JP5933270B2 - Attitude detection device - Google Patents

Attitude detection device Download PDF

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JP5933270B2
JP5933270B2 JP2012005396A JP2012005396A JP5933270B2 JP 5933270 B2 JP5933270 B2 JP 5933270B2 JP 2012005396 A JP2012005396 A JP 2012005396A JP 2012005396 A JP2012005396 A JP 2012005396A JP 5933270 B2 JP5933270 B2 JP 5933270B2
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posture
angle
product
article
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JP2013145167A (en
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有吾 藤谷
有吾 藤谷
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株式会社イシダ
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  The present invention relates to a posture detection device that detects a planar posture of an article that is a rectangle having a long side and a short side in plan view, and a packaging device unit that includes the posture detection device.

  When an article that is rectangular in plan view is conveyed by a conveying device such as a conveyor and boxed by a boxing device, it may be necessary to grasp the plane attitude of the article being conveyed and change the plane attitude. .

  For example, in Patent Document 1 (Japanese Patent Application Laid-Open No. 2004-262482), a case where the planar posture of an article is grasped based on an image photographed by a CCD camera, and the posture of the article is corrected by a robot arm based on the result. Is disclosed.

Further, in Patent Document 2 (Japanese Patent Laid-Open No. 2005-162422), as shown in FIG. 17, sensors S1 and S2 that detect the passage of an article are arranged side by side in a direction perpendicular to the conveying direction of the conveyor in plan view. And the inclination β relative to the conveyance direction of the article based on the detection result of the linear portion of the sensor.
Examples of grasping are disclosed.

  However, in general, when a CCD camera is used to grasp the planar posture of an article being conveyed, although the posture of the article can be accurately grasped, a CCD camera, an image processing device, etc. are required. There is a problem of increasing complexity and cost.

  On the other hand, when grasping the planar posture of the article using the two sensors S1 and S2, a place that is not a straight part of the article as shown by a dotted line part in FIG. 18 is mistakenly recognized as a straight part, There is a possibility that the inclination is mistaken as γ. In addition, even if the straight line portion is correctly recognized, when the plane orientation of the article that is a rectangle having a long side and a short side in a plan view is grasped, the recognized straight line portion is a long side or a short side. It cannot be determined. That is, if the two sensors S1 and S2 are used, the angle β formed by the straight line portion and the reference line can be calculated as shown in FIGS. 17 and 19, but the positional relationship between the long side and the short side of the article cannot be recognized.

  An object of the present invention is to provide an attitude detection device capable of accurately grasping the planar attitude of an article that is a rectangle having a long side and a short side in a plan view with a low-cost and simple configuration, and the attitude detection apparatus. It is to provide a packaging device unit.

  An attitude detection apparatus according to the present invention is an attitude detection apparatus that detects a plane attitude of an article that is a rectangle having a long side and a short side in a plan view, while conveying the conveyance unit, and first to nth (N is an integer equal to or greater than 4), an angle calculation unit, a centroid calculation unit, and a first posture calculation unit. A conveyance part conveys articles | goods from the downward direction by a conveyance surface. The first to n-th sensors detect articles passing on the transport unit. The angle calculation unit detects a linear portion of the article in plan view based on time-series data on the presence or absence of the article detected by the first to nth sensors, and a first angle formed by the linear portion and a predetermined reference line Is calculated. The centroid operation unit is a right-side polygon formed on the right side with respect to the conveyance direction when the article is virtually divided by a straight line extending along the conveyance direction of the conveyance unit through the centroid of the article in plan view. Based on the time-series data, which polygonal centroid, that is, the left polygon formed on the left side with respect to the transport direction, is forward or backward with respect to the transport direction. The first posture calculation unit calculates the planar posture of the article based on the calculation results of the angle calculation unit and the centroid calculation unit.

  As a result, the side of the article can be correctly detected with a simple configuration, and the angle formed between the side of the article and the predetermined reference line in the plan view is accurately calculated. Moreover, since the positional relationship between the centroids of the right polygon and the left polygon of the article is required, the positional relationship between the long side and the short side of the article can also be grasped, and a more detailed planar posture can be determined.

  That is, the posture detection device according to the present invention can grasp the plane posture with an inexpensive configuration when it is necessary to grasp the direction of the long side or the short side of the item in order to pack the item.

