JP2017100796A - Container orientation detection device, container processing apparatus and container orientation detection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a container orientation detection device, a container processing apparatus and a container orientation detection method which can detect the orientation of a container with relatively-simple processing by using a relatively-small number of imaging parts.SOLUTION: A container printer 11 includes a container orientation detection device which detects the orientation of a container. The container orientation detection device includes an imaging unit 30 having a camera 31 for imaging a pattern on the outer peripheral surface of the container from one direction. A memory 69 stores model registration data MD associated with position information with a plurality of pattern sections located at different positions in the circumferential direction of the container as a model (registered pattern section) out of the whole circumferential pattern information of the outer peripheral surface of the container. The container orientation detection device includes a container orientation detection part 74 which performs matching processing for searching for the similar pattern section similar to the mode out of the imaged pattern information obtained by imaging the container from one direction by the camera 31 and detects the orientation of the container on the basis of the position information of the searched similar pattern section and the position information of the model corresponding to the similar pattern section.SELECTED DRAWING: Figure 9

Description

  The present invention relates to a container direction detecting device, a container processing device, and a container direction detecting method for detecting the direction of a container.

  For example, Patent Document 1 discloses a container printing apparatus including a container orientation detection device (design recognition device) that detects the orientation of a container being conveyed. This container printing apparatus recognizes a pattern on the outer peripheral surface of a container continuously conveyed on a conveyor and detects the direction of the container by data processing, and sets the container in a predetermined direction based on data from the pattern recognition apparatus. A container rotating unit that rotates the container as necessary for positioning, and a printing unit that performs printing on the container whose position is controlled in a predetermined direction by the container rotating unit. The symbol recognition device acquires all-round symbol information for the entire circumference of the outer peripheral surface of the container by using a plurality of cameras (or phototubes), searches the symbol portion of a predetermined print location, for example, from the all-round symbol information, and finds it. The relative angle from the reference position of the pattern portion is detected as the container orientation.

  Further, for example, Patent Document 2 discloses a container alignment device including a container orientation detection device. The container orientation detection device registers image information around the entire circumference of the container as a registered image in advance, and acquires captured image information of the container supplied in an arbitrary orientation. Then, the registered image information and the captured image information are collated using a predetermined correlation method, and the direction of the container is detected by determining that the area on the registered image where the correlation value is maximized is the same part as the input image. . The container alignment device performs alignment by rotating the container in a predetermined direction based on the container orientation detected by the container orientation detection device.

JP 2008-105716 A JP-A-6-24424

  By the way, in the container direction detection apparatus described in Patent Document 1, since it is necessary to acquire all-round symbol information of the container, three or more cameras (imaging units) that photograph the outer peripheral surface of the container from different angles are necessary. become. In addition, since it is necessary to search for the symbol portion of the predetermined print location from the entire circumference information of the container, the amount of information handled in the processing is large, and the processing time is relatively long.

  In addition, in the container orientation detection device described in Patent Document 2, for example, one camera (imaging unit) may be provided so as to acquire captured image information. However, registered images for the entire circumference of the container registered in advance. Since the information and the captured image information are collated, the processing time is relatively long. As described above, in the container orientation detection devices described in Patent Documents 1 and 2, since the image information for the entire circumference of the container and the captured image information are collated, the amount of information handled in the process is large, and the orientation of the container is determined. There exists a subject that the processing time required for the process to detect becomes comparatively long.

  An object of the present invention is to provide a container direction detection device, a container processing device, and a container direction detection method that can detect the direction of a container by a relatively simple process using a relatively small number of imaging units. is there.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
A container orientation detection device that solves the above-described problem is a container orientation detection device that detects the orientation of a container, and includes an imaging unit that captures images of the outer peripheral surface of the container from one direction, and the outer peripheral surface of the container. A storage unit that stores a plurality of symbol parts at different positions in the circumferential direction of the container in association with position information as a registered symbol part, and a registered symbol part from among the imaging symbol information in which the imaging unit images the container from one direction A matching process is performed to search for similar symbol parts similar to those of, and the container orientation is detected based on the position information of the similar symbol part found in the matching process and the position information of the registered symbol part corresponding to the similar symbol part. And a detecting unit for performing the operation.

  According to this configuration, the pattern on the outer peripheral surface of the container is photographed from one direction by the imaging unit. The detection unit performs a matching process of searching for a similar symbol part similar to a plurality of registered symbol parts among symbols (photographed symbol information) obtained by photographing the container from one direction by the imaging unit. The plurality of registered symbol parts are registered symbols having different positions in the circumferential direction of the container, and the photographed symbol information includes at least one of the plurality of registered symbol parts. A similar symbol part is found. The detection unit detects the orientation of the container based on the position information of the found similar symbol part and the position information of the registered symbol part. Therefore, it is only necessary to provide as many imaging units as can image a part of the outer peripheral surface of the container in the circumferential direction, and it is not necessary to prepare a number that can image the entire circumference of the container. In addition, unlike the container orientation detection device, in the case of a configuration for preliminarily registering all-round symbol information of the container and searching for shooting symbol information obtained by photographing the container from one direction out of all-round symbol information, It is sufficient to prepare as many imaging units as possible in the circumferential direction of the outer peripheral surface of the container, but the target area for the matching process is relatively wide with the pattern information for the entire circumference of the container, and the pattern information to be searched for Since it is relatively wide with the symbol information of the shooting range, the matching process takes a considerable time. On the other hand, in the container orientation detection device, since the matching process for searching for a registered symbol part narrower than the photographed symbol information is performed from the photographed symbol information photographed from one direction of the container, the processing time is increased. It is relatively short.

  The container orientation detection apparatus further includes a registration unit that associates a plurality of the registered symbol parts with positional information and stores the registration unit in the storage unit, and the registration unit divides the outer peripheral surface of the container into N parts in the circumferential direction (however, It is preferable to register, as a registered symbol part, one symbol part selected by designating a region with the input device for each angle range (N is a natural number of 3 or more).

  According to this configuration, the registration unit is selected by designating a region by the input device for each angular range obtained by dividing the outer peripheral surface of the container into N parts in the circumferential direction (where N is a natural number of 3 or more). Register each part as a registered symbol part. Therefore, the symbol part of the desired area | region designated with the input device among the symbols of the outer peripheral surface of a container can be registered as a registration symbol part. For example, even for a variable symbol part in which a part of the symbol of the container changes depending on the type of product, the registered symbol part can be registered while avoiding the variable symbol part. In this case, the orientation of the container can be detected using a common registered symbol portion even if the types of products are different. Also, since there is at least one similar symbol part similar to the registered symbol part in the photographed symbol information acquired when the container of an arbitrary direction is photographed from one direction, for example, which container direction is Even in the case of the orientation, the orientation of the container can be detected more reliably.

In the container orientation detection device, the N division is preferably 6 divisions or more, and the one angular range is preferably 60 degrees or less.
According to this configuration, since one angular range when the entire circumference of the container is divided into N by 6 or more in the circumferential direction is 60 degrees or less, it is obtained when the container is photographed from one direction by the imaging unit. In the photographed symbol information, there are a plurality of similar symbol portions similar to the plurality of registered symbol portions. Therefore, even if one similar symbol portion that is similar to one of the plurality of registered symbol portions is not found for some reason, a similar symbol portion that is similar to one other registered symbol portion can be found more reliably. The orientation of the container can be detected.

In the said container direction detection apparatus, it is preferable that the said detection part detects the position shift of the height direction of the design with respect to the said container in addition to the detection of the direction of the said container.
According to this configuration, in addition to detecting the orientation of the container, the detection unit detects a positional shift in the height direction of the design part with respect to the container. Therefore, when the position of the symbol is shifted in the height direction with respect to the container, it is possible to detect a position shift defect in the height direction of the symbol. For example, when a pattern such as a shrink label is provided on a container and a pattern is provided, it is possible to detect a positional deviation defect in the height direction of the label.

  In the container orientation detection device, a partial region in the container height direction including all of the plurality of registered symbol parts among the symbols on the outer peripheral surface of the container is set as a registered region, It is preferable to search the registered symbol part for a part of the imaging symbol information corresponding to the registered region in the container height direction as a target of the matching process.

  According to this configuration, the detection unit searches for the registered symbol part using a part of the photographed symbol information corresponding to the registered region in the container height direction as a target region for the matching process. Therefore, since the target area of the matching process can be made narrower than the shooting symbol area, the matching processing time can be further shortened compared to the case where the entire shooting symbol information is the target area.

  A container processing apparatus that solves the above-described problems includes a transport unit including a conveyor that continuously transports containers at a predetermined interval, the container orientation detection device that detects containers continuously transported by the conveyor, Based on the direction of the container detected by the detection unit constituting the container direction detecting device, the container rotating unit that rotates the container until the target direction is reached, and the container that is directed to the target by the container rotating unit. And a processing unit that performs processing.

  According to this structure, based on the result of the matching process for searching for a similar symbol part similar to the registered symbol part from the photographed symbol information by the detection unit for containers continuously conveyed by the conveyor with a predetermined interval. The orientation of the container is detected. The container rotating unit rotates the direction of the container detected by the detecting unit until the target direction is reached. Therefore, the direction of the container can be adjusted to the target direction while continuously conveying the container by the conveyor. In addition, processing by the processing unit is performed on the container whose direction is adjusted to the target direction by the container rotating unit. Therefore, an appropriate process suitable for the design of the container can be performed by the processing unit.

  A container orientation detection method that solves the above problem is a container orientation detection method that detects the orientation of a container, and a plurality of registered symbol portions selected at different positions in the circumferential direction of the container among symbols on the outer peripheral surface of the container. The registration step of registering the image in association with the position information, the imaging step of photographing the outer peripheral surface of the container from one direction, and the photographed symbol information photographed from one direction of the container are similar to the registered symbol part Detection for detecting the orientation of the container based on the position information of the similar symbol part found by the matching process and the position information of the registered symbol part corresponding to the similar symbol part And steps. According to this method, it is possible to obtain the same effects as those of the container orientation detection device.

