JP4004364B2 - Label sticking device and label sticking method to product - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
TECHNICAL FIELD The present invention relates to a packaging pricing apparatus that attaches (prices) a predetermined label on which a price or the like is printed after packaging a product, and particularly relates to a technique relating to labeling.
[0002]
[Prior art]
Products such as fresh foods sold at supermarkets and convenience stores, or processed foods such as bento lunches and prepared dishes are affixed with labels that describe product names, prices, contents, and the like. Usually, labeling on such products is pre-determined in accordance with conditions such as good appearance at the time of display and not obstructing customers purchasing the product when selecting products. ing.
[0003]
In addition, for the purpose of efficient processing, there is a packaging (weighing) pricing device that automates a series of processing from packaging of products, weighing when necessary, and even labeling (with pricing). Are widely used (see, for example, Patent Document 1).
[0004]
[Patent Document 1]
Japanese Patent Laid-Open No. 11-124117
[0005]
[Problems to be solved by the invention]
However, in packaging and pricing using such a packaging pricing device, even if the product is put in a posture different from the predetermined posture, the label is stuck in the wrong place in the wrong posture. It was. Or, even when a product that is not the target of pasting is accidentally introduced, the label is pasted without being checked. In these cases, it is necessary to redo the pasting, which is a factor that hinders the efficiency of processing.
[0006]
This invention is made | formed in view of the said subject, and it aims at providing the label sticking apparatus which can identify the correctness of goods, and can stick a label on the correct place of goods.
[0007]
[Means for Solving the Problems]
  In order to solve the above-mentioned problems, the invention of claim 1 is provided with a printing means for printing on a label according to a predetermined printing format, and a predetermined moving mechanism, and is capable of sticking the label at an arbitrary position of a product. Means for attaching a label to the product, further comprising posture detection means for detecting the posture of the product placed at a predetermined position inside the device in a substantially horizontal plane, Normal printing for printing on the label without rotating the printing format and rotational printing for printing on the label by rotating the printing format by 180 ° can be selectively executed, and the product is determined in advance. When the posture detecting means detects that the first posture is the original posture, the printing means performs the normal printing on the label, and the sticking The means affixes the label at a reference sticking position determined in advance according to the product, and the posture is when the product takes a second posture which is a posture rotated approximately 180 ° in a horizontal plane from the first posture. When detected by the detecting means, the printing means performs the rotational printing on the label, and the sticking means sticks the label at a position symmetrical to the reference sticking position with respect to the center of the product in the substantially horizontal plane.The posture detection means captures the first product in advance, imaging means for capturing a product image by capturing an upper surface of the product, data to be determined that is a luminance distribution in a predetermined target area of the product image, and The reference image, which is a luminance distribution in a predetermined target area of the reference image acquired while maintaining the posture, is compared, and the first posture and the second posture are determined based on the difference between the determination target data and the reference data. Comparison judgment means for judging an attitude, wherein the comparison judgment means determines that the product is the first when the difference between the judged data and the reference data is within a predetermined threshold range. If the difference between the data to be judged and the reference data is not within a predetermined threshold range, the product image is rotated by 180 ° and then moved to the target area. Applicable territory When the difference between the re-acquired data to be determined and the reference data is within a predetermined threshold range, the product takes the second posture. JudgingIt is characterized by doing.
[0012]
  Claims2The invention of claim1The label affixing device according to claim 1, wherein the operation is stopped when a difference between the re-acquired determination data and the reference data is not within a predetermined threshold range. .
[0013]
  Claims3The invention includes a printing process for printing on a label according to a predetermined printing format, and a predetermined moving mechanism.ByAn affixing step capable of affixing the label to an arbitrary position of the product, and a method for applying the label to the product, wherein the product is placed in a substantially horizontal plane at a predetermined position inside the apparatus. A posture detecting step for detecting a posture in the printing, wherein in the printing step, normal printing for printing on the label without rotating the printing format and rotation for printing on the label by rotating the printing format by 180 ° Printing can be selectively executed, and when the product is in the first posture, which is a predetermined original posture, is detected in the posture detection step, the label is printed on the label in the printing step. Normal printing is performed, and the label is affixed to a reference affixing position predetermined according to the product in the affixing step, and the product is removed from the first posture. When the posture detection step detects that the second posture, which is a posture rotated by approximately 180 ° in the plane, the rotary printing is performed on the label in the printing step, and the abbreviation in the pasting step. The label is affixed at a position symmetrical to the reference affixing position with respect to the product center in the horizontal plane.The attitude detection step includes an imaging step of capturing a product image by capturing an upper surface of the product, determination data that is a luminance distribution in a predetermined target region of the product image, and the product in advance in the first posture. Is compared with reference data that is a luminance distribution in a predetermined target region of the reference image that has been acquired in the above-described manner, and the first posture and the second posture based on the difference between the determination target data and the reference data A comparison and determination step for determining whether the product is in the first posture when the difference between the determined data and the reference data is within a predetermined threshold range. If the difference between the data to be judged and the reference data is not within a predetermined threshold range, the product image is rotated 180 ° and corresponds to the target area. Do When the difference between the re-acquired data to be determined and the reference data is within a predetermined threshold range, the product has the second posture. Is judged to be takingIt is characterized by that.
[0014]
MaClaim4The invention of claim3The labeling method according to claim 1, wherein, in the comparison and determination step, if the difference between the re-acquired data to be determined and the reference data is not within a predetermined threshold range, the printing step And the pasting step is not performed.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
<First Embodiment>
<Device configuration>
FIG. 1 is an external perspective view showing a packaging price attaching device 100 according to a first embodiment of the present invention. FIG. 2 is a block diagram showing a configuration of the packaging price attaching device 100. The packaging price attaching device 100 is a device that wraps a product placed on a tray with a wrap film and attaches a label describing a product name, a price, an internal volume, and the like on a film surface. It also has a function of weighing as required depending on the type of product. In order to realize these functions, as shown in FIG. 1 or FIG. 2, the packaging price adding device 100 includes a loading / discharging unit 10, a weighing unit 20, an imaging unit 30, a lift unit 40, and a packaging unit 50. A printing unit 60, a pasting unit 70, a display / operation unit 80, and a control unit 90. Each part is electrically connected via a bus line BL. Note that FIG. 1 has a three-dimensional coordinate system in which the packaging price attaching device 100 has a depth direction as an x-axis, a width direction as a y-axis, and a height direction as a z-axis. The subsequent description will be made according to this coordinate system.