  Moreover, in the attitude | position detection apparatus which concerns on this invention, a 1st attitude | position calculating part calculates the 2nd angle which the predetermined | prescribed reference line in planar view and the long side or short side of an article | item make as a planar attitude | position of an article | item. desirable.

  Thereby, the planar posture of the article can be grasped in the range of −90 ° or more and less than 90 ° as the second angle formed by the long side or the short side of the article and the reference line.

  In the posture detection apparatus according to the present invention, it is desirable to further include a length calculation unit, a second posture calculation unit, and a calculation method selection unit. The length calculation unit calculates the distance between the opposite sides of the article in plan view based on the time series data on the presence / absence of the article detected by the first to nth sensors and the first angle, or the length of the article in plan view The length in the transport direction is calculated based on the time series data. Based on the calculation results of the angle calculation unit and the length calculation unit, the second attitude calculation unit uses the second angle formed by the predetermined reference line in plan view and the long side or short side of the article as the plane attitude of the article Calculate. The calculation method selection unit selects which of the first posture calculation unit and the second posture calculation unit calculates the plane posture according to the value of the first angle.

  As a result, even when the positional relationship between the long side and the short side of the article is difficult to grasp by the positional relationship of the centroid between the right polygon and the left polygon of the article, the length measured by the length calculator It is possible to grasp the positional relationship between the long side or the short side of the article using. As a result, the plane posture can be easily grasped regardless of the plane posture of the article.

  In the posture detection apparatus according to the present invention, it is desirable that the predetermined reference line is a straight line perpendicular or parallel to the transport direction of the transport unit.

  Thereby, the planar posture of the grasped article is easily understood.

  In the posture detection device according to the present invention, the predetermined reference line is a straight line that is perpendicular or parallel to the transport direction of the transport unit, and the calculation method selection unit has a first angle of 20 ° to 70 °, Alternatively, it is desirable to select the first posture calculation unit when it is not less than −70 ° and not more than −20 °, and to select the second posture calculation unit in other cases.

  As a result, even when the long side or short side of the article is perpendicular or nearly parallel to the conveyance direction and the positional relationship between the right polygonal centroid and the left polygonal centroid is difficult to grasp, The attitude of the article can be accurately grasped using the attitude calculator.

  In the posture detection apparatus according to the present invention, the angle calculation unit detects first to m-th (m is an integer of 2 or more and 4 or less) linear portions, and each of the first to m-th linear portions is predetermined. The first to m-th provisional angles formed by the reference line are calculated, and based on the positional relationship between the first to m-th linear portions in plan view and / or the values of the first to m-th provisional angles It is desirable to select one or a plurality of provisional angles and calculate the first angle.

  Thereby, when the angle calculation unit detects a plurality of straight line parts, the first angle can be calculated by selecting a straight line part that is easy to accurately calculate the first angle. As a result, it is easy to accurately grasp the planar posture of the article.

  Moreover, in the attitude | position detection apparatus which concerns on this invention, it is desirable to further provide an attitude | position determination part. It is desirable that the angle calculation unit detects a plurality of straight line portions and calculates a plurality of first angles. The posture determining unit responds to the first angle used for the calculation of the plane posture and / or the positional relationship with respect to the conveyance direction of the linear portion when the first angle is calculated by the angle calculation unit when a plurality of plane postures are calculated. It is desirable to select and determine one plane posture.

  Thereby, the most accurate plane posture can be selected based on the first angle used for the calculation of the plane posture and / or the positional relationship of the straight line portion in the first angle calculation. As a result, it is easy to accurately grasp the planar posture of the article.

  In the posture detection device according to the present invention, the posture determination unit may calculate and determine one plane posture using a statistical method when a plurality of plane postures are calculated.

  As a result, it becomes easy to appropriately correct the calculation error of the plane posture caused by the measurement error of the sensor and accurately grasp the plane posture of the article.

  Further, in the posture detection device according to the present invention, the centroid operation unit has a virtual straight line perpendicular to the conveyance direction provided on the conveyance surface in the plan view and the presence / absence of an article detected by the first to nth sensors. The distance between p intermediate points (p is an integer equal to or less than n) with respect to the conveyance direction of the article on the conveyance surface obtained based on the time series data of the right polygon and the left side is calculated. It is desirable to calculate which polygonal centroid of the polygon is forward or backward with respect to the transport direction.