  According to the present invention, the orientation of a container can be detected by a relatively simple process using a relatively small number of imaging units.

The schematic plan view which shows the container printing apparatus in one Embodiment. The schematic side view which shows a container printing apparatus. (A) is a front view of a container, (b) is a top view of a container. The schematic plan view which shows a container rotation apparatus. The schematic plan view which shows a mode that a container is image | photographed with a camera. The model front view which shows a container rotation apparatus. (A)-(d) is a schematic diagram explaining rotation control of a container. The schematic top view which shows the imaging device and container rotation apparatus in the container printing apparatus corresponding to a high-speed line. The block diagram which shows the electrical structure and functional structure of a container printing apparatus. FIG. 4 is a schematic diagram illustrating a model registration method. A panoramic view of the entire circumference of a model-registered container. The schematic diagram which shows a setting screen. The schematic diagram which shows the screen for model registration. The schematic diagram explaining the correction | amendment calculation process performed when detecting the direction of a container. The flowchart which shows a model registration process routine. The flowchart which shows a container direction control routine.

Hereinafter, a container printing apparatus will be described with reference to the drawings as an embodiment of a container processing apparatus including a container orientation detection apparatus.
The container printing apparatus 11 shown in FIG.1 and FIG.2 prints on the predetermined location of the outer peripheral surface 21 of the container 20 shown in FIG. 3 continuously conveyed on the conveyor 13 which comprises the conveying apparatus 12 as an example of a conveyance part. Device. As shown in FIGS. 1 and 2, the container printing apparatus 11 includes a container orientation detection device 100 that detects the rotational position (orientation) of the container in order to match the orientation when the container 20 is printed.

  The container printing apparatus 11 was printed satisfactorily at a printing position in the middle of the conveyance path by the supply unit 14 that supplies the containers 20 to the conveyor 13 as the conveyance system, the above-described conveyance apparatus 12 having the conveyor 13, and the conveyor 13. And a discharge unit 15 that sends out the container 20 to a container packaging line (not shown) disposed on the downstream side in the transport direction X.

  In addition, the container printing device 11 detects the orientation (angle) of the container 20 based on the imaging device 30 that sequentially images the containers 20 that are continuously transported on the conveyor 13 of the transport device 12 and the captured images of the containers 20. And a container rotating device 40 as an example of a container rotating unit that rotates the container 20 until it is in the direction for printing, as necessary, based on the detection result of the container orientation. Furthermore, the container printing apparatus 11 includes a printing apparatus 50 that performs printing (printing process) as an example of a processing unit that performs processing on the container 20 whose orientation is adjusted to a predetermined direction.

  The conveyor 13 is rotationally driven by the power of the electric motor 13M that is a power source of the transport device 12, and continuously transports the plurality of containers 20 at a predetermined transport speed. Further, a separation area slightly downstream in the transport direction X from the supply unit 14 in the container printing apparatus 11 is a separation area, which is located on the side of the conveyor 13 and extends along the conveyor 13. Is arranged. The timing screw 16 is driven at a rotational speed corresponding to the transport speed of the conveyor 13 by the power of the electric motor 16M. The plurality of containers 20 supplied from the supply unit 14 onto the conveyor 13 are indexed by the timing screw 16 disposed on the side of the conveyor 13, with a predetermined interval in the traveling direction (conveying direction X). Conveyed continuously.

  The imaging device 30 is an example of an imaging unit that images the containers 20 indexed by the timing screw 16 and conveyed on the conveyor 13 at predetermined intervals one by one at a predetermined imaging position on the conveyance path. And a container sensor 32 capable of detecting the container 20 to be imaged by the camera 31. The container sensor 32 detects the container 20 immediately before or when the container 20 on the conveyor 13 reaches the photographing position. The camera 31 performs a photographing operation at a timing when the container 20 passes the front based on a signal detected by the container sensor 32 by the container sensor 32, photographs the containers 20 one by one from the side, and sequentially acquires the image data. .

  A container 20 shown in FIGS. 3A and 3B is made of a substantially cylindrical plastic container, and a label 22 (shrink label) is provided on the outer peripheral surface 21 by a shrink labeler (not shown) installed on the upstream side of the supply unit 14. It has been applied. When the label 22 is heated through a heating tunnel (not shown), as shown in FIG. 3A, the range of the vertical width slightly smaller than the height H of the container 20 in the height direction Z of the container 20. Shrink to. On the label 22, a pattern 23 is drawn over the entire circumference. The design 23 includes a design portion 23A such as a manufacturing company / product name or a logo mark, a design portion 23B in which character strings such as quality details such as product raw materials / preservation methods / manufacturing factories are surrounded by a frame, and a bar code frame. A design portion 23C surrounded by a symbol 23D, a design portion 23D such as an illustration or a design (design), and a variable design portion 23E in which the content of the design is changed according to the type of the product.

  Further, as shown in FIG. 3 (b), when the position where the symbol part 23A (see FIG. 3 (a)) such as a product name is drawn on the outer peripheral surface 21 of the container 20 is the front, it is the back side of this front. A printing area 27 is set on the rear surface over a range of a predetermined angle θ at the central angle of the container 20. Predetermined items are printed in the printing region 27 by the printing device 50 during the conveyance process of the container 20. In this example, a front angle of 0 degrees is set on the front surface of the container 20, and the print area 27 is set at a position of about 180 degrees clockwise from 0 degrees. In addition, as shown to Fig.3 (a), the container 20 may have the neck part 26 which the outer peripheral diameter was narrowed slightly slightly in the position slightly lower side from the upper end.

  The camera 31 shown in FIGS. 1 and 2 takes a picture of the outer peripheral surface 21 of the container 20 and outputs image data of the container 20 including the taken picture to the controller 56. As shown in FIG. 4, the camera 31 is arranged at a position where the outer peripheral surface 21 of the single container 20 can be photographed from a predetermined angular position, and the image of the outer peripheral surface 21 is photographed by one camera 31 and photographed. The image data of the designed symbol is output to the controller 56. The controller 56 controls the photographing timing of the camera 31 based on the detection signal from the container sensor 32, and the design of the container 20 located in front of the camera 31 is photographed by the camera 31. The controller 56 performs data processing for specifying the direction (rotation angle) of the container 20 based on the pattern image data.

  The camera 31 incorporates an image pickup device such as a two-dimensional image sensor, and the image pickup device receives an image of the design 23 on the outer peripheral surface 21 of the container 20 through the optical system, thereby photographing the design 23 of the container 20. As shown in FIG. 4, one camera 31 is arranged so that the outer peripheral surface 21 of the container 20 can be photographed from a direction perpendicular to the conveyance direction X of the container 20.

  As shown in FIGS. 4 and 6, the container rotating device 40 is configured such that when the container 20 in the direction detected based on the image data obtained by photographing by the photographing device 30 reaches the printing position on the conveyor 13. The apparatus rotates the container 20 as necessary to arrange the printing region 27 of the container 20 in a direction facing the printing apparatus 50. As shown in FIGS. 1 and 4, the container rotating device 40 includes a pair of rotating devices 41 and 46 disposed on both sides of the conveyor 13. The pair of rotating devices 41 and 46 are respectively driven portions 42 and 47 that are driven to rotate at an appropriate speed by a motor or the like, and a pair of rollers 43 and 48 that are rotatably disposed at positions facing each other with the conveyor 13 in between. , And a pair of belts 44 and 49 that can rotate through the rollers 43 and 48 by the driving force of the drive units 42 and 47 and can contact the outer peripheral surface 21 of the container 20. In this container rotating device 40, when the container 20 is gripped by the belts 44 and 49 of the pair of rotating devices 41 and 46, the rotation speed of the belts 44 and 49 is varied to convey the conveyor 13 on the conveyor 13. The container 20 is rotated to a predetermined printing position. In this way, the container rotating device 40 causes the container 20 to move until the printing region 27 faces the printing device 50 based on the data relating to the direction detected from the image data of the pattern of the container 20 photographed by the camera 31. Rotate. The controller 56 controls the rotational speeds of the drive units 42 and 47.

  As shown in FIGS. 1 and 2, the printing device 50 is a device that performs printing on the container 20 whose orientation is controlled on the conveyor 13 by the container rotating device 40. The printing device 50 is disposed on the side of the conveyor 13 at a position downstream of the container rotating device 40 in the transport direction X. The height position of the print head (not shown) of the printing apparatus 50 is adjusted to the height of the printing area 27 of the container 20 when being conveyed on the conveyor 13. In addition, as the printing apparatus 50, a known printing apparatus such as an ink jet method capable of printing predetermined items such as characters, symbols, and graphics such as barcodes (including two-dimensional barcodes) is used. The printing apparatus 50 efficiently and effectively prints information relating to quality control such as the expiration date and the lot number as a predetermined item at an easily understandable position.

  Moreover, in the container printing apparatus 11, when conveying the container 20 by the conveyor 13, in order to prevent the fall, the bottom surface 24 (refer FIG. 3A) of the container 20 to the conveyor 13 shown in FIG.1 and FIG.2. ) Is sucked with negative pressure air, and a container bottom suction device 17 is provided to prevent the container 20 from overturning. As shown in FIGS. 4 and 6, a plurality of through holes 13 a are formed on the upper surface of the conveyor 13 over the entire circumference at predetermined intervals in the transport direction. As shown in FIG. 6, on the lower side of the conveyor 13, a duct 19 having a negative pressure chamber 19a communicating with the through-hole 13a is extended along the conveyor 13, and the negative pressure chamber 19a is connected to a pipe 17a. Communicate. As shown in FIGS. 1 and 2, the pipe 17 a is connected to the vacuum pump 18 of the container bottom suction device 17. By driving the vacuum pump 18, the inside of the negative pressure chamber 19a is sucked into a negative pressure state through the pipe 17a. Thereby, the bottom surface 24 of the container 20 conveyed on the conveyor 13 is sucked by the negative pressure air from the through-hole 13a, and in particular, the container 20 is prevented from overturning when rotating, thereby contributing to stable conveyance.