[0016]
The display / operation unit 80 is provided for the operator of the packaging price attaching device 100 to perform settings related to the operation of each part of the device or to display the operation state of the packaging pricing device 100, and is configured from a keyboard, a liquid crystal panel, and the like. . The liquid crystal panel may be a touch panel display capable of a touch operation.
[0017]
The control unit 90 is provided to control the operation of each unit of the packaging price attaching device 100, and includes a CPU 90a, a ROM 90b, a RAM 90c, and a storage unit 90d, and the function is realized by a computer. The storage unit 90d is realized by a storage device such as a hard disk. The storage unit 90d includes various control programs P, a product master MS1 (FIG. 8) that is a database that stores information about products to be processed such as packaging, and a tray master that is a database about trays. MS2 (FIG. 9), a reference master MS3 (FIG. 10) which is a database for information serving as a reference when making a determination such as product identification, reference image data RID for each product used for determination, and a label The label format data LFD, which is a format for printing “”, is mainly stored.
[0018]
FIG. 3 is a side cross-sectional view schematically showing a front part of a product conveyance path in the packaging price assigning apparatus 100, that is, a part from which an inputted product is imaged, weighed if necessary, and thereafter to packaging. It is. The front part mainly includes an input / discharge unit 10, a weighing unit 20, an imaging unit 30, and a lift unit 40.
[0019]
In many cases, the product M to be subjected to the packaging pricing process in the packaging pricing apparatus 100 is placed on the loading unit 11 of the loading / unloading unit 10 while being placed on the tray T. In the following description, the tray T and the like may be simply referred to as a product.
[0020]
The input unit 11 is connected to the weighing unit 20 on the back surface thereof, and the weight of the product M is detected by the load cell 21 of the weighing unit 20. The detected weight data is sent to the control unit 90 and used for pricing or the like when weight data is required, such as when the product M is a product whose price is determined according to the unit price per weight.
[0021]
In addition, an imaging unit 30 is provided on the back surface side of the discharge unit 15 of the input / discharge unit 10 disposed above the input unit 11. The imaging unit 30 is provided for imaging the product M placed on the input unit 11 by the CCD camera 31. The CCD camera 31 preferably has a function capable of color photography.
[0022]
Further, the input / discharge unit 10 is wound around four pulleys PL, and is fixed by two sets of left and right conveying belts 12 driven by driving means (not shown) and the conveying belts 12, and includes a plurality of conveying claws 13F. And a transport bar 13 having Although not shown in FIG. 3, a notch 11 </ b> N (FIG. 11) is provided at the end of the loading unit 11 to allow the transport claw 13 </ b> F to pass therethrough. When the conveyor belt 12 and the conveyor bar 13 are driven as indicated by the arrows AR1 and AR2, the product M is eventually pushed together with the tray T by the conveyor bar 13, and the centering conveyor 14 and further to the back (x-axis negative) (The direction) is transported onto a support member 43 (described later) of the lift portion 40. Here, the centering conveyor 14 is provided to move the product M in the loading unit 11 to the center when there is variation in the loading position of the product M in the y-axis direction. Due to the action of the centering conveyor 14, the product M is placed at the center in the y-axis direction of the support member 43 of the lift part 40.
[0023]
The lift portion 40 has a support base 41 that can be moved up and down by an electric ball screw mechanism 44, and a plurality of lower ends fixed on the support base 41 so that the longitudinal direction is the z-axis direction. A support bar 42 and a support member 43 provided at the upper end of each support bar so as to be rotatable and support the bottom surface of the tray T are provided. When the product M is placed on the support member 43, the support base is moved upward (z-axis positive direction) by the action of the electric ball screw mechanism 44. Thereby, the commodity M is transferred upward.
[0024]
FIG. 4 schematically shows a rear part of the product conveyance path in the packaging price assigning apparatus 100, that is, a part until the printed label is pasted after the product pushed up by the lift unit 40 is packaged. It is a sectional side view. The front part mainly includes a packaging unit 50, a printing unit 60, and a pasting unit 70.
[0025]
The packaging unit 50 is provided for packaging the product M using a wrap film F for packaging. The packaging unit 50 includes a film transport mechanism 51, a pair of left and right folding plates 52, a rear folding plate 53, a pusher 54, and a seal conveyor 55. In the packaging unit 50, prior to the upward transfer operation of the product M by the lift unit 40 described above, the wrap film F is stretched in advance and supplied above the tray T by the film transport mechanism 51. As a result of the transfer operation by the lift unit 40, the wrap film F adheres to the upper surface of the product M placed on the tray T and the edge of the tray T. Further, with the upper surface of the tray T covered by the wrap film F, the four sides of the wrap film F are folded to the bottom surface (lower surface) side of the tray T by the left and right folding plates 52, the rear folding plate 53, the pusher 54, and the like. Then, each edge part of the wrap film F folded in the bottom face side of tray T in the seal conveyor 55 is heat-welded mutually, and packaging is completed.
[0026]
The printing unit 60 is provided for printing a predetermined print content on a label LB to be affixed to a product during the period from when the product is put into packaging. The pasting unit 70 is provided for pasting the printed level LB at a predetermined position (on the packaging surface) of the product M in a predetermined direction. FIG. 5 is a side sectional view for explaining operations of the printing unit 60 and the pasting unit 70.
[0027]
In the printing unit 60, a label LB integrated with the mount BS is supplied as indicated by an arrow AR4 from the supply roll SR while being guided by the platen roller PR, and is determined according to the label format data LFD and the type of the product M. Based on the print contents, the print head 61 prints on the print surface LBS.
[0028]
In the affixing unit 70, the printed label LB is peeled off from the mount BS while being sucked and held by the affixing head 71, and affixed to a predetermined position of the product M. The sticking head 71 has a plurality of suction holes VH at the bottom, and the label LB can be held by suction from the suction holes VH when the inside of the sticking head 71 is in a negative pressure state. The sticking unit 70 includes a horizontal drive mechanism 72, a vertical drive mechanism 73, and a rotation drive mechanism 74. With the label LB held, as shown by arrows AR5 to AR7, the horizontal movement, vertical movement, And can be rotated. As a result, the label LB can be attached to the product M at any position of the product M in either a portrait orientation or a landscape orientation. The product to which the label LB is attached is discharged to the discharge unit 15.