  Thereby, it is possible to grasp the positional relationship between the centroid of the right polygon and the centroid of the left polygon with a simple configuration.

  In the posture detection device according to the present invention, the first to n-th sensors are paired with the light projecting element that emits light perpendicular to the transport surface of the transport unit, and the light projecting element. It is desirable to have a light receiving element that receives light and is disposed on a path of light emitted by the element with a conveyance unit interposed therebetween. Further, the first to n-th sensors are arranged in a straight line perpendicular to the transport direction of the transport unit at regular intervals in a plan view, and the light projecting elements of adjacent sensors emit light in opposite directions. It is desirable to arrange so that.

  Thereby, when what is called a transmissive | pervious sensor is used, it becomes easy to suppress the influence of interference between sensors and to detect correctly the presence or absence of the articles | goods conveyed by a conveyance part.

  In addition, the posture detection device according to the present invention preferably further includes a holding position grasping unit that grasps the centroid of the article. The holding position grasping unit desirably grasps the centroid of the article using time-series data on the presence / absence of the article detected by the first to nth sensors.

  Accordingly, the centroid position of the article can be grasped in addition to the planar posture of the article using the time series data of the first to nth sensors.

  Next, a boxing device unit according to the present invention includes an attitude detection device having the above-described features, a holding transfer device, and a holding unit control device. The holding and transferring device holds and transfers the article by a rotatable holding unit. The holding unit control device controls the position and rotation angle of the holding unit. The holding unit control device controls the position and rotation angle of the holding unit based on the planar posture of the article and the centroid of the article detected by the posture detection device.

  Accordingly, the packaging device unit causes the holding unit to hold the article at an appropriate position based on the planar posture and centroid position of the article grasped by the attitude detection device, and rotates the holding unit to make the article. It is possible to appropriately correct the plane posture. As a result, the boxing device unit can pack the articles in an orderly manner.

  In the posture detection device according to the present invention, by using four or more article detection sensors, a side of an article that is a rectangle having a long side and a short side in a plan view can be accurately detected as a straight line portion. . As a result, the angle formed by the side of the article in plan view and the predetermined reference line can be accurately calculated. Moreover, the positional relationship between the short side and the long side of the article can be determined by obtaining the positional relationship between the centroid of the right polygon and the left polygon using the time series data of four or more article detection sensors. .

  That is, when it is necessary to grasp the direction of the long side or the short side of the article in plan view, the planar posture of the article can be grasped with an inexpensive configuration.

  Further, the packaging device unit according to the present invention causes the holding unit to hold the article at an appropriate position based on the planar posture and the centroid position of the article grasped by the posture detection device, and rotates the holding unit. Thus, the planar posture of the article can be corrected appropriately. As a result, the boxing device unit can pack the articles in an orderly manner.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic side view of a product processing system having a boxing device unit including an attitude detection device according to an embodiment of the present invention. Explanatory drawing of how to represent the plane attitude | position of the goods which concern on one Embodiment of this invention. 1 is a schematic plan view of an attitude detection device according to an embodiment of the present invention. FIG. 4 is a schematic cross-sectional view of the posture detection device in the IV-IV cross section of FIG. Example 1 of a display screen of a display of an input / output unit of an attitude detection device according to an embodiment of the present invention (reference symbols and dotted lines of a vertical photoelectric sensor are not displayed on an actual screen). Example 2 of a display screen of a display of an input / output unit of an attitude detection device according to an embodiment of the present invention (a reference symbol of a vertical photoelectric sensor is not displayed on an actual screen). The schematic block diagram of the control part of the attitude | position detection apparatus which concerns on one Embodiment of this invention. The schematic plan view of the goods transfer apparatus which the packaging apparatus unit which concerns on one Embodiment of this invention has. The schematic block diagram of the control apparatus of the goods transfer apparatus which concerns on one Embodiment of this invention. The flowchart explaining the control operation of the attitude | position detection apparatus which concerns on one Embodiment of this invention. The flowchart explaining the calculation process of the 1st angle of the attitude | position detection apparatus which concerns on one Embodiment of this invention. The flowchart explaining the calculation process of the 1st attitude | position calculating part of the attitude | position detection apparatus which concerns on one Embodiment of this invention. The flowchart explaining the calculation processing of the 2nd attitude | position calculating part of the attitude | position detection apparatus which concerns on one Embodiment of this invention (step S321 to step S327). The flowchart explaining the calculation process of the 2nd attitude | position calculating part of the attitude | position detection apparatus which concerns on one Embodiment of this invention (step S332 to step S337). The top view explaining the conveyance state of the actual goods corresponding to FIG. The figure explaining the time series data of the signal regarding the detection of the goods of a vertical photoelectric sensor corresponding to FIG. Explanatory drawing explaining the calculation content of the length calculating part of the attitude | position detection apparatus which concerns on one Embodiment of this invention. An example of recognizing an angle between a short side of an article and a reference line when two sensors according to the background art are used. The example of the recognition error of the linear part of an article | item in the case of using two sensors which concern on background art. An example of recognizing an angle between a long side of an article and a reference line when two sensors according to the background art are used.