  Further, as shown in FIG. 1 and FIG. 2, at a position between the container rotation device 40 and the printing device 50, an inspection capable of photographing the container 20 to inspect the direction of the container carried out from the container rotation device 40. An inspection device 52 including a camera 51 is provided. The inspection device 52 inspects the orientation of the container 20 by performing predetermined data processing in the controller 56 based on image data captured and captured by the inspection camera 51. Further, the inspection device 52 includes a discharge device 54 such as an air jet that discharges the container 20 having a rotation failure with an inappropriate orientation as a result of the inspection from the conveyor 13. The poorly rotated container 20 discharged by the discharge device 54 is collected in a defective product collection receiving box 55 arranged at a position opposed to the conveyor 13.

  In addition, an inspection camera 53 capable of photographing the printing location of the container 20 is provided at a position downstream of the printing apparatus 50 in the transport direction X in order to inspect the printing result of the container 20. The controller 56 performs known data processing on the basis of image data captured by capturing the print area 27 of the container 20 with the inspection camera 53, thereby printing misalignment, shading, fading, etc. of the print portion of the print area 27. The condition is checked. The defective printing container 20 is collected from the conveyor 13 to the receiving box by a discharge device (not shown). The controller 56 controls the printing control so that the printing device 50 does not perform printing when the poorly rotating container 20 is passed from the conveyor 13 before printing. You may let it be done. In addition, the camera using well-known image sensors, such as a CCD image sensor and a CMOS image sensor, is used for each camera 31,51,53.

  As shown in FIGS. 1 and 2, the controller 56 is electrically connected with a camera 31, a container sensor 32, an inspection camera 51, and an inspection camera 53 as an input system, and a transport device as an output system. 12 (motors 13M, 16M), the vacuum pump 18 of the container bottom suction device 17, the container rotating device 40, the printing device 50, and the discharge device 54 are electrically connected.

  The personal computer 60 shown in FIG. 2 is connected to the controller 56 via a communication cable 64. The personal computer 60 (hereinafter also referred to as “PC 60”) includes a main body 61, an input device 62 including a mouse 62m and a keyboard 62k, and a display unit 63 (monitor). The main body 61 is connected to the controller 56 through the communication cable 64, and the user operates the input device 62 while viewing the setting screen or the registration screen displayed on the display unit 63, whereby various types of information on the container printing device 11 are displayed. And registration of an image for inspection. In the present embodiment, the controller 56 detects the direction of the container 20 based on the image data obtained by the camera 31 photographing the container 20, and the printing region 27 of the container 20 faces the printing apparatus 50. The container rotation control is performed so that the container rotating device 40 rotates the container 20 until the target direction is reached. Further, the controller 56 performs a rotation inspection for inspecting the orientation of the container 20 carried out from the container rotation device 40 and a printing inspection for inspecting the quality of the printing result on the printing region 27 of the container 20 by the printing device 50. .

  Next, the operation of the container printing apparatus 11 will be described. As shown in FIGS. 1 and 2, a plurality of containers 20 pre-labeled by a shrink labeler (not shown) are continuously supplied from the supply unit 14 onto the conveyor 13, and are continuously spaced by a timing screw 16 at a predetermined interval. Be transported. At that time, the inside of the negative pressure chamber 19a (see FIG. 6) of the container bottom surface suction device 17 is brought into a negative pressure state, so that the bottom surface 24 is sucked by the negative pressure air from the through hole 13a of the conveyor 13. In a stable state.

  Subsequently, as shown in FIG. 4, the containers 20 conveyed at a predetermined interval by the conveyor 13 are moved from one direction by the camera 31 of the photographing device 30 arranged on one side of the both sides of the conveyor 13. Taken. At this time, when the camera 31 performs a photographing operation at a photographing timing based on a signal when the container sensor 32 detects the container 20, the container 20 is photographed in a state where the container 20 is disposed at a substantially central position of the photographing area of the camera 31. The controller 56 (see FIGS. 1 and 2) receives a command signal including, as a command value, a rotation angle necessary for rotation from the orientation of the container 20 detected using the image data acquired from the camera 31 to the target orientation. The container rotating device 40 is driven and controlled by outputting. The container rotating device 40 controls the driving units 42 and 47 to drive the belts 44 and 49 at a speed difference corresponding to the command value of the rotation angle included in the command signal from the controller 56. The container 20 held between 44 and 49 is conveyed while being rotated at a specified rotation angle. As a result, the containers 20 adjusted to the target direction are sequentially carried out from the container rotating device 40.

  Here, as shown in FIG. 5, the container 20 before the orientation is adjusted by the container rotating device 40 is conveyed in an arbitrary direction, and therefore the printing region 27 of the container 20 faces an arbitrary direction. When the camera 31 images the outer peripheral surface 21 of the container 20 from one direction, only a part of the pattern 23 of the label 22 facing the camera 31 is imaged. At this time, since the portion of the pattern 23 to be photographed differs depending on the direction of the container 20, the direction of the container 20 is detected by specifying the portion of the pattern by the matching process. If the orientation of the container 20 can be detected, the rotation angle of the container 20 necessary for directing the printing region 27 to the front of the printing apparatus 50 is specified from the orientation.

  Next, container rotation control by the container rotating device 40 will be described with reference to FIG. As shown in FIG. 7 (a), it is determined which part of the symbol 23 drawn on the entire circumference of the container 20 is the symbol part in the image data obtained by photographing the front surface of the container 20 facing the camera 31. By specifying the data processing, the direction (angle) of the container 20 is detected. Based on the detected orientation, the controller 56 calculates the rotation angle (rotation amount) of the container 20 required until the printing region 27 becomes the target orientation facing the front of the printing apparatus 50. In the example of FIG. 7A, the controller 56 outputs a command signal for rotating the container 20 by about 140 degrees in the forward rotation direction (clockwise) to the container rotating device 40. The container rotating device 40 rotates the belts 44 and 49 at different speeds to rotate the container 20 about 140 degrees in the forward rotation direction. As a result, the container 20 is adjusted to a target direction (downward in FIG. 7) in which the printing area 27 faces the front of the printing apparatus 50.

  In the example shown in FIG. 7B, the printing region 27 is directed from the orientation of the container 20 detected based on the image data obtained by photographing the container 20 by the camera 31 to the target orientation facing the front of the printing apparatus 50. The rotation angle required to rotate the container 20 until it becomes is calculated as about 90 degrees in the forward rotation direction. The controller 56 outputs a command signal for rotating the container 20 by about 90 degrees in the forward rotation direction to the container rotating device 40. The container rotating device 40 rotates the belts 44 and 49 at different speeds to rotate the container 20 in the forward rotation direction by about 90 degrees. As a result, the container 20 is adjusted to a target direction in which the printing region 27 faces the front of the printing apparatus 50.

  Further, in the example shown in FIG. 7C, the target in which the printing region 27 faces the front of the printing apparatus 50 from the direction of the container 20 detected based on the image data obtained by the camera 31 photographing the container 20. The rotation angle required until the direction becomes is calculated as about 90 degrees in the reverse rotation direction (counterclockwise). The controller 56 outputs a command signal for rotating the container 20 in the reverse direction by about 90 degrees to the container rotating device 40. The container rotating device 40 rotates the belts 44 and 49 at different speeds to rotate the container 20 in the reverse direction by about 90 degrees. As a result, the container 20 is adjusted to a target direction in which the printing region 27 faces the front of the printing apparatus 50.

  As shown in FIG. 7D, the orientation of the container 20 detected based on the image data obtained by photographing the container 20 by the camera 31 is the target orientation in which the printing area 27 faces the front of the printing apparatus 50. , The rotation angle at which the container 20 should be rotated is “0 degree”. In this case, the container rotating device 40 rotates the belts 44 and 49 at the same speed, and conveys the container 20 without rotation.

  Then, when it is confirmed that the orientation of the container 20 is the target orientation by the inspection based on the captured image obtained by photographing the container 20 by the inspection camera 51, the printing device 50 may, for example, apply the print area 27 of the container 20 to the printing area 27. Predetermined items such as the expiration date and lot number are printed. On the other hand, the container 20 whose rotation is defective due to the inspection is removed from the conveyor 13 by the discharge device 54 before reaching the printing position by the printing device 50. The printed container 20 is photographed by the inspection camera 53, and the controller 56 inspects the print result based on the photographed image obtained by the photographing. If it is a non-defective product by this print inspection, the container 20 is conveyed as it is from the conveyor 13 to the discharge unit 15 and sent to an appropriate process such as a packaging process. On the other hand, if it is a defective product as a result of inspection of the printing result, it is removed from the conveyor 13 by a discharge device comprising an air jet (not shown).

  In the container printing apparatus 11 shown in FIGS. 1 and 2, the container 20 is rotated by one container rotating apparatus 40. However, when the container printing apparatus 11 is compatible with a high-speed line, as shown in FIG. The structure which arrange | positions multiple sets of 30 and the container rotation apparatus 40 along the longitudinal direction of the conveyor 13 is employ | adopted. In the container printing apparatus 11 corresponding to the high-speed line, as shown in FIG. 8, two sets of the imaging apparatus 30 (30A, 30B) and the container rotating apparatus 40 (40A, 40B) are arranged in series along the longitudinal direction of the conveyor 13. Has been. The two sets of container rotation devices 40A and 40B share the rotation angle necessary for rotating the container 20 until it reaches the target orientation.

  Here, when there is one container rotating device 40 as shown in FIG. 4, the container 20 held between the belts 44 and 49 of the rotating devices 41 and 46 is more than ± 180 degrees (180 degrees for forward rotation and reverse rotation) or more. Must be able to rotate by a predetermined angle. However, in the case of a high-speed line, the container 20 can be rotated by ± 180 degrees or more by the configuration in which the container 20 is rotated at a speed difference between the pair of belts 44 and 49 during conveyance. It is necessary to lengthen the conveyance distance at the time of conveyance while holding in between according to the increase in the conveyance speed. If the transport distance is increased, it is necessary to increase the pitch of the containers 20, and if the pitch of the containers 20 is increased, an improvement in transport efficiency (number of containers transported per unit time) can be expected for an increase in transport speed. Disappear. Therefore, in the container printing apparatus 11 corresponding to the high-speed line of the present embodiment, a plurality of container rotation devices 40 are provided, and the rotation angle for rotating the container 20 is shared by the plurality of container rotation devices 40, so that the pitch of the containers 20 is increased. It is narrow. For example, in the case of rotating P degrees (for example, 120 °), the container 20 is rotated by P / 2 degrees by two container rotating devices 40A and 40B, and the rotation angle of the container 20 that one container rotating device 40 serves is, for example, about By reducing it to ½, the conveyance speed of the container 20 can be increased while securing a pitch of about half.