[0029]
<Determination of product>
Next, the correctness / incorrectness of the introduced product and the determination of the attitude in the packaging price attaching device 100 will be described with specific examples. Now, it is assumed that the product M to be processed in the packaging price assigning apparatus 100 is a “curry rice” CR that enters the tray T and is covered with a transparent upper lid.
[0030]
FIG. 6 shows the relationship between each unit related to product determination and various data generated at the time of determination, which is realized by the functions of the CPU 90a, ROM 90b, RAM 90c, and storage unit 90d in the control unit 90. It is a block diagram. In the control unit 90, a processing target selection unit 91, a reference data generation unit 92, a determination target data generation unit 93, and a comparison determination unit 94 are realized in order to determine a product. FIG. 7 is a diagram showing a flow of product determination. FIG. 8 is a partial view exemplarily showing a commodity master MS1, FIG. 9 is a tray master MS2, and FIG. 10 is a reference master MS3. In any master, each row is referred to as a “record” and each column is referred to as an “item”. The unit of coordinates and size described in each master is “mm”, and the unit of the item “threshold value” in the reference master MS 3 is “%”.
[0031]
First, when a product to be processed is determined in the packaging price assigning apparatus 100, the processing target selection unit 91 receives the target from the product master MS1 and the tray master MS2 in accordance with the operation of the display / operation unit 80 by the operator. Information about the product to be obtained is acquired (step S1). Since the product to be processed is “curry and rice” CR, the determination target setting data OSD is generated based on the record of “15” for “calling No.” in the product master MS1. Specifically, since the value of the item “Tray No.” in the record “Call No.” is “15” is “08”, the content of the record “Tray No.” is “08” in the tray master MS 2. Among them, information necessary for determining the product, for example, information such as “depth”, “width”, and “height” is extracted as the determination target setting data OSD. Further, from the reference master MS3 to which “call No.” is assigned in common with the product master MS1, the data file name of the reference image data RID used for determination is selected from the records with “call No.” being “15”. Information such as “reference image” to be shown and “determination position” and “threshold value” serving as a determination reference are also extracted as determination target setting data OSD. It is assumed that the reference image data RID is created in advance from data captured prior to processing in the packaging price assignment apparatus 100 for the target product, and is stored in the storage unit 90d in, for example, a bitmap format.
[0032]
When various settings for processing, such as the setting for the target product, are completed, the product introduction is started (step S2). FIG. 11 is a top view of the charging unit 11. The product is placed within the placement frame FL indicating the imaging range of the imaging unit 30 on the placement surface 11s of the input unit 11. The mounting frame FL is a rectangular area having a depth of Hf and a width of Wf. In the frame, the axes AX and AY have the + x direction as the X axis positive direction and the + y direction as the Y axis positive direction. And the intersection is defined as the input origin O. As a general rule, the product is defined to be placed so that the longitudinal direction substantially coincides with the Y-axis direction. Further, a state where the product is placed so that the center of the product coincides with the input origin O and the longitudinal direction thereof coincides with the axis AY is referred to as an ideal state, and the arrangement position of the product in the ideal state is referred to as an ideal position IP. And The reference image data RID is preferably data obtained by imaging a product in this ideal state.
[0033]
In addition, as described above, by setting the product to be placed in a posture that is as close to the ideal state as possible, it is possible to prevent the occurrence of a situation where the product is placed in a posture that deviates significantly from the normal posture in advance. Is done. Even if the tray is placed in such a posture, the size of the tray does not match the registered size as will be described later, so that the processing is not erroneously continued. Therefore, the main problem is when the product is placed in a posture rotated approximately 180 ° from the ideal state, that is, in a reversed posture.
[0034]
When the product is placed on the input unit 11, the operation in each unit is sequentially performed as described above. Here, when weighing is necessary, weighing is performed by the weighing unit 20, but the placed product is imaged by the imaging unit 30 regardless of the necessity of weighing (step S3). An image obtained by imaging is stored in the RAM 90c or the storage unit 90d as an imaging data ID. Since the imaging data ID is data used mainly for determination of a product, it is not always necessary to store it until after the determination process. However, in the case of storing it in the storage unit 90d, for example, at the time of packaging for each product individual It is also possible to use the appearance state for a follow-up inspection to be confirmed later.
[0035]
When the imaging data ID is obtained, reference data RD used for product determination and data to be determined ED are generated (step S4). In the present embodiment, since the correctness or attitude of the product is determined based on the information on the color distribution of the product, specifically, the luminance information, both the reference data RD and the determination target data ED are used. Therefore, it is obtained as data suitable for this purpose.
[0036]
The reference data RD is obtained from the reference image data RID acquired in advance by the reference data generation unit 92 and stored in the storage unit 90d, the setting contents described in the determination target setting data OSD, that is, the original reference master MS3 (FIG. It is generated based on the setting contents described in 10). That is, the reference data RD for the “curry and rice” CR is 50 (mm) in the x direction centered on the position of the coordinates (25, 25) as viewed from the input origin O in the reference image data RID with the file name “curry”. ), And is generated from a rectangular region SQ0 having a size of 50 (mm) in the y direction (FIG. 13).
[0037]
On the other hand, the determination data ED is generated from the imaging data ID according to the setting contents of the determination target setting data OSD. However, when an actual product is put in, the product is not necessarily placed in an ideal state, and even if the product is placed aiming at the ideal state, the actual placement position RP and the ideal position IP do not match. The attitude of the product may deviate from the ideal state frequently. Therefore, in order to obtain the determination target data ED, first, after canceling the deviation of the placement position, information on the product is obtained. FIG. 12 is a diagram for explaining this.
[0038]
In FIG. 12, the outer peripheral shape of the product placed at the actual placement position RP in the frame of the placement frame FL is indicated by a solid line, and the outer peripheral shape of the product at the ideal position IP is indicated by a broken line. Assume that the coordinates of the product center C of the product placed at the actual placement position RP are (C1, C2) in the XY coordinate system.