  Hereinafter, with reference to the drawings, a posture detection device 10 according to an embodiment of the present invention and a packaging device unit 1 including the posture detection device 10 will be described.

(1) General Description In the present embodiment, the boxing device unit 1 is applied to the product processing system 100.

  In the product processing system 100, a product (article) X in which contents such as potato chips having a predetermined weight are packed in a bag shape is obtained after the planar posture and the centroid position are grasped after the seal inspection and the weight inspection. The plane posture of the product X is corrected using the plane posture and the centroid position, and finally, the product X is automatically boxed into the cardboard box by a predetermined number. As shown in FIG. 2, the product X has a substantially rectangular shape having a long side P of 170 mm and a short side Q of 120 mm in plan view. The product processing system 100 will be described with reference to FIG.

  The product processing system 100 includes a combination weighing device 51, a bag making and packaging device 52, a seal inspection device 53, a weight inspection device 54, a boxing device unit 1 provided with a posture detection device 10, a corrugated cardboard conveyor 55, and a defective product conveyor. 56.

  In the merchandise processing system 100, the supplied contents are weighed to a target weight by the combination weighing device 51 and supplied to the bag making and packaging device 52 located below. In the bag making and packaging apparatus 52, the film F is sealed in the vertical and horizontal directions, and the contents are enclosed in the bag to obtain the product X. The product X is supplied to the conveyor 57 from above and is conveyed to the seal inspection device 53.

  In the seal inspection device 53, the product X conveyed by the conveyor 53a is pressed by the presser 53b, and the change in the thickness of the product X is measured to determine whether the product X is properly sealed. More specifically, the presser 53b is joined by a link 53d and a parallel operation mechanism 53c that moves the presser 53b in parallel. A rotary encoder (not shown) is provided at the rotation center at the lower end of the link 53d, and the rotation angle of the link 53d is measured by the rotary encoder. When the product X is pressed by the presser 53b, if the rotation angle of the link 53d is equal to or greater than a predetermined reference angle, the seal inspection is determined to be acceptable, and if the rotation angle is smaller than the predetermined reference angle, the seal inspection is not performed. It is determined to pass. After the seal inspection, the product X is conveyed to the weight inspection device 54.

  In the weight inspection device 54, the weight of the product X conveyed by the conveyor 54a is measured by a load cell (not shown) located below the conveyor 54a. If the weight of the product X is within a predetermined allowable range, the weight inspection is determined to be acceptable, and if the weight of the product X is outside the allowable range, the weight inspection is determined to be unacceptable. After the weight inspection, the product X is conveyed to the boxing device unit 1. The boxing device unit 1 includes an attitude detection device 10, a commodity transfer device 60, and a control device 70.

  Among the products X that have been transported to the boxing device unit 1, for the products X that have passed the seal inspection and the weight inspection, the posture detection device 10 determines the plane orientation and centroid position of the product X in plan view. It is obtained by calculation. Note that the posture detection device 10 includes a transport conveyor 11, seven vertical photoelectric sensors 12 a to 12 g, one horizontal photoelectric sensor 13, an input / output unit 14, and a control unit 30. The control unit 30 determines the planar posture of the product X being transported by the transport conveyor 11 and the centroid position in plan view of the product X using the detection results of the vertical photoelectric sensors 12a to 12g.