  In the container printing apparatus 11, areas of different positions in the circumferential direction of the container 20 are designated and registered in advance from image data (photographed symbol information) obtained by photographing the container 20 from one direction with the camera 31. An omni-matching process for searching for a similar symbol part similar to the model M as the registered symbol part is performed. In this omni-matching process, the orientation of the container 20 is detected based on the position information of the found similar symbol part and the position information of the corresponding model. In particular, the container printing apparatus 11 is preferably used for the container 20 that has passed through the heating tunnel and has been subjected to thermal shrinkage of the shrink label, and there is a slight distortion of the pattern due to a difference in the partial shrinkage rate of the label 22. In addition, it is possible to detect the orientation of the container 20 relatively accurately. The details of the omni matching process will be described later.

  Here, in the case of correspondence to the high-speed line shown in FIG. 8, when the container direction detection processing in the upstream container direction detection device 100 cannot perform matching and the direction of the container 20 cannot be specified, the container 20 is not rotated without being controlled for rotation. In the case where the container direction detection device 100 on the downstream side similarly matches, there is a high probability that a result that cannot be matched is obtained. Therefore, in this embodiment, when the upstream container direction detection device 100 cannot perform matching, it is assumed that the angle is the most difficult to match in the model and is at a set angle corresponding to the value, and the upstream side The container rotation device 40A controls the rotation of the container 20 in accordance with the set angle, and passes it to the next downstream container direction detection device 100. In the downstream container rotating device 40B, the downstream camera 31B can photograph the container 20 at an angle different from that of the upstream camera 31A, so that matching can be performed when matching is performed based on the captured image data. Probability increases.

  Next, the electrical configuration and functional configuration of the container printing apparatus 11 will be described with reference to FIG. The controller 56 of the container printing apparatus 11 incorporates a computer 65 constituted by a chip set or the like mounted on a circuit board. In addition, the controller 56 is electrically connected to the transport device 12, the camera 31 and the container sensor 32, the container rotating device 40, the printing device 50, the inspection camera 51, the inspection camera 53, and the discharge device 54 that constitute the imaging device 30. It is connected. In addition, the controller 56 is a container printing device according to conditions set or registered by the user operating the input device 62 while viewing a setting screen or a registration screen displayed on the display unit 63 by a computer (not shown) in the main body 61 of the PC 60. 11 is controlled.

  As shown in FIG. 9, the computer 65 includes a CPU 68 (central processing unit) and a memory 69 as an example of a storage unit. In the memory 69, a container direction detection process for detecting the direction of the container 20 by data processing based on image data captured by the camera 31 taken by the camera 31, and the container 20 is rotated to a target direction according to the detected direction. A program PR for causing the computer 65 to execute the container rotation control is stored. Also, in the memory 69, a part of the all-around symbol information of the symbol 23 drawn on the outer peripheral surface 21 of the container 20 is registered for each position in the circumferential direction of the container 20 as a registered symbol part (model M described later). Model registration data MD (hereinafter, model registration data MD is used in the same meaning as model M), which is an example of the registered data, is stored. In the model registration data MD, a plurality of (for example, eight) models M registered by specifying a region at different positions in the circumferential direction of the container 20 are associated with position information of each model M. The memory 69 is configured by a storage area of a part of the hard disk or RAM.

  The computer 65 shown in FIG. 9 functions as the container printing control device 70 when the CPU 68 executes the program PR. In FIG. 9, each functional block schematically shown in the CPU 68 is each functional unit realized by the CPU 68 executing the program PR. That is, the container printing control device 70 includes a control unit 71, a model registration unit 72 as an example of a registration unit, an image acquisition unit 73, a container direction detection unit 74 as an example of a detection unit, and a rotation control. Part 75, rotation inspection part 76, and print inspection part 77. The container printing control device 70 performs container orientation detection processing based on image data captured by the camera 31, container rotation control for rotating the container according to the detected orientation, and a container for inspecting the orientation of the container 20 after rotation. Various processes such as a direction inspection and a printing inspection for inspecting a printing result on the container 20 are performed. The model registration unit 72, the image acquisition unit 73, and the container orientation detection unit 74 may be provided in the main body 61 when a computer (not shown) in the main body 61 of the PC 60 executes a program.

  In the present embodiment, the container printing control device 70 performs an omni matching process based on image data (captured symbol information) obtained by the camera 31 capturing an image of the container 20 from one direction, so that the orientation of the container 20 ( Angle). In the omni-matching process, the model 31 (registered symbol part) and the feature of the symbol (in this example, the shape) are obtained from the photographed symbol information obtained by the camera 31 photographing the symbol 23 on the outer peripheral surface 21 of the container 20 from one direction. ) To perform a matching process for searching for similar symbol parts. In this matching process, if the similarity score exceeds a predetermined threshold value, it is determined that matching has been performed, and the similarity score at the time of matching and the position information of the similar symbol portion are temporarily stored in the memory 69. In this example, when there are a plurality of matched similar symbol portions, one similar symbol portion having the highest similarity score is selected. Then, the orientation (angle) of the container 20 is detected based on the position information of the selected similar symbol portion and the position information of the model M corresponding to the similar symbol portion. Note that the position information of the similar symbol portion is indicated by the distance in the width direction of the similar symbol portion with respect to the width center position of the container in the photographed image. The position information of the model M includes the front angle (for example, in increments of 45 degrees from 0 degrees to 315 degrees) indicating the center position of one angle range divided into N at the time of model registration, and the front angle (center position of the container width). Information on the distance in the width direction to the width center of the model M is included.

  A control unit 71 shown in FIG. 9 governs overall control of the container printing apparatus 11 and instructs each of the units 72 to 77 to perform predetermined processing or control. Further, the control unit 71 performs various display controls for causing the display unit 63 to display a setting screen 90 (see FIG. 12), a model registration screen 91 (see FIG. 13) used for model registration, and the like.

  The model registration unit 72 includes a region selected by the user by operating the input device 62 from one angle range (for example, a range of 45 degrees) obtained by dividing the symbol 23 of the container 20 into N in the circumferential direction (for example, eight). Are registered as a model M (registered symbol part). As shown in FIG. 10, the user desires for each angular range obtained by dividing the entire circumference into N (for example, N equal divisions) from the entire pattern 23 drawn on the entire circumference of the outer peripheral surface 21 of the container 20. Model M is registered by selecting and selecting one model region 23M one by one by operating the mouse 62m, for example. The model registration unit 72 acquires the symbol part information in the model region 23M received from the input device 62, and performs a feature extraction process (for example, an edge extraction process) on the symbol part information to thereby obtain a symbol shape ( Models M1 to M8 characterized by outlines and the like are created. The model registration unit 72 stores the created models M1 to M8 in the memory 69 in association with the position information (position coordinates) for specifying the relative positions on the symbols 23, whereby N (for example, eight). The models M1 to M8 are registered.

  In the example shown in FIG. 10, the models M3 and M4 include a part of a frame surrounding the barcode, and have an inverted L-shape formed by a part of the frame. Further, for example, the models M1, M2, and M8 are characterized by a design (design) such as a logo mark of a product name and a shape of a character outline. Further, the models M5 and M7 mainly have an inverted L shape formed by a part of a frame surrounding a character string. Further, the model M6 mainly has a T-shape formed by arranging two parts of a frame surrounding a character string side by side. Each model M1 to M8 is associated with a front angle of 0 degrees, 360 / N degrees,..., 360 · (N−1) / N degrees indicating the center position of each angle range divided into N. In the example of 8 divisions (N = 8), the models M1 to M8 are associated with front angles of 0 degrees, 45 degrees, 90 degrees, 135 degrees, 180 degrees, 225 degrees, 270 degrees, and 315 degrees, respectively. The positions of the models M1 to M8 are registered as circumferential relative positions (relative angles) based on the front angle. As described above, the N models M1 to M8 are stored in the memory 69 as the model registration data MD associated with the information on the front angle and the relative position.

  On the model registration screen 91 shown in FIG. 13, the user performs model registration by operating the input device 62 and specifying a desired region while viewing the image of the container 20 taken by the camera 31. In the model registration screen 91 shown in FIG. 13, an image of the container 20 is displayed in a state in which the width center of the container 20 is made to coincide with the width center of the angle range to be registered among the N divided angle ranges. Is displayed. The model registration screen 91 has, for example, a square frame shape that clearly indicates the center line L indicating the position of the front angle (0, 45,..., 360 degrees) and the width range in which the model M (for example, M1) should be registered. A frame K is superimposed and displayed. The user registers the model M by operating the mouse 62m, for example, specifying a square frame region indicated by a two-dot chain line in the drawing within the width range of the frame K, and selecting and confirming the model region 23M. . Each time one model M is registered, the container 20 is rotated by a predetermined angle (= 360 / N degrees), and the front angle of the container in the model registration screen 91 is switched by a predetermined angle. In this way, N (for example, eight) models M1 to M8 are registered by repeating the operation of sequentially selecting the model region 23M for each angle range having different front angles of the container. Note that the frame K may be changed according to the registration position and size of the model so that the minimum height at the center in the height direction of the models M1 to M8 is the lower side and the maximum height is the upper side.