[0039]
In addition, from the imaging data ID of the product, first, the outer peripheral position of the product is detected, and the size of the product is determined from this (step S5). The outer peripheral shape can be defined by, for example, the width and depth of the tray T as representative values. The outer peripheral position can be detected, for example, by applying a high-pass filter process to the imaging data ID based on the difference in color components between the product and the input unit 11. The end parts in the X axis direction thus obtained are E1, E2, the end parts in the Y axis direction are E3, E4, and the distances between E1 and the rearmost part of the mounting frame FL are H1, E2, and the foremost part. H2 is the distance between E3 and the left end, W3 is the distance between E4 and the right end, and W4 is the calculated tray size that does not take into account the deviation of the posture, the depth is H0 and the width is W0. Respectively,
H0 = Hf-H1-H2 (Formula 1)
W0 = Wf-W3-W4 (Formula 2)
Given by. It is determined whether or not the tray size obtained from Equations 1 and 2 is within a predetermined error range with reference to the tray size registered in the tray master MS2. If it is not within the error range, the processing is stopped because it is a defective insertion due to a significant deviation in the posture (step S12). This avoids the inconvenience of being unable to be packaged during the subsequent packaging process. In this case, the packaging price assigning apparatus 100 temporarily stops the product processing operation, and displays a warning message to this effect on the display of the display / operation unit 80. Thereafter, the product is taken out and the correct product is reintroduced or given the correct settings, and the process is resumed.
[0040]
If the tray size meets the standard, the subsequent processing is performed. When the tray has a point-symmetric shape, the coordinates (C1, C2) of the product center C are given as intersections of straight lines connecting the extreme ends. That is,
C1 = (H1-H2) / 2 (Formula 3)
C2 = (W3-W4) / 2 (Formula 4)
It becomes. Actually, there may be a deviation from the true center position due to the attitude of the product, detection error, etc., but the influence on the determination of the target product is small.
[0041]
By obtaining the coordinates of the product center C, even if the product is placed with a deviation from the ideal position IP, by using the relative coordinates from the product center C, the imaging data ID is used regardless of the placement position. The range information to be determined can be extracted from That is, the deviation of the placement position is cancelled. That is, the determination data ED is from a rectangular area SQ1 having a size of 50 (mm) in the X-axis direction and 50 (mm) in the Y-axis direction, centered on the position of the coordinates (25, 25) when viewed from the product center C. Will be generated. As described above, since the imaged product is centered by the centering conveyor 14 before reaching the packaging process, the displacement of the placement position does not affect the subsequent process.
[0042]
FIG. 13 is a diagram illustrating a product image IM0 corresponding to the reference image data RID and a rectangular area SQ0 that is a generation target of the reference data. FIG. 14 is a diagram illustrating a product image IM1 corresponding to the imaging data ID (ID1) and a rectangular area SQ1 that is a generation target of the determination target data ED (ED1). It is assumed that the product shown in FIG. 14 is placed in a posture inclined by a minute angle α (about several degrees at most) from a correct posture, which is not a problem in packaging. Further, FIG. 15 illustrates a rectangular image SQ2 that is a generation target of the image IM2 of the product corresponding to the imaging data ID (ID2) acquired when the product is placed in the reverse direction and the determination data ED (ED2). FIG. Further, FIG. 16 is a diagram showing the reference data RD and the determination target data ED (ED1, ED2).
[0043]
As shown in the image IM0 in FIG. 13, the product “curry and rice” CR, which is the target, is now viewed from the top as “rice” region RG1, “ru” region RG2, and outer periphery region RG3 of tray T. It is divided roughly. Since “boiled egg” is partially topped on “Ru”, this region is referred to as “boiled egg” RG2e. In the “curry and rice” CR, the rectangular area SQ0 for which the reference data is to be generated is set on the “rice” area RG1. The reference data RD shown in FIG. 16A is obtained by extracting the luminance information in the rectangular area SQ0 as relative luminance distribution data. As shown in FIG. 16A, the reference data RD of “curry and rice” CR has a characteristic of having a large peak in a region with the highest luminance. In other words, this corresponds to using the position of the “rice” region RG1, which is mainly white, as a reference for determining whether or not the product has the correct posture. Note that the reference data RD includes a region RG3 slightly corresponding to the tray T.
[0044]
On the other hand, in the image IM1 shown in FIG. 14 and the image IM2 shown in FIG. 15, respectively, the luminance information in the rectangular area SQ1 and the rectangular area SQ2 set at the same position as the rectangular area SQ0 when viewed from the product center C, The data extracted as the relative luminance distribution data are the determination data ED1 and ED2 shown in FIGS. 16B and 16C, respectively. The comparison judgment unit 94 judges whether the difference between the judged data ED1, ED2 and the reference data RD is within a predetermined “threshold value”, thereby judging the correctness and attitude of the product. (Step S6).
[0045]
The determination of the degree of coincidence between the reference data RD and the determination data ED (ED1, ED2) is performed, for example, by calculating the sum of squares of the difference in relative frequency between the determination data ED1 and the reference data RD at the same luminance value for all luminance values. Is summed and squared, and whether or not the value is equal to or less than “5%” which is a “threshold value” set in advance in the reference master MS3.
[0046]
In the case of the determination target data ED1, the product posture is inclined by an angle α as compared with the ideal state, but the tray size is also within the error range. Further, as can be seen from a comparison between FIGS. 16A and 16B, the relative luminance distribution generally matches the reference data RD, and is determined to satisfy the criterion of “5%” or less. In this case, it is determined that the correct product has been introduced in a substantially normal posture, and determination result data ERD having corresponding contents is generated (YES in step S6, step S10). The determination result data ERD is, for example, data in which information about the attitude of a product is described as flag data. In this case, determination result data ERD having a predetermined flag indicating a normal attitude is generated. Become.
[0047]
By performing the determination process as described above, the process can be continued as it is when the “threshold value” is met without strictly matching the posture with the ideal state. On the contrary, it is desirable to set the “threshold value” so as to allow a certain degree of posture deviation upon insertion.
[0048]
On the other hand, in the case of the determination target data ED2, the relative luminance distribution is completely different from the distribution of the reference data RD, as can be seen by comparing FIGS. 16 (a) and 16 (c). That is, a peak appears just around the halftone. This can be said to be a peak corresponding to the “Lu” region RG2. Moreover, although a peak also exists in the high luminance range, its shape is clearly different from that seen in the reference data RD. This can be said to be a peak corresponding to the “boiled egg” region RG2e. Since the determination data ED2 having such characteristics does not satisfy the threshold criteria, it cannot be determined that at least a correct product has been introduced in a generally normal posture (see FIG. NO in step S6).