  Here, the planar posture of the product X means an angle formed by the conveyance direction D of the product X and the long side P of the product X in a plan view. The angle formed between the conveyance direction D of the product X and the long side P of the product X in plan view is θ in FIG. 2 and is represented by a value of −90 ° or more and less than 90 °. 2, when the long side P of the product X is rotated clockwise with respect to the transport direction D in a plan view, the angle formed by the transport direction D of the product X and the long side P of the product X θ is represented by a positive value. Conversely, in a state where the long side P of the product X is rotated counterclockwise with respect to the transport direction D, the angle formed by the transport direction D of the product X and the long side P of the product X is represented by a negative value. .

  The product X whose plane posture and centroid position are grasped by the posture detection device 10 is gripped at the centroid position by the product transfer device 60, and the plane posture of the product X is a predetermined plane posture during transfer by the product transfer device 60. It is corrected to. Thereafter, the product X is boxed in a cardboard box Y conveyed by a cardboard conveyor 55 provided along the boxing device unit 1.

  In addition, the product X for which the result of either the seal inspection or the weight inspection is determined to be unacceptable passes through the conveyor 11 without being grasped by the posture detection device 10 for the plane posture and the centroid position, and transports defective products. It is delivered to the conveyor 56. The defective product delivered to the defective product conveyor 56 is conveyed to the defective product collection place.

(2) Detailed description The attitude | position detection apparatus 10, the goods transfer apparatus 60, and the control apparatus 70 which the packaging apparatus unit 1 has are demonstrated in detail.

(2-1) Posture Detection Device The posture detection device 10 will be described with reference to FIGS. 1, 3, and 4.

(2-1-1) Transport Conveyor The transport conveyor 11 is a transport unit that transports the product X in the transport direction D in FIGS. 1 and 3, and the product X supplied from the conveyor 54 a of the weight inspection device 54. Are transported while being supported from below by the transport surface. The width of the conveyor 11 (the length in the direction perpendicular to the conveyance direction D in plan view) is 210 mm. The conveyor 11 extends to a lower part of a commodity transfer device 60 described later.

  The transport conveyor 11 includes a first transport conveyor 11 a located on the upstream side in the transport direction D of the product X and a second transport conveyor 11 b located on the downstream side in the transport direction D of the product X. The 1st conveyance conveyor 11a and the 2nd conveyance conveyor 11b form the clearance gap G of the grade which does not have influence on conveyance of the goods X, and is arrange | positioned. The second transport conveyor 11b is connected to the defective product transport conveyor 56 on the downstream side.

(2-1-2) Vertical Photoelectric Sensor Each of the vertical photoelectric sensors 12a to 12g is an independent sensor, and detects whether the product X is passing through the detection area of the vertical photoelectric sensors 12a to 12g. The vertical photoelectric sensors 12a to 12g are examples of sensors.

  As shown in FIG. 4, the vertical photoelectric sensors 12 a to 12 g have light projecting elements 121 a to 121 g and light receiving elements 122 a to 122 g that are paired with the light projecting elements 121 a to 121 g.

  Each of the light projecting elements 121 a to 121 g emits signal light vertically toward the transport surface of the transport conveyor 11. When the signal light is not blocked by the product X transported by the transport conveyor 11, the signal light passes through a gap G formed between the first transport conveyor 11a and the second transport conveyor 11b. The signal light that has passed through the gap G is received by the light receiving elements 122a to 122g that are paired with the light projecting elements 121a to 121g that have emitted the signal light. The light receiving elements 122a to 122g are arranged on the path of the signal light of the pair of light projecting elements 121a to 121b with the conveyance surface interposed therebetween. When the product X transported by the transport conveyor 11 blocks the signal light, the light receiving elements 122a to 122g do not receive the signal light.

  The vertical photoelectric sensors 12a to 12g are arranged at intervals of 30 mm on a straight line perpendicular to the transport direction D of the transport conveyor 11 in plan view. Further, as shown in the cross-sectional view of FIG. 4, the vertical photoelectric sensors 12a to 12g are arranged so that the light projecting elements and the light receiving elements are alternately arranged on a straight line parallel to the transport surface above and below the transport surface. The In other words, in the vertical photoelectric sensors 12a to 12g arranged in the direction perpendicular to the transport direction D in plan view, the signal light emission directions La to Lg of the light projecting elements 121a to 121g of the adjacent vertical photoelectric sensors 12a to 12g are 4 are opposite to each other.

