, and a reading unit for reading the code, comprising a distance changing unit for changing a distance between the reading unit and the code. A code reading system comprising: 2. The distance changing unit changes the distance between the reading unit and the code so that the reading unit and the code are brought into contact with each other, and the reading unit uses the distance changing unit to change the distance between the reading unit and the code. The code reading system according to claim 1, further comprising a reading unit that reads the code a plurality of times while the distance of the code changes. 3. The distance changing unit comprises a holding unit driving unit that drives the holding unit, or a reading unit driving unit that drives the reading unit.
The code reading system described in 1. 4. A code reading system comprising: a holding unit for holding an object with a code attached thereto; and a reading unit having a lens for reading the code, wherein the lens and the lens are arranged so that the lens and the code are brought into contact with each other. A code reading system, further comprising means for moving the code, and the reading unit is configured to read the code a plurality of times while the distance between the lens and the code is changed by the means. 5. A code reading system comprising: a holding unit for holding a coded object and a reading unit for reading the code, wherein the reading unit has a focal length for reading the code. A code reading system comprising a plurality of different lenses and a means for reading the code by each of the plurality of lenses. 6. A code reading system comprising: a holding unit for holding a coded object, and a reading unit for reading the code, wherein the reading unit includes a lens for reading the code.
A code reading system, comprising: an automatic focusing device for focusing the lens. 7. A code reading system comprising: a holding unit that holds an object with a code attached thereto; and a reading unit that has a lens for reading the code, wherein the reading unit sets a light amount for irradiating the code. Light amount changing means for changing, or diaphragm changing means for changing the diaphragm of the lens, while the light amount changing means changes the light amount, or while the diaphragm changing means changes the diaphragm,
A code reading system, wherein the code is read a plurality of times. 8. A holding device having a holding portion for holding a corded object, comprising reciprocating means for reciprocating the holding portion in a direction substantially perpendicular to the surface to which the cord is attached. A holding device characterized by the above. 9. A reading device having a reading unit for reading a code, comprising a reciprocating means for reciprocating the reading unit in a direction substantially perpendicular to a surface to which the code is attached. .