[0049]
In this case, the comparison / determination unit 94 performs captured image rotation processing for generating a new product image in which the attitude of the product is rotated by 180 ° with respect to the image IM2 based on the captured data ID2 (step S7). The result is exactly the same as the image IM0 shown in FIG. 14 in the above example. And again, to-be-determined data is extracted from a predetermined area (step S8), and a determination process is performed (step S9). As a result, if the standard is satisfied, it is determined that the correct product has been put in, but the product is placed on the loading unit 11 in a state where the posture is reversed by approximately 180 °. In this case, determination result data ERD having a predetermined flag indicating the reverse posture is generated. (YES in step S9, step S11).
[0050]
Alternatively, when “curry rice” CR is a processing target at the time of step S1, for example, a product different from the processing target such as “fried rice lunch” is introduced, as shown in FIG. An imaging data ID (ID3) having a product image IM3 different from “Rice” CR is acquired. FIG. 18 is a diagram comparing the determination target data ED (ED3, ED4) and the reference data RD in this case. In this case, although the shape of the tray is slightly different, it is assumed that it falls within the error range of the tray size of the “curry rice” CR.
[0051]
In this case, the determination target data ED3 is first extracted from the rectangular area SQ3 in step S4. It is assumed that the determination target data ED3 obtained as a result is shown in FIG. Note that FIG. 18A shows the reference data RD, which is the same as FIG. As can be seen from FIGS. 18A and 18B, since the distributions of the two are completely different, NO is selected in step S6. Subsequently, the captured image rotation process is performed (step S7). This eventually leads to a process of extracting the determination target data ED4 from the rectangular area SQ4 of FIG. The determination target data ED4 obtained as a result also has a distribution different from the reference data RD.
[0052]
That is, in this case, none of the two determinations satisfies the standard, and NO is selected also in step S9. Therefore, it is determined that a product different from the product initially set as the processing target is input (step S12). In this case, instead of generating the determination result data ERD, the packaging price attaching device 100 temporarily stops the product processing operation and displays a warning message to this effect on the display of the display / operation unit 80. Become. Thereafter, the product is taken out and the correct product is reintroduced or given the correct settings, and the process is resumed.
[0053]
When the attitude of the product is determined as described above, label printing processing and pasting processing are subsequently performed in accordance with the determination result data ERD.
[0054]
<Printing and pasting labels>
When the correctness / incorrectness of the product and the determination of the posture are finished, the product is continuously subjected to the packaging process, and the printing process in the printing unit 60 is performed in parallel so that the label is quickly attached to the packaged product. Then, the printed label is quickly pasted on the product by the pasting unit 70. In the following, it is assumed that the product to be processed is a “curry and rice” CR.
[0055]
FIG. 19 shows the relationship between each part related to label printing and various data generated at the time of printing, which are realized by the functions of the CPU 90a, ROM 90b, RAM 90c, and storage unit 90d in the control unit 90. It is a block diagram. In the control unit 90, a print data generation unit 95 and a print control unit 96 are realized in order to perform printing on a label corresponding to the attitude of the product. FIG. 20 is a diagram showing the flow of the product printing process.
[0056]
The print data generation unit 95 generates the print data PD or the reverse print data RPD based on the label format data LFD, the product master MS1, the tray master MS2, and the determination result data ERD.
[0057]
The print control unit 96 controls the operation of the entire print unit 60 such as the print head 61 in order to perform printing according to the print data PD or the reverse print data RPD.
[0058]
When the product to be processed is determined in the packaging price attaching device 100 in the above-described step S1, the print data generating unit 95 displays the print content of the target product from the product master MS1 and the paste position from the tray master MS2. Information is acquired (step S21). Further, the label format data LFD is read based on the information related to the format used for printing described in the merchandise master MS1 (step S22). As a result, information on the layout of predetermined print items such as product name, price, and processing date on the label, that is, print data PD is determined (step S23).
[0059]
When the print data PD is obtained, the pasting information is acquired from the tray master MS2 and the determination result data ERD is referred to in order to determine the print position and orientation (step S24). The pasting information is information regarding the label pasting position and the pasting direction. Since “Tray No.” corresponding to “Curry and Rice” CR is “08”, the item value (12, 25) of the item “Paste Coordinate” (center coordinate of the label sticking position) and the item “Paste Direction” Information of item value “horizontal” (longitudinal direction coincides with product width direction) is acquired. The coordinate axes of the pasted coordinates will be described later.
[0060]
When the determination result data ERD describes information that the product attitude is normal, the print control unit 96 controls the printing unit 60 to print the label LB1 according to the print data PD as it is. Thereby, the label LB1 is printed (step S25). FIG. 21A is a diagram exemplarily showing a label LB1 printed according to the print data PD. Now, since the “sticking direction” is given as “horizontal”, the longitudinal direction of the label LB1 is also shown in FIG. 21A so as to coincide with the y-axis direction.
[0061]
When the label LB1 printed in this way is issued from the printing unit 60, the label LB1 is pasted to the pasting coordinates (12, 25) by the pasting unit 70 (step S26). FIG. 22A shows a state where the label LB1 is affixed to the product. The pasting coordinates are given by a uv coordinate system in which the center of the product is the origin, the u axis is in the x axis direction, and the v axis is in the y axis direction. In general, it is desirable that the label be affixed at a position that does not interfere as much as possible when the customer considering the purchase determines the contents of the product. In the case of “curry and rice” CR, as shown in FIG. 22A, the pasting coordinates are determined so as to be pasted on the “rice” region RG1.
[0062]
On the other hand, when information indicating that the product attitude is reversed is described in the determination result data ERD, the label LB1 is printed and pasted as in the normal case, as shown in FIG. As described above, the “Ru” region RG2 and the “boiled egg” region RG2e are pasted. This significantly hinders the visibility of the product, which is not preferable.
[0063]
Therefore, in this case, the print data creation unit 95 generates the reverse print data RPD for obtaining the label LB2 that is rotated by 180 ° only while maintaining the format of the label LB1, based on the print data PD (step) S27). The print control unit 96 controls the print unit 60 to print the label LB2 in accordance with the reverse print data RPD. Thereby, the label LB2 is printed (step S28). FIG. 21B shows the label LB2 in the same coordinate system as the label LB1.