(2-1-3) Horizontal Photoelectric Sensor The horizontal photoelectric sensor 13 is a sensor having the same specifications as the vertical photoelectric sensors 12a to 12g, and the light projecting element 131 and the light receiving element 132 outside the transport surface of the transport conveyor 11 in plan view. Have As shown in FIG. 3, the light projecting element 131 is disposed on the right side with respect to the transport direction D, and the light receiving element 132 is disposed on the left side with respect to the transport direction D. Further, the light projecting element 131 and the light receiving element 132 are arranged on a straight line perpendicular to the transport direction D. The light projecting element 131 emits signal light toward the light receiving element 132.

  Since the detection principle of the product X by the horizontal photoelectric sensor 13 is the same as that of the vertical photoelectric sensors 12a to 12g, the description is omitted.

  The horizontal photoelectric sensor 13 detects the passage of the product X before the product X passes through the detection areas of the vertical photoelectric sensors 12a to 12g. That is, by using the horizontal photoelectric sensor 13, the timing at which the vertical photoelectric sensors 12a to 12g detect the product X can be grasped in advance.

(2-1-4) Input / output unit The input / output unit 14 is a display having a touch panel function.

  From the touch panel, various commands and data from the user such as input of operation signals and stop signals to the posture detection device 10, input of a display screen switching signal, input of the long side P and the short side Q of the product X, etc. Input is made.

  On the display, the plane orientation and centroid position of the product X calculated by the control unit 30 described later are displayed. 5 and 6 show examples of display screens displayed on the display of the input / output unit 14.

(2-1-5) Control Unit The control unit 30 controls the attitude detection device 10. FIG. 7 shows a schematic block diagram of the control unit 30.

  The control unit 30 mainly includes a CPU, a ROM, and a RAM. The control unit 30 reads and executes a program stored in the storage unit 45 such as a ROM or a RAM, so that mainly the input / output control unit 31, the time management unit 32, and the signal reception are performed as shown in FIG. Unit 33, angle calculation unit 34, holding position grasping unit 35, centroid calculation unit 36, length calculation unit 37, calculation method selection unit 38, first posture calculation unit 39, second posture calculation unit 40, posture determination unit 41 , Function as a transmission unit 42 and a reception unit 43.

(2-1-5-1) Input / Output Control Unit The input / output control unit 31 receives commands and data input to the touch panel of the input / output unit 14 and controls the display screen of the display.

(2-1-5-2) Time Management Unit The time management unit 32 performs time management of various controls executed by the control unit 30. In particular, it is used to store the signals of the vertical photoelectric sensors 12a to 12g received by the signal receiving unit 33 described later in the storage unit 45 as time series data.

(2-1-5-3) Signal Accepting Unit The signal accepting unit 33 accepts signals relating to the detection of the product X from the vertical photoelectric sensors 12a to 12g and the horizontal photoelectric sensor 13 as time series data. The signal relating to the detection of the product X is a signal as to whether or not the pair of light receiving elements 122a to 122g and 132 has received the signal light emitted by the light projecting elements 121a to 121g and 131 of each sensor. When the light receiving elements 122a to 122g and 132 do not receive the signal light, the signal receiving unit 33 sets the detection area of the vertical photoelectric sensor 12a to 12g or the horizontal photoelectric sensor 13 corresponding to the light receiving elements 122a to 122g and 132 for the product X. A signal indicating that the product X has passed is received.

  The signal from the horizontal photoelectric sensor 13 is used to grasp the timing at which the vertical photoelectric sensors 12a to 12g detect the product X.

  Signals from the vertical photoelectric sensors 12a to 12g are received by the signal receiving unit 33, and are stored in the storage unit 45 as time-series data for each sensor based on the clock of the time management unit 32. Thereafter, the time series data for each sensor is converted into position data for each sensor in the vertical photoelectric sensors 12 a to 12 g by the signal receiving unit 33 and stored in the storage unit 45.

  The processing by the signal receiving unit 33 will be described later.

(2-1-5-4) Angle Calculation Unit The angle calculation unit 34 detects the straight line portion of the article X using the position data in the vertical photoelectric sensors 12a to 12g stored in the storage unit 45, and the detected straight line The angle formed by the section and the transport direction D of the transport conveyor 11 is calculated as the first angle.