  FIG. 11 is a panoramic view showing the entire circumference of the container in which the model is registered. As shown in FIG. 10 and FIG. 11, models M1, M2, M8 including a part of a design (design) such as a logo mark of a product name, a model M3 including a part of a barcode, etc. by model registration by a user. M4, models M5, M6, and M7 including a part of the region including the character string and its enclosing frame are registered. In this example, the user can arbitrarily select a position to be registered as the model M and the size of the area among the symbols 23 on the entire circumference. The design 23 of the label 22 includes, for example, design portions 23A to 23D that can be regarded as common or common regardless of the type of product provided in the container 20 with beverage liquid, and a character string having a relatively large character size. There is a variable design portion 23E that changes depending on the type of product, such as a type name being written or a different illustration depending on the type of product being drawn. If the variable symbol portion 23E is registered in the model M, the model detection can be performed for the type of container 20 having the symbol portion 23E, but the model detection cannot be performed for other types of containers 20. Further, as in Patent Document 2, when performing a matching process for searching for a photographed image from pre-registered all-around symbol information, if the photographed image changes depending on the type of product, the pre-registered all-around symbol information and If it is the container 20 of the same kind of goods, the direction of the container can be detected. However, the direction of the container cannot be detected for a container 20 of a product of a different type from the pre-registered all-around symbol information.

  In this example, the user designates an area of a desired size at a desired position by operating the mouse 62m, and selects the model area 23M at an arbitrary position and an arbitrary size, whereby the model area 23M within the selected model area 23M is selected. The design part can be registered as a model M. Therefore, if the user avoids the variable symbol portion 23E and selects the model region 23M, the common model M can be registered between different types of products even for the plurality of containers 20 with the types of products. .

  In addition, as shown in FIG. 11, in this example, the almost minimum range in the height direction Z of the label 22 (or container 20) including all the registered N models M1 to M8 is set as the registration area RA. Is done. In the example of FIG. 11, since the N models M1 to M8 are selected so as to fit in the upper half area of the label 22 in the height direction Z, the upper half area of the label 22 (or symbol 23). Is set as the registration area RA. Therefore, it is possible to narrow the registration area RA in the height direction Z by performing model registration in consideration of narrowing the range in which the user can store the N models M1 to M8 in the height direction Z. . In the registration area RA, in the height direction Z, a position obtained by subtracting a predetermined margin from the lowermost position among the N models M1 to M8 is defined as a lower side, and a position obtained by adding a predetermined margin to the uppermost position is defined as an upper side. Set to range. The registration area RA is used when a model detection unit 81 (to be described later) determines a search target area when searching for the model M by matching processing. Further, as shown in FIG. 11, when the outer peripheral pattern 23 of the container 20 is photographed from one direction by the camera 31, it is less than 180 degrees depending on the orientation of the container 20 at that time out of the entire peripheral pattern 23 ( As an example, the pattern portion of the photographing range IR of 165 to 175 degrees) is photographed. In FIG. 11, the imaging range IR when the camera 31 captures the container 20 whose front angle is 0 degrees is shown as an example, but the imaging range IR is illustrated depending on the orientation of the container 20 with respect to the camera 31. 11 in the horizontal direction (circumferential direction). In this example, the imaging range IR and the range of the registration area RA are set as search target areas during the matching process. Therefore, the search target area at the time of the matching process changes according to the position and size in which the models M1 to M8 are registered.

  Returning to FIG. 9, the image acquisition unit 73 performs an acquisition process of an image for a registration screen at the time of model registration and an acquisition process of an image used for a matching process. The image acquisition unit 73 acquires image data (photographed symbol information) obtained by the camera 31 shooting the container 20 from one direction, and performs predetermined image processing such as matching the width center of the image with the width center of the container. I do.

  The container orientation detection unit 74 detects the orientation of the container 20 based on image data (photographed symbol information) obtained by photographing the container 20 from one direction by the camera 31 and the model M. The container direction detection unit 74 includes a model detection unit 81 that detects the model M from the pattern of the image data, and a calculation unit 82 that calculates the direction of the container 20 using the detected position information of the model M. In addition, the container orientation detection unit 74 acquires a positional deviation amount in the height direction Z of the pattern 23 relative to the container 20 based on the detection result of the model detection unit 81, and the height direction Z of the label 22 from the positional deviation amount. A label height inspection unit 83 for inspecting the positional deviation is provided.

  The model detection unit 81 is similar in pattern to the N registered models M (for example, 8) from the container front image in the captured image data captured by the camera 31 by capturing the container 20 from one direction. The model M is detected by searching for a part. In this model detection process, a pixel area having the same shape and size as the model M is selected as the target symbol area from the captured image data (captured symbol information), and the target symbol area and the model M are selected by the omni matching process. Find the similarity score. Then, while changing the target symbol area starting from the center position of the model M and shifting it by a predetermined pitch (for example, one pixel or several pixels), a score of similarity with the model M of the target symbol area is sequentially obtained. At this time, prior to the start of the model detection process, a part of the matching target area MA corresponding to the registration area RA in the height direction Z in which all models M1 to M8 are registered in common in the height direction Z of the captured image. An omni matching process is performed on the target (see FIG. 11). When a target symbol area whose similarity score is equal to or greater than a threshold is found in the omni matching process, the symbol part in the target symbol area is set as a similar symbol part, and the position information of the similar symbol part is stored in the memory 69 together with the similarity score. Stored in a predetermined storage area. In this omni-matching processing, model detection processing may be performed in which the target models M are sequentially switched one by one to detect eight models M1 to M8. For example, a multi-core CPU 68 is used to detect a plurality of models. Processing is performed in parallel. In this example, a CPU 68 having eight cores is used, and model detection processing for each of the eight models M1 to M8 is performed in parallel processing. When the model detection processing is completed for all the models M1 to M8, information on all the similar symbol portions stored in the memory 69 is read and compared, and the similar symbol portion having the highest similarity score is detected as the model DM. Get as. Note that a minimum score is set in advance for each of the models M1 to M8, and the matching process is interrupted for models that do not reach the minimum score. This is because the number of models M that can be matched from one direction is about three of the eight models around the circumference.

  9 uses the position information of the detection model DM (similar symbol portion) and the position information of the model M (registered symbol portion) corresponding to the detection model DM to determine the direction (angle) of the container 20. Is calculated. Furthermore, the calculation unit 82 calculates a rotation angle (amount of rotation) from the calculated direction of the container 20 until the direction of the container 20 becomes the target direction. At this time, the rotation amount up to the target angle is calculated by both normal rotation and reverse rotation, and one of the shortest rotations with which the rotation amount is small is selected to determine the rotation direction and the rotation angle.

  The rotation control unit 75 performs a predetermined rotation in the predetermined rotation direction acquired by the calculation unit 82 from the detected direction of the container 20 until the printing region 27 of the container 20 reaches a target direction facing the front of the printing apparatus 50. The container rotating device 40 is driven so as to rotate the container 20 by an angle. The rotation control unit 75 requires the drive units 42 and 47 of the pair of rotation devices 41 and 46 constituting the container rotation device 40 according to the rotation direction and the rotation amount of the container 20 between the pair of belts 44 and 49. Control to create a speed difference. As a result of the control by the rotation control unit 75, the container 20 held between the pair of belts 44 and 49 of the container rotating device 40 rotates to the target direction in which the printing region 27 faces the front of the printing device 50, and then the container rotates. It is conveyed onto the conveyor 13 on the downstream side of the device 40.

  The rotation inspection unit 76 inspects the orientation of the container 20 before the container 20 whose orientation is adjusted to the target orientation passes through the front surface of the printing apparatus 50. The rotation inspection unit 76 inspects the orientation of the container 20 before printing based on the image data from the inspection camera 51. Specifically, the rotation inspection unit 76 has a correct orientation in which the printing region 27 faces the printing device 50 when the container 20 before printing passes through the front of the printing device 50 based on the image data from the inspection camera 51. Inspect whether or not. In the case of rotation failure where the orientation of the container 20 before printing is not correct, the control unit 71 drives the discharge device 54 so that the container 20 with rotation failure is discharged to the outside of the conveyor 13 and collected in the receiving box 55. When the container 20 whose direction is adjusted to the target direction passes through the front of the printing apparatus 50, the controller 56 drives the printing apparatus 50 to print a predetermined item on the printing region 27 of the container 20.

  The print inspection unit 77 inspects the printing result of the container 20 by the printing apparatus 50. Based on the image data obtained by photographing the printed container 20 with the inspection camera 53, the print inspection unit 77 correctly prints the print result (predetermined matter) printed in the print region 27 of the container 20. Check for no. When the printing result of the container 20 is defective, the control unit 71 drives a discharge device (not shown), and the defective print container 20 is discharged to the outside of the conveyor 13 and collected in a receiving box (not shown).

  In the present embodiment, the imaging device 30 including the camera 31, the control unit 71, the model registration unit 72, the image acquisition unit 73, the container orientation detection unit 74, the memory 69 that stores the model registration data MD, and the like that configure the computer 65. Thus, an example of the container orientation detection device 100 described above is configured. Further, the container printing apparatus 11 including the conveyor device 12 including the conveyor 13, the container orientation detecting device 100, the container rotating device 40, the rotation control unit 75, the printing device 50, the rotation inspection unit 76, and the like, An example is constructed.

  As shown in FIG. 12, the user uses the setting screen 90 displayed on the display unit 63 to set the setting values of the setting parameters for controlling the container printing apparatus 11 using the input device 62 such as the keyboard 62k and the mouse 62m. Set the input. The setting screen 90 includes setting items such as a target angle G, an angle tolerance β, a container width viewing angle α, and a label height deviation inspection as setting parameters for container rotation control to be input. Input the setting value of.

  Here, the “target angle G” is a value that indicates the position of the print region 27 that is the target orientation of the container 20 with respect to a reference angle of 0 degrees (corresponding to a front angle of 0 degrees) as an angle. In the example of the container 20 shown in FIG. 11, the printing area 27 is set on the back surface of the container 20. For this reason, when the front angle (center position) of the container in the captured image (FIG. 13) when the container 20 is imaged from the surface is set to the reference angle of 0 degrees, the target angle G is set to 170 degrees as an example.

  The “angle allowable range β” is a setting item for designating an allowable range of angle deviation with respect to the target angle G when the orientation of the container 20 is adjusted. For this reason, the direction of the container 20 is adjusted within a range of ± β degrees with respect to the target angle G. In the example of FIG. 12, since 15 degrees is set as an example, the direction of the container 20 is adjusted within a range of (G ± 15) degrees.