[0064]
Further, when the label LB2 printed in this way is issued from the printing unit 60, the label LB2 is affixed to the product at a position corresponding to the position to be originally affixed by the affixing unit 70 if it is in a normal posture. Will be. In the case of “curry and rice” CR, the curling rice is pasted at a point symmetrical with the original pasting coordinates (12, 25) in the uv coordinate system (step S29). FIG. 22C is a diagram illustrating a state in which the label LB2 is attached to the “curry rice” CR whose posture is reversed. In addition, since reverse printing is performed in advance, the label LB2 itself is not rotated by the applying head 71, but is attached in a direction corresponding to the direction to be originally attached. Since a rotating operation is not required, even if the product posture is reversed, the time required for sticking does not increase significantly due to that.
[0065]
As described above, the packaging price assigning apparatus 100 according to the present embodiment can detect and stop the processing when an incorrect product is introduced. In addition, even if the attitude of the product into which the product has been introduced is different from the normal posture determined in advance, the normal posture can be maintained without rotating the label by reversing the printing on the label. In this case, it can be attached at a position corresponding to the position to be applied in a posture corresponding to the posture to be originally applied. This eliminates the need for packaging, re-pricing, etc., and prevents a reduction in processing efficiency due to a product insertion error.
[0066]
<Second Embodiment>
Although 1st Embodiment has mainly shown the aspect about the case where goods are mounted in the reverse posture, in this Embodiment, the attitude | position in the packaging price attaching apparatus 200 corresponding to the goods of a different shape and attitude | position This determination and label sticking will be described. However, the configuration of each part of the packaging price attaching device 200 is basically the same as that of the packaging price attaching device 100 according to the first embodiment, and therefore, except for the differences, the same reference numerals are used hereinafter. Description is omitted.
[0067]
FIG. 23 is a diagram for explaining the relationship between the product M and the label LB attachment position according to the present embodiment. FIG. 23A shows an ideal state of the product M. FIG. It is assumed that the product M according to the present embodiment has contents on a circular tray T. The contents are roughly divided into two regions RG11 and RG12 when viewed from above, and the pasting coordinates are set so that the label LB is pasted on the region RG12.
[0068]
Conventionally, even when the product M is put in with a posture different from the ideal state, the label LB is stuck in the given sticking coordinates as shown in FIG. In this case, as shown in FIG. 23 (c), it is desirable that the label LB be attached according to the posture. This will be described below.
[0069]
FIG. 24 shows the relationship between each unit related to the calculation of the attitude of a product and various data generated in the calculation, realized by the functions of the CPU 90a, ROM 90b, RAM 90c, and storage unit 90d in the control unit 90. FIG. In the control unit 90, in order to calculate the attitude of the product, the processing object selection unit 91, the reference data generation unit 92, and the determination data generation are performed in the same manner as the packaging price attaching device 100 according to the first embodiment. In addition to the realization of the unit 93, the posture calculation unit 97 is realized. The posture calculation unit 97 performs calculation processing for obtaining the posture of the product from the imaging data ID and the determination target setting data OSD. The attitude of the product is acquired as attitude data AD, and is used for attaching the label LB.
[0070]
FIG. 25 is a diagram illustrating a method for obtaining the attitude of a product. Also in the present embodiment, the posture calculating unit 97 first calculates the size of the tray and the product center C from the imaging data ID, as in the first embodiment. Also in the present embodiment, if the calculated tray size is different from the registered size, the processing is stopped. When the size of the tray satisfies the condition, the posture calculation unit 97 performs a straight line L0 that passes through the product center C and is parallel to the Y axis, and a plurality of straight lines L1, L2,. The luminance distribution along the line is extracted. FIG. 25A shows a case where three equally spaced parallel lines L0, L1, and L2 are symmetric, and FIG. 25B shows a luminance distribution corresponding to each straight line. Yes. Now, assuming that the region RG11 has a substantially constant luminance and the change is relatively small, the luminance in each straight line is continuously within a certain error range Δ with a predetermined luminance value as the center. It can be determined that the range is a range corresponding to the region RG11. Therefore, when the positions corresponding to the end of this range are obtained on the straight lines L0, L1, and L2, and a straight line connecting these is considered, this roughly corresponds to a boundary line that separates the regions RG11 and RG12. Accordingly, the posture calculation unit 97 calculates the boundary line from the above-described luminance distribution, and calculates the inclination θ with respect to the Y-axis direction as posture data AD. In this case, it is assumed that the region to be focused on, the luminance value, the calculation range of the luminance distribution, the error range Δ, and the like are given to the reference master MS 3 for each product to be processed.
[0071]
Assuming that the ideal state is determined so that the boundary line shown in FIG. 23 (a) is parallel to the Y-axis, this inclination θ is applied as shown in FIG. 23 (b) or (c). This corresponds to the actual attitude of the product.
[0072]
The printing of the label LB in the printing unit 60 is performed based on the print data as in the first embodiment. On the other hand, the pasting unit 70 rotates the printed label LB by the inclination θ obtained as the posture data AD by the action of the rotation drive mechanism 74 capable of rotating the label LB at an arbitrary angle. Affix to product M.
[0073]
As a result, as shown in FIG. 23C, the label LB can be attached to the normal position even when the attitude of the product is deviated from the ideal state.
[0074]
As described above, in the present embodiment, by obtaining the posture of the product using the luminance distribution, it is possible to correctly attach a label even to a product taking an arbitrary posture. It is possible to prevent a decrease in processing efficiency.
[0075]
<Third Embodiment>
The label sticking device according to the present invention can be realized by devices other than the packaging value attaching device as in the above-described embodiment. In the present embodiment, processing in a weighing value adding apparatus that has a conveyor and continuously measures and values while conveying goods on the conveyor will be described.
[0076]
FIG. 26 is a diagram schematically showing the configuration of the weighing value adding device 300. The weighing value added device 300 conveys the product M by the take-in conveyor 310 having the take-in conveyor CV1 for taking in the product M supplied from the device group 400 such as a packaging device arranged on the upstream side, and the weighing conveyor CV2. However, the weighing unit 320 for weighing the product M, the label to be pasted on the product M, the pasting unit 330 for pasting the label while transporting the product M on the pasting conveyor CV3, and the weighing value attached It mainly includes a display unit 340 that displays an operation status and the like of the device 300, an operation unit 350 for an operator to input a predetermined operation instruction and the like, and a control unit 360 that controls the operation of each unit of the weighing value adding device 300. ing.
[0077]
The take-in unit 310 includes an imaging unit 311 for photographing the product M above the take-in conveyor CV1 that conveys the product M. The imaging unit 311 is provided with a sensor 312 that detects the passage of the product M, for example using infrared rays, at a position corresponding to the upstream end of the take-in conveyor CV1. In addition, a CCD camera 313 for taking an image of the product M detected by the sensor 312 is provided at a position corresponding to the downstream side of the take-in conveyor CV1. The take-in conveyor CV1 normally conveys the product M at a substantially constant speed, and since the distance D along the conveyance path between the sensor 312 and the CCD camera 313 is also known, after passing directly under the sensor 312 The product M conveyed by the take-in conveyor CV1 can be imaged at the timing when it reaches just below the CCD camera 313. The imaging result is used for printing on a label in a printing mechanism 331 described later and attaching the label to the product M.
[0078]
The weighing unit 320 is provided with a weighing mechanism 321 below the weighing conveyor CV2, and can measure the product M while being conveyed.
[0079]
The pasting unit 330 mainly includes a printing mechanism 331 and a pasting mechanism 332. Like the printing unit 60 according to the first embodiment, the printing mechanism 331 performs printing on a normal label, and inverts the printing contents as necessary according to the attitude of the product M. Label can be printed. The sticking mechanism 332 includes a sticking head 333, which can stick a printed label at a predetermined position in a predetermined direction.
[0080]
Thereby, also in the weighing value addition apparatus 300 according to the present embodiment, it is possible to attach a label in a predetermined direction at a predetermined position even when the attitude of the product is different from the normal attitude.
[0081]
In addition, in the weighing value addition apparatus 300, the conveyance speeds v1 to v3 of the conveyors CV1 to CV3 are controlled by the control unit 360. Then, based on the type of product to be processed and the conveying speeds v1 to v3 of the conveyors CV1 to CV3 at a certain time, the weighing value adding device 300 can process per unit time at that time. The maximum processing capacity Am, which is the number of products, is always calculated by the control unit 360.
[0082]
On the other hand, for example, based on the detection result of the product in the sensor 312, data on the take-in time interval of the product M taken into the weighing value adding device 300 is also acquired in the control unit 360. Based on this data, the control unit 360 always calculates the current capability Ap, which is the number of products actually processed per unit time by the weighing value addition device 300.
[0083]
While the weighing value adding device 300 is operating, the maximum processing capacity Am and the current capacity Ap are displayed on the display unit 340 together with the conveyance speeds v1 to v3 of the conveyors CV1 to CV3. FIG. 27 is a diagram exemplarily showing this processing capacity display DSP. Or the aspect displayed on the display means provided separately so that it can confirm also from the place away from the apparatus 300 with a measured value may be sufficient.
[0084]
By performing the processing capacity display DSP, it becomes easy for a worker or a manager of a factory or the like where the weighing value attaching apparatus 300 is installed to know the processing capacity of the process in real time. Thereby, according to the difference between the maximum processing capacity Am and the current capacity Ap, the processing capacity including the device group 400 used in the previous process (for example, cutting, laying, packaging, etc.) up to the weighing value added device 300. Can be adjusted accurately. Alternatively, it is possible to appropriately adjust the processing capacity (current capacity) of the weighing value added apparatus 300 and the apparatus group 400 of the preceding process while grasping the current situation, so that troubles and complaints related to the processing capacity can be prevented. Will be able to prevent.
[0085]
<Modification>
It is preferable that the method of setting the reference used for determining the correctness / incorrectness of the product and the attitude is variously determined according to the characteristics of the product and the tray used. For example, the arrangement relationship of the contents of the product, the shape and color component of the outer periphery of the tray, the position and color component of the partition portion, and the like may be used as a reference. A mode may be used in which reference data is created using a plurality of locations and a determination is made for one product. A plurality of determination methods may be used in combination.
[0086]
In the above-described embodiment, the luminance is used for the determination, but the determination may be performed by extracting the distribution for each color component of the RGB color image.
[0087]
In the first embodiment, printing on the label is reversed, but instead, printing may be performed normally, and then the label may be rotated and pasted at the time of pasting. .
[0088]
In the second embodiment, the boundary line is obtained from the luminance distribution. Instead, the boundary line may be obtained, for example, by high-pass filter processing.
[0089]
【The invention's effect】
  As described above, claims 1 to4According to this invention, even if a product is supplied in a reverse orientation, the label can be attached at the correct position, so that the apparatus is not stopped or reapplied, and the processing efficiency is improved. Further, since it is not necessary to rotate the label, it is possible to avoid complication of the apparatus and to suppress an increase in the sticking processing time.Furthermore, the detection of the attitude of the product can be automated when the label is attached.
[0094]
  In particular, the claims2as well as4According to this invention, it is possible to avoid sticking a label when a product that is not an original sticking target is erroneously inserted, so that re-sticking can be avoided and a reduction in processing efficiency can be suppressed.
[Brief description of the drawings]
FIG. 1 is an external perspective view showing a packaging price attaching device 100 according to a first embodiment.
FIG. 2 is a block diagram showing a configuration of a packaging price attaching device 100. FIG.
FIG. 3 is a diagram showing a front part of a product conveyance path in the packaging price assigning apparatus.
FIG. 4 is a view showing a rear part of a product conveyance path in the packaging price assigning apparatus 100. FIG.
FIG. 5 is a side sectional view for explaining the operation of the printing unit 60 and the pasting unit 70;
FIG. 6 is a block diagram illustrating a relationship between each unit related to product determination and various data generated in the determination, which is realized in the control unit 90;
FIG. 7 is a diagram illustrating a flow of determining a product.
FIG. 8 is a partial view exemplarily showing a product master MS1.
FIG. 9 is a partial view exemplarily showing a tray master MS2.
FIG. 10 is a partial view exemplarily showing a reference master MS3.
FIG. 11 is a top view of the charging unit 11;
FIG. 12 is a diagram for explaining cancellation of a displacement of a placement position.