  The “container width viewing angle α” indicates an angle that defines the width of the container 20 that can be photographed by the camera 31 when the container 20 is photographed by the camera 31. The container width viewing angle α varies depending on the type of lens of the camera 31 (wide-angle lens or the like), the photographing conditions such as the focal length, and the outer diameter (diameter) of the container 20. The container width visual field angle α is used for correction for accurately calculating the direction of the container 20 from the position (angle) of the detection model DM.

  The “label height deviation inspection” is a setting item for selecting whether or not to inspect the positional deviation of the label 22 in the height direction Z with respect to the container 20. When the set value of the label height deviation inspection is “0”, the inspection is not performed, and when it is “1”, the inspection is performed. When the set value of this item is “1”, the label height inspection unit 83 shown in FIG.

  Next, the operation of the container printing apparatus 11 will be described. A model registration process and a container direction control process performed by the computer 65 (container printing control apparatus 70) executing the program PR will be described with reference to the flowcharts shown in FIGS. First, the model registration process will be described with reference to FIG. The model registration is performed by rotating the container 20 by 0 to 360 / N degrees (for example, 45 degrees) by using, for example, an electric rotary table, and the camera 31 photographs the container 20 at a predetermined rotation angle from one direction. Using the image data obtained in this manner, the user operates the input device 62 while viewing the model registration screen 91 shown in FIG. The model registration unit 72 of the computer 65 performs model registration processing based on an input signal from the input device 62 that is operated by the user during model registration.

  First, in step S11, image data of the container is acquired. That is, the model registration unit 72 of the computer 65 acquires image data obtained by the camera 31 photographing the container 20 from one direction. The center of the width in the direction of the container 20 photographed first at the time of model registration is set to a reference angle of 0 degree.

  In step S12, the width of the container and the center position of the width are calculated. Specifically, the model registration unit 72 acquires the container width (pixel value) on the image from the image captured by the camera 31 captured by the camera 31, and the conversion coefficient (preset to the acquired container width) mm / pixel) to obtain the container viewing angle width W. Using the container viewing angle width W and the setting parameter container width viewing angle α (see FIG. 12), the width dimension (diameter) 2r of the container (where r is the radius of the container) is expressed by the equation 2r = W / (sin (Α / 2) · π / 180). In addition, the model registration unit 72 calculates the coordinates of the width center position of the container on the image.

  In step S13, the model registration unit 72 corrects the width center of the container to the width center of the image. As a result of this correction, the image of the container 20 is displayed on the display unit 63 in a state where the width center thereof matches the width center of the model registration screen 91 (see FIG. 13). The model registration unit 72 displays, on the model registration screen 91, an image of a container in which the angle range with a front angle of 0 degrees is located in the center (front) among a plurality of angle ranges obtained by dividing the entire circumference of the container into N. .

  In step S14, a model area to be registered is set. While viewing the image of the container in the model registration screen 91 displayed on the display unit 63, the user can select a part of the pattern part desired to be registered from the pattern 23 of the container 20 by operating the mouse 62m. The model region 23M is selected by surrounding it with a frame. When the model registration unit 72 accepts the confirmation of the model region 23M selected from the input device 62, the model having the current front angle (for example, 0 degrees) and the front angle at the time of registering the model region 23M as a reference position. The relative position coordinates of the area 23M are calculated.

  In step S15, a model in the model area is created. The model registration unit 72 acquires symbol part information that defines the symbol part in the model region 23M, performs feature extraction processing on the symbol part information, and creates feature data of the symbol part. And In this way, feature data of a part of the symbol part selected by the user among the symbols 23 of the container 20 in the captured image at the front angle at that time is created as the model M. The model M in this example is composed of characteristic data of a part of the symbol part selected by the user among the parts photographed from one direction by the camera 31 in the symbol 23 of the entire circumference. In the present embodiment, since the omni matching process is shape matching, the model M includes data characterized by a shape obtained by extracting the shape (edge) of the design portion.

  In step S16, the model registration unit 72 registers the front angle and position of the model. That is, the model registration unit 72 registers the model M obtained in the processing of steps S14 and S15 by storing it in the memory 69 in association with the current front angle and the coordinates of the position of the model M.

  In step S <b> 17, the model registration unit 72 determines whether the model registration has been completed for the entire circumference. If the registration of the model has not been completed for the entire circumference (N), the process proceeds to step S18, and if the registration of the model has been completed for the entire circumference, the routine is terminated.

  In step S18, the container is rotated by a predetermined angle (360 / N degrees). For example, the container 20 at the time of model registration is photographed from one direction by the camera 31 while being placed on an electric rotary table (not shown). The controller 71 drives the power source of the rotary table and rotates the rotary table, thereby rotating the container 20 about its axis by a predetermined angle (axial rotation). As a result, the image of the container in the model registration screen 91 is switched to an image in the angle range of the next front angle 360 / N degrees. Then, while viewing the model registration screen 91 on which the image of the container in the next angle range is displayed, the user operates the input device 62 to select the model region 23M from the image of the container in the next angle range. Register. Specifically, when the model registration unit 72 acquires image data obtained by photographing the container 20 at the next front angle with the camera 31 (S11), the processes of steps S12 to S17 are performed in the same manner. Then, until it is determined in step S17 that the registration of the model has been completed for all the circumferences of the container (N) (affirmative determination in S17), each time the registration of the model M in one angle range is completed, the container 20 is moved to a predetermined angle. (S18), and each time the image data is acquired by switching to the container in the angle range of the next front angle (S11), each process of steps S12 to S17 is repeated. Thus, as shown in FIG. 11, N (for example, eight) models M1 to M8 are stored in the memory 69 as model registration data MD associated with the front angle and position information (coordinates). At the time of model registration, the user selects N models M1 to M8 so as to be within a partial range of the label 22 in the height direction Z. As a result, each of the models M1 to M8 is registered at a position in the registration area RA that is a partial range of the label 22 in the height direction Z. In addition, the model registration unit 72 acquires position coordinates that can specify the registration area RA including all of the N models M1 to M8 and stores them in the memory 69. In the present embodiment, the model registration processing routine corresponds to an example of a registration step.

Next, the container orientation control process will be described in detail with reference to FIG.
Before the user starts driving the container printing apparatus 11, the user inputs the necessary setting information on the setting screen 90 displayed on the display unit 63 by operating the input device 62, and then starts driving the container printing apparatus 11. By performing the operation, the container printing apparatus 11 is driven. As a result, the container printing apparatus 11 is driven by the controller 56 that has input the start of driving. The containers 20 supplied from the supply unit 14 by the driving of the conveying device 12 are continuously conveyed by the conveyor 13, and the containers 20 that are continuously conveyed at a predetermined interval by the timing screw 16 are detected at the timing detected by the container sensor 32. Photographed from one direction by the camera 31. Image data captured and captured by the camera 31 is temporarily stored in the memory 69 in the computer 65. Then, the container rotation control process is performed by the computer 65 executing the program PR. During the driving of the container printing apparatus 11, an inspection screen (not shown) including an image of the container photographed by the camera 31 is displayed on the display unit 63.

  First, in step S21 in FIG. 16, the image data of the container is acquired. That is, the computer 65 acquires image data obtained by photographing the container 20 being transported by the camera 31 from one direction. In the present embodiment, the process of step S21 corresponds to an example of an imaging step.

  In step S22, the container width and width center position are calculated. The image acquisition unit 73 performs a calculation process similar to the calculation performed by the model registration unit 72 in step S12, and calculates the width and the center position of the container.

  In step S23, the width center of the container is corrected to the width center of the image. The image acquisition unit 73 performs a correction process similar to the correction process performed by the model registration unit 72 in step S13. By this correction, the image of the container 20 is displayed on the inspection screen (not shown) displayed on the display unit 63 in a state where the center of the width thereof matches the center of the width of the inspection screen.

  In step S24, the model detection unit 81 executes an omni matching process and detects the model with the highest score. The model detection unit 81 is similar to N model M registered at different positions in the circumferential direction of the container 20 from the captured pattern information obtained by the camera 31 shooting the container 20 from one direction. Perform omni-matching processing to search for At this time, of the entire area of the label 22 shown in FIG. 11, the entire shooting range IR in the height direction Z taken by the camera 31 may be the target of matching processing. In this embodiment, the camera 31 shown in FIG. 11 is used. A part of the imaging range IR captured in step S in the height direction Z corresponding to the registration area RA including all N models M1 to M8 is set as a matching target area MA. For this reason, by performing the matching process with the latter relatively narrow matching target area MA as a processing target, the processing time is relatively shortened compared to the former case where the entire relatively large photographing area is the processing target. be able to.

  In this omni matching process, the model detection unit 81 performs the shape matching process while gradually moving the pattern area to be compared within the process target area (registered area RA in the photographed image). A model is detected by obtaining a similarity score with the model M and detecting a similar symbol part with a score equal to or greater than a threshold. Further, when there is only a target symbol area whose score is less than the threshold, a similar symbol portion similar to the model M is not detected in the captured image, and therefore no model is detected. And the matching process which searches the similar symbol part similar to the model M about all the models M1-M8 is performed. If a plurality of similar symbol parts similar to the models M1 to M8 are detected as a result of this omni matching process, one of the similar symbol parts having the highest score is set as the detection model DM. Then, by finding the detection model DM (similar symbol part), the model M corresponding to the detection model DM is detected from the captured symbol information.

  In step S25, the model detection unit 81 determines whether a model has been detected. If the model can be detected, the process proceeds to step S26, and if the model cannot be detected, the process proceeds to step S29.

  In step S26, the container orientation detection unit 74 acquires the front angle and position information (coordinates) when the detected model M is registered. That is, the container orientation detection unit 74 acquires the front angle and position information (coordinates) associated with the detected model M from the model registration data MD.

  In step S <b> 27, the calculation unit 82 calculates the direction of the container from the detection position of the model M. That is, the calculation unit 82 calculates the orientation of the container 20 at that time using values such as the model detection position, the front angle at the time of model registration, and the container width viewing angle α.

The calculation unit 82 of the present embodiment calculates the front angle θc in the captured image that specifies the orientation of the container 20 from the model detection position and the position where the model is registered. That is, the calculation unit 82 calculates the front angle θmc of the container 20 that faces the front of the camera 31 when the camera 31 images the container 20 as an angle value with reference to the reference angle “0 degree”. The front angle θc that specifies the orientation of the container 20 is given by the following equation (1) from the geometrical relationship of each position in the container 20 shown in FIG.
θc = θmc +
(Arcsin ((C0−C1) / r) −arcsin ((C0−Cm) / r)) · 180 / π (1)
Here, θmc is a front angle when the corresponding model is registered, and is represented by an angle value in increments of 45 degrees from 0 degrees to 315 degrees. C0 is the center position (container width center position) of the container in the captured image. Cm is a model registration position indicating a position when the corresponding model is registered. C1 is a detection position where the corresponding model is detected in the model detection process. r is a radius in a cross section perpendicular to the axis of the container 20. In this example, a radius at a predetermined height below the neck portion 26 (see FIG. 13) of the container 20 is employed as an example. The radius r is given by the following equation (2) using the container width viewing angle α and the container viewing angle width W (see FIG. 14).
r = W / 2 ÷ sin (α / 2) · 180 / π (2)
Thus, the calculation unit 82 of the container direction detection unit 74 calculates the direction of the container 20 given by the front angle θc using the above equations (1) and (2). In the present embodiment, each process of steps S24 to S27 corresponds to an example of a detection step.

  In step S28, the label height inspection unit 83 inspects the label height deviation from the detected model position (height). Here, the model registration data MD includes information on the height of the model M from the placement surface of the conveyor 13 when the container 20 is placed on the placement surface of the conveyor 13. The label height inspection unit 83 compares the detection height of the model M (the height of the detection model DM) with the height of the registered model M, and determines the label height based on the difference (deviation amount) between the two. The deviation in the vertical direction Z is inspected. If the amount of deviation in the height direction Z of the label 22 is less than or equal to the allowable range, the label height inspection unit 83 is regarded as a non-defective product with no label deviation, and when the amount of deviation in the height direction Z of the label 22 exceeds the allowable range, Defective product with misaligned label.

  In step S29, the direction of the container is set to a set angle. This setting angle setting is applied to the case of the container printing apparatus 11 for high-speed lines. That is, when the orientation of the container cannot be detected, it is estimated that the container 20 is at an angle that is most difficult to match, and a setting angle corresponding to the value is set. The upstream container rotating device 40A controls the rotation of the container 20 in accordance with the set angle, and the control is passed to the next downstream container direction detecting device 100. At this time, since the downstream camera 31B can photograph the container 20 at a photographing angle different from that of the upstream camera 31A, the probability of matching can be increased when matching is performed based on the captured image data. Note that the setting angle may be other than the target angle as long as the upstream container rotating device 40A rotates the container 20 and the downstream camera 31B can capture the container 20 at a different imaging angle from the upstream camera 31A. An appropriate value may be used.

  In step S30, the calculation unit 82 calculates the rotation angle up to the target angle of the container. In other words, the calculation unit 82 sets the orientation of the container 20 from the detected orientation (front angle θc) to the orientation of the target angle G where the printing region 27 faces the front of the printing apparatus 50 when the container 20 passes in front of the printing apparatus 50. A rotation angle (amount of rotation) necessary to become is calculated.

  In step S31, the rotation control unit 75 outputs the rotation angle calculated by the calculation unit 82 and controls the rotation of the container rotating device 40. That is, the rotation control unit 75 rotates the container 20 by the commanded rotation angle by outputting the command value of the rotation angle calculated by the calculation unit 82 and drivingly controlling the container rotating device 40. As a result, the orientation of the container 20 is adjusted to a target orientation in which the printing area 27 faces the front of the printing apparatus 50.

  Here, in the container printing apparatus 11 corresponding to the high-speed line, the computer 65 acquires image data obtained by photographing the container 20 by the downstream camera 31B in the same manner as the upstream camera 31A (S21), and step The processes of S22 to S31 are performed in the same manner. By sharing the rotation angle for rotating the container 20 by the two container rotation devices 40, the rotation angle of the container 20 carried by one container rotation device 40 is reduced to about ½, and a pitch of about half is secured. However, it is possible to increase the conveyance speed of the container 20. Further, when the model M cannot be detected by the matching process based on the image data captured by the upstream camera 31A, the container 20 is rotated by the upstream container rotating device 40A using the angle at that time as a set angle. Therefore, since the downstream camera 31B can photograph the container 20 at a photographing angle different from that of the upstream camera 31A, the probability of matching can be increased when matching is performed based on the image data captured by the downstream camera 31B. When the matching and the orientation of the container 20 can be detected, the orientation of the container 20 is adjusted to the target orientation in which the printing region 27 faces the front of the printing device 50 by the downstream container rotating device 40B.

  Then, the rotation failure container 20 and the label height displacement defect container 20 whose orientation is inappropriate are discharged to the outside of the conveyor 13 by the discharge device 54 and collected in the receiving box 55. As a result, only the container 20 in which the printing area 27 is adjusted so as to face the printing apparatus 50 is conveyed along a path passing in front of the printing apparatus 50.

  Thus, predetermined items such as the expiration date and the lot number are printed by the printing device 50 in the printing area 27 facing the front when the container 20 passes in front of the printing device 50. The container 20 that has passed through the printing apparatus 50 is inspected for quality of the printing result based on the image data obtained by the inspection camera 53. That is, based on the image data obtained by the print inspection unit 77 taken by the inspection camera 53, the print results are classified according to a plurality of factors such as print position misalignment and print quality defects such as ink fading and bleeding. Inspect. The defective printing container 20 is discharged to the outside of the conveyor 13 by the discharge device, and is collected in a receiving box (both not shown). In addition, it replaces with the structure which excludes the defective container 20 unsuitable for printing, such as a rotation defect and label height deviation defect, from the conveyor 13 before printing, and the defective container 20 is also conveyed downstream by the conveyor 13 as it is, and is controlled. The unit 71 may control the printing apparatus 50 so that the printing apparatus 50 does not perform printing on the defective container 20.

As described above in detail, according to this embodiment, the following effects can be obtained.
(1) In the container orientation detection device 100, a camera 31 that captures images of the container 20 from one direction and a plurality of symbol portions at different positions in the circumferential direction among the symbols 23 of the entire circumference of the container 20 are associated with position information. And a memory 69 for storing the registered model registration data MD. Furthermore, the container orientation detection device 100 searches for similar symbol parts similar to the registered models M1 to M8 in the photograph symbol information obtained by the camera 31 photographing the container 20 from one direction, and detects the similar symbol part found. A container orientation detection unit 74 that detects the orientation of the container 20 based on the position (position information) and the position information of the model M is provided. Therefore, the camera 31 may be prepared in a number (for example, one) that can photograph the container 20 from one direction. Moreover, like the container orientation detection device described in Patent Document 2, all-round symbol information of the container is registered in advance, and the shooting symbol information obtained by photographing the container from one direction with the camera from the all-round symbol information. Even in a configuration for performing a matching process for searching for a single camera, a single camera can be used. However, in this case, the matching process for searching the photographed symbol part information out of the all-around symbol information becomes a considerable burden, and the matching process takes a considerable time. On the other hand, the container orientation detection device 100 according to the present embodiment only needs to perform a matching process for searching for the model M (registered symbol part) from the captured symbol information captured from one direction of the container 20. The burden is relatively light and can contribute to shortening the matching processing time.

  (2) A model registration unit 72 that stores a plurality of models M (registered symbol units) in the memory 69 in association with position information is further provided, and the outer peripheral surface 21 of the container 20 is divided into N parts in the circumferential direction (where N is 3). For each angle range (natural number above), the design portion of the area specified by the input device 62 is registered as a model M one by one. Therefore, the symbol portion of the desired area designated by the input device 62 among the symbols 23 on the outer peripheral surface 21 of the container 20 can be registered as the model M. If there is a variable symbol portion 23E that varies depending on the type of product, for example, in the symbol 23 of the container 20, the model M can be registered while avoiding the variable symbol portion 23E. In this case, the orientation of the container 20 can be detected using the common model M even if the types of products are different. Further, when the container 20 is photographed from one direction, there is one detection model DM (similar symbol part) in the photographed image, so the orientation of the container 20 is detected regardless of the orientation of the container 20. can do.

  (3) N division is 6 divisions or more (8 divisions as an example), and one angle range is 60 degrees or less (45 degrees as an example). Therefore, a plurality of models M can be detected in the captured image obtained by the camera 31 capturing from one direction. Therefore, even if one model M among a plurality of models M cannot be detected for some reason, another one model M can be detected. Even in such a situation, one of the detected models M can be detected. Based on this, the orientation of the container 20 can be detected. Therefore, the direction of the container 20 can be detected more reliably. For example, this can contribute to a reduction in the incidence of defective containers 20. In addition, as said situation, the case where the area | region containing at least one part of the variable symbol part 23E is registered as the model M is mentioned.

  (4) The container direction detection unit 74 includes a label height inspection unit 83, and detects the position of the model M in the height direction Z of the container 20 by the label height inspection unit 83 in addition to the detection of the direction of the container 20. . Therefore, it is possible to detect the shift of the pattern 23 in the height direction Z of the container 20. For example, in the case of the container 20 to which the label 22 on which the pattern 23 is drawn is applied, the label defect in which the label 22 is shifted in the height direction Z from the amount of shift in the height direction Z of the pattern portion with respect to the container 20 The container 20 can be detected.

  (5) The container printing apparatus 11 is based on the direction of the container 20 detected by the conveyance apparatus 12 including the conveyor 13 that continuously conveys the container 20, the container direction detection apparatus 100, and the container direction detection apparatus 100. And a container rotating device 40 that rotates the container until it reaches a target direction. Therefore, the direction of the container 20 detected by the container direction detection device 100 can be rotated until it reaches the target direction, and the container 20 can be adjusted to the target direction.