FIG. 13 is a diagram illustrating a product image IM0 and a rectangular area SQ0 for which reference data is to be generated.
14 is a diagram illustrating an image IM1 and a rectangular area SQ1 that is a generation target of determination target data ED (ED1). FIG.
FIG. 15 is a diagram illustrating a product image IM2 and a rectangular area SQ2 that is a generation target of determination target data ED (ED2).
FIG. 16 is a diagram showing reference data RD and determination target data ED (ED1, ED2).
FIG. 17 is a diagram showing a product image IM3 different from “curry and rice” CR.
FIG. 18 is a diagram comparing data to be judged ED (ED3, ED4) with reference data RD.
FIG. 19 is a block diagram illustrating a relationship between each unit related to label printing and various data generated in printing, which is realized by the control unit 90;
FIG. 20 is a diagram illustrating a flow of a product printing process.
FIG. 21 is a diagram showing labels LB1 and LB2.
FIG. 22 is a diagram showing a state where labels LB1 and LB2 are affixed to a product.
FIG. 23 is a diagram for explaining a relationship between a product M and a label LB sticking position.
FIG. 24 is a block diagram illustrating a relationship between each unit related to the calculation of the attitude of a product and various data generated in the calculation, which is realized in the control unit 90.
FIG. 25 is a diagram illustrating a method for obtaining the attitude of a product.
FIG. 26 is a diagram schematically showing a configuration of a weighing value adding apparatus 300. FIG.
FIG. 27 is a diagram exemplarily showing a processing capacity display DSP.
[Explanation of symbols]
11 Input section
11s Placement surface
14 Centering conveyor
15 Discharge section
21 Load cell
31, 313 CCD camera
61 Print head
71 Pasting head
100, 200 Packaging price device
300 Device with weighing value
312 sensor
321 Weighing mechanism
331 Printing mechanism
332 Pasting mechanism
333 sticking head
C Product center
CV1 intake conveyor
CV2 weighing conveyor
CV3 sticking conveyor
DSP processing capacity display
FL Mounting frame
IP ideal position
LB, LB1, LB2 labels
LBS printing surface
M product
O Input origin
RP (actual) placement position
SQ0 to SQ4 rectangular area
T tray
v1 to v3 transport speed

Claims (4)

Printing means for printing on the label according to a predetermined printing format;
A sticking means comprising a predetermined moving mechanism, and capable of sticking the label at an arbitrary position of the product;
A device for attaching a label to a product,
It further comprises posture detecting means for detecting the posture of the product placed at a predetermined position inside the apparatus in a substantially horizontal plane,
The printing means can selectively execute normal printing for printing on the label without rotating the printing format and rotational printing for printing on the label by rotating the printing format by 180 °,
When the posture detecting means detects that the product has a first posture which is a predetermined original posture, the printing means performs the normal printing on the label, and the sticking means is the product. Affix the label at a predetermined reference position according to
When the posture detecting means detects that the product has taken the second posture, which is a posture rotated approximately 180 ° in the horizontal plane from the first posture, the printing means performs the rotational printing on the label. The sticking means sticks the label at a position symmetrical to the reference sticking position with respect to the product center in the substantially horizontal plane ,
The posture detection means includes
Imaging means for capturing the product image by imaging the upper surface of the product;
To-be-determined data that is a luminance distribution in a predetermined target area of the product image, and reference data that is a luminance distribution in a predetermined target area of the reference image acquired in advance while maintaining the product in the first posture. Comparing and judging means for comparing and judging the first posture and the second posture based on a difference between the judged data and the reference data;
With
The comparison determination means includes
If the difference between the judged data and the reference data is within a predetermined threshold range, the product is determined to be in the first posture;
If the difference between the determination target data and the reference data is not within a predetermined threshold range, the product image is rotated 180 ° and the luminance distribution in the region corresponding to the target region is calculated. Re-acquisition as determination data, and when the difference between the re-acquired determination data and the reference data is within a predetermined threshold range, determining that the product is in the second posture A labeling device characterized by. It is a label sticking apparatus of Claim 1, Comprising:
Wherein when the difference between the re-acquired the determination target data and the reference data is not within the predetermined threshold, the label sticking apparatus characterized that you stop the operation. A printing process for printing on a label according to a predetermined printing format;
A pasting step capable of pasting the label at an arbitrary position of the product by a predetermined moving mechanism;
A method of applying a label to a product including
A posture detection step of detecting a posture of the product placed in a predetermined position inside the apparatus in a substantially horizontal plane;
In the printing step, normal printing for printing on the label without rotating the printing format and rotational printing for printing on the label by rotating the printing format by 180 ° can be selectively executed.
When the product is in a first posture, which is a predetermined original posture, and is detected in the posture detection step, the normal printing is performed on the label in the printing step, and in the pasting step, the normal printing is performed. The label is affixed to a predetermined reference affixing position according to the product,
If the attitude detection step detects that the product has taken a second attitude , which is an attitude rotated approximately 180 ° in a horizontal plane from the first attitude , the rotational printing is performed on the label in the printing process. In the pasting step, the label is pasted at a position symmetrical to the reference pasting position with respect to the product center in the substantially horizontal plane,
The posture detection step includes
An imaging step of acquiring the product image by imaging the upper surface of the product;
To-be-determined data that is a luminance distribution in a predetermined target region of the product image, and reference data that is a luminance distribution in a predetermined target region of the reference image that is acquired in advance while keeping the product in the first posture. A comparison and determination step of comparing and determining the first posture and the second posture based on a difference between the determination target data and the reference data;
With
In the comparison judgment step,
If the difference between the judged data and the reference data is within a predetermined threshold range, it is determined that the product is in the first posture;
If the difference between the determination target data and the reference data is not within a predetermined threshold range, the product image is rotated 180 ° and the luminance distribution in the region corresponding to the target region is calculated. reacquired as determination data, when the difference between the re-acquired the determination target data and the reference data is within the predetermined threshold, Ru is determined that the product is taking the second posture A labeling method characterized by that. It is a label sticking method of Claim 3, Comprising :
In the comparison and determination step, when the difference between the re-acquired determination data and the reference data is not within a predetermined threshold range, the printing step and the pasting step are not performed. A labeling method characterized by :

Images