  (6) The container direction detection unit 74 is a height direction of a container in which all of the N models M (registered pattern parts) are included in the photographed symbol area obtained by the camera 31 photographing the container 20 from one direction. The model M is searched for a part of the registration area RA that is also a part of the registration area RA in Z. Therefore, since the target area of the matching process can be made smaller than the shooting symbol area, the matching processing time can be further shortened compared to the case where the target area is the entire shooting symbol area.

  (7) The container printing apparatus 11 as an example of a container processing apparatus includes a printing apparatus 50 as an example of a processing unit that performs a printing process on the container 20 adjusted to a target direction by the container rotating apparatus 40. Therefore, it is possible to correctly print predetermined items in the printing area 27 in the predetermined direction of the container 20.

Embodiment is not limited above, You may change as follows.
-It is not necessary to perform matching processing for all of a plurality of models (registered symbol parts). For example, if the similarity score similar to the registered symbol part exceeds the target value, the similar symbol part may be determined as a detection model, and the matching process may be stopped at that time. Also, in the case where parallel processing is performed by the multi-core CPU 68, the parallel processing may be stopped when one model whose similarity score exceeds the target value is found. According to this configuration, the orientation of the container can be detected at an early stage.

  ・ When multiple detection models (similar symbol parts) were acquired, one detection model with the highest score was selected, but the values of the container orientations were calculated based on the multiple detection models, and the calculation was performed. The container orientation may be determined based on a plurality of orientation values. For example, the orientation values of a plurality of containers may be averaged or weighted according to the similarity value.

  -The container whose direction is to be detected by the container orientation detection device is not limited to a label container in which a label is attached to the container and a pattern is provided on the outer peripheral surface, but a print in which the design is directly printed on the outer peripheral surface of the container The present invention can be applied to various containers having a certain design on the outer peripheral surface, such as a container in which a design is integrally molded using a multi-color molding technique such as a two-color molding. The shape of the container is not limited to a substantially cylindrical shape, and the cross-sectional shape may be a polygonal shape such as a triangle, a quadrangle, a hexagon, an octagon, or a dodecagon. In that case, the container rotation device can rotate. If necessary, a belt rotation method using a belt speed difference may be used, but a rotation table method in which a container is placed on a rotation table and rotated, or a rotation method in which a container lifted by a gripping part such as a chuck part or a negative pressure adsorption part is rotated. Good.

  -The division | segmentation number N which divides | segments the outer peripheral surface of a container in the circumferential direction should just be 3 or more natural numbers. For example, the outer peripheral surface of the container may be divided into three in the circumferential direction, may be four divisions, five divisions, six divisions, seven divisions, nine divisions, ten divisions, or even N divisions of 11 divisions or more. And it is preferable to register one model (registered symbol part) for each angle range divided by the division number N of 3 or more.

  -In the said embodiment, although the outer peripheral surface of the container was divided into 8 in the circumferential direction, it is preferable that N division is 6 divisions or more. If it is six divisions or more, one angle range can be set to 60 degrees or less, and a plurality of registered symbol parts can be detected in photographed symbol information photographed from one direction by a camera. Even if it is not possible to find it, the direction of the container can be detected if another one is found. Therefore, the direction of the container can be detected more reliably.

  A plurality of models may be registered for one angle range divided into N. For example, two models may be registered in one angle range divided into three, or two models may be registered in one angle range divided into eight. Also, the number of registered models may vary depending on the angle range.

The matching process is not limited to the shape matching process, and may be another known matching process. For example, correlation matching processing such as normalized correlation matching may be used.
-Although it was set as the structure which image | photographs the outer peripheral surface 21 of the single container 20 from one direction (predetermined imaging | photography angle) with the one camera 31, as long as it acquires by imaging only some symbols among the patterns of the perimeter of a container. For example, a single container may be photographed by two cameras. For example, a predetermined image range within a range of 180 to 300 degrees, for example, of the entire circumference of the container by two cameras, and a combined image obtained by combining the images obtained by photographing the container with two cameras is registered as a target. A matching process for searching for a part (model) may be performed. In this case, the division number N for dividing the outer peripheral surface of the container in the circumferential direction can be set to “2” and the number of registered symbol parts can be two. This configuration also requires a relatively small number of cameras compared to a configuration in which images of the entire circumference of the container are acquired by photographing, and further shortens the processing time during matching processing and can detect the orientation of the container at an early stage. . In addition, compared to the configuration in which the orientation of the container 20 is detected by the single camera 31 (31A, 31B) of the above-described embodiment, the orientation of the container can be reduced even if the number of registered models M is small (for example, two). Can detect the orientation in any orientation.

  -N division | segmentation is not limited to N equal division | segmentation. As long as the registered symbol portion does not exist at a specific location in the circumferential direction of the container (for example, an angular range of 150 degrees or more), the registered design portion may be divided at different angular ranges. The angle range may differ by a difference of a range of 30 degrees or less, for example.

  The printing device may print on the lid of the container. For example, when there is an application for printing on the lid in a direction that matches the design of the outer peripheral surface of the container, the lid can be printed in a direction that matches the design of the outer peripheral surface of the container. In this case, it is good also as a container printing apparatus which prints on both the outer peripheral surface of a container, and a lid | cover.

  The processing performed by the processing unit after adjusting the orientation of the container 20 is not limited to the printing processing by the printing apparatus 50, and may be other processing that requires adjustment of the orientation of the container. For example, a lid mounting apparatus for mounting a lid on a container may be provided as an example of the processing unit, and the processing may be a lid mounting process in which the orientation of the design of the lid is aligned with the design of the container. In addition, an inspection apparatus that inspects a pattern portion or a printed portion in a predetermined direction of the container may be provided as an example of the processing portion, and the processing may be inspection processing. In this case, before the inspection, the direction of the container is adjusted to the target direction where the inspection target portion of the container is located in front of the inspection apparatus.

  -Although the container processing apparatus provided with the container direction detection apparatus was used as the container printing apparatus 11, the printing apparatus 50 was cut off, and it configured as a container direction adjustment apparatus that detects the direction of the container and adjusts the direction of the container to the target direction. Furthermore, only the container orientation detection device may be configured as one device.

  DESCRIPTION OF SYMBOLS 11 ... Container printing apparatus as an example of container processing apparatus, 12 ... Conveyance apparatus as an example of a conveyance part, 13 ... Conveyor, 20 ... Container, 21 ... Outer peripheral surface, 22 ... Label, 23 ... Design, 30, 30A, 30B Image capturing device 31, 31A, 31B ... Camera as an example of imaging unit, 32, 32A, 32B ... Container sensor, 40, 40A, 40B ... Container rotating device as an example of container rotating unit, 50 ... Example of processing unit Printing apparatus, 51 ... inspection camera, 53 ... inspection camera, 56 ... controller, 60 ... personal computer, 61 ... main body, 62 ... input device, 63 ... display unit, 69 ... memory as an example of storage unit, 71 ... control unit, 72 ... model registration unit as an example of registration unit, 73 ... image acquisition unit, 74 ... container orientation detection unit as an example of detection unit, 75 ... rotation control unit, 76 ... Roll inspection unit, 77 ... Print inspection unit, 100 ... Container orientation detection device, PR ... Program, MD ... Model registration data as an example of registered data, M1 to M8, M ... Model as an example of registered symbol part, RA ... Registration area, Z: height direction.

Claims (7)

A container orientation detection device for detecting the orientation of a container,
An imaging unit that captures images of the outer peripheral surface of the container from one direction;
A storage unit that stores a plurality of symbol parts at different positions in the circumferential direction of the container among the symbols on the outer peripheral surface of the container in association with positional information as a registered symbol part,
The image capturing unit performs a matching process for searching for a similar symbol part similar to the registered symbol part from the photograph symbol information obtained by photographing the container from one direction, and the similar symbol part position information found in the matching process and the similarity A container direction detection device comprising: a detection unit configured to detect a direction of a container based on position information of a registered pattern unit corresponding to the pattern unit. A registration unit that associates a plurality of the registered symbol parts with location information and stores them in the storage unit;
The registration unit has one symbol part of the region designated by the input device as one registered symbol part for each angle range obtained by dividing the outer peripheral surface of the container into N parts in the circumferential direction (where N is a natural number of 3 or more). The container orientation detection device according to claim 1, wherein registration is performed one by one.   The container orientation detection device according to claim 2, wherein the N division is 6 divisions or more, and the one angle range is 60 degrees or less.   The said detection part detects the position shift of the height direction of the pattern with respect to the said container in addition to the detection of the direction of the said container, The container direction detection apparatus as described in any one of Claim 1 thru | or 3 characterized by the above-mentioned. . A region in the container height direction including all of the plurality of registered symbol portions among the symbols on the outer peripheral surface of the container is set as a registered region,
The detection unit searches for the registered symbol part as a target of the matching processing for a part of the photographed symbol information corresponding to the registered region in a container height direction. 5. The container orientation detection device according to any one of 4 above. A transport unit having a conveyor for continuously transporting containers at predetermined intervals; and
The container orientation detection device according to any one of claims 1 to 5, wherein the detection target is a container that is continuously conveyed by the conveyor.
Based on the direction of the container detected by the detection unit constituting the container direction detection device, the container rotating unit that rotates the container until the target direction is reached, and the container that is directed toward the target by the container rotating unit. A container processing apparatus comprising: a processing unit that performs processing. A container orientation detection method for detecting the orientation of a container,
A registration step of registering a plurality of registered symbol parts selected at different positions in the circumferential direction of the container among the symbols on the outer peripheral surface of the container in association with the position information;
An imaging step of photographing the outer peripheral surface of the container from one direction;
From the photographed symbol information photographed from one direction of the container, a matching process for searching for a similar symbol part similar to the registered symbol part is performed, and the position information of the similar symbol part found in the matching process and the similarity A container orientation detection method comprising: a detection step of detecting the orientation of the container based on the position information of the registered symbol portion corresponding to the symbol portion.

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