  A straight line portion detection method and a first angle calculation method by the angle calculation unit 34 will be described later.

(2-1-5-5) Holding position grasping unit The holding position grasping unit 35 approximates the centroid position of the product X using the position data in the vertical photoelectric sensors 12a to 12g stored in the storage unit 45. To grasp. The grasped centroid position of the product X is transmitted as a holding position of the product X by the robot arm 65 described later to the control device 70 described later via the transmitter 42 described later.

  A method of grasping the centroid position of the product X by the holding position grasping unit 35 will be described later.

(2-1-5-6) Centroid operation unit The centroid operation unit 36 virtually divides the product X by a straight line extending through the centroid of the product X along the transport direction D of the transport conveyor 11. Then, which of the right polygon located on the right side in the conveyance direction D and the left polygon located on the left side is determined by calculation to determine whether the centroid of the polygon is located on the upstream side in the conveyance direction D. That is, it is calculated which centroid of the right polygon or the left polygon is behind the transport direction D. For this calculation, position data in the vertical photoelectric sensors 12a to 12g stored in the storage unit 45 is used.

  Specific calculation by the centroid calculation unit 36 will be described later.

(2-1-5-7) Length Calculation Unit In the length calculation unit 37, the position data in the vertical photoelectric sensors 12 a to 12 g stored in the storage unit 45 and the first angle obtained by the angle processing unit 34. Based on the above, the distance between opposite sides of the product X is calculated. Of the two opposite sides of the product X, the distance is calculated by the length calculation unit 37 because the straight line parallel to the transport direction D of the transport conveyor 11 intersects the two sides constituting the opposite side. It is the opposite side.

  Specific calculation by the length calculation unit 37 will be described later.

(2-1-5-8) Calculation Method Selection Unit The calculation method selection unit 38 is described later when the first angle is in the range of 20 ° to 70 °, or −70 ° to −20 °. The first posture calculation unit 39 that calculates the angle formed by the long side P of the product X and the transport direction D is calculated as the second angle.

  On the other hand, when the first angle is not within the above range, the calculation method determination unit 38 sets the angle formed between the long side P of the product X and the conveyance direction D to the second attitude calculation unit 40 described later. Let's calculate as The calculated second angle is the plane orientation of the product X, and is represented by a value of −90 ° or more and less than 90 °.

(2-1-5-9) First Attitude Calculation Unit The first attitude calculation unit 39 is based on the value of the first angle calculated by the angle calculation unit 34 and the calculation result of the centroid calculation unit 36. A second angle formed by the long side P of the product X in plan view and the transport direction D of the transport conveyor 11 is calculated and calculated as a planar posture.

  Specific calculation by the first posture calculation unit 39 will be described later.

(2-1-5-10) Second attitude calculation unit The second attitude calculation unit 40 is based on the value of the first angle calculated by the angle calculation unit 34 and the calculation result of the length calculation unit 37. A second angle formed by the long side P of the product X in plan view and the transport direction D of the transport conveyor 11 is calculated and calculated as a planar posture.

  Specific calculation by the second posture calculation unit 40 will be described later.

(2-1-5-11) Posture Determination Unit The posture determination unit 41, when the plurality of second angles are calculated as a plane posture by the first posture calculation unit 39 and / or the second posture calculation unit 40, One plane attitude is calculated and determined using a statistical method. The statistical method here is a method of calculating an average value of a plurality of second angles and obtaining one plane posture. However, the statistical method is not limited to this. For example, when three or more second angles are calculated, an intermediate value or mode value of a plurality of second angles is obtained as one plane posture. Also good.

  The plurality of second angles are calculated as the plane posture by the first posture calculation unit 39 and / or the second posture calculation unit 40 because the angle calculation unit 34 detects the plurality of linear portions and detects the plurality of second angles. This is a case where one angle is calculated and the second angle is calculated for each first angle.

  When only one second angle is calculated as the plane attitude, the attitude determination unit 41 determines the second angle as it is as the plane attitude.

  The determined plane orientation is transmitted to the control device 70 via a transmitting unit 42 described later.

(2-1-5-12) Transmitter The transmitter 42 transmits various information to the control device 70 of the packaging device unit 1. The transmitted information includes the centroid position of the product X obtained by the holding position grasping unit 35 and the plane posture information of the product X determined by the posture determining unit 41.

(2-1-5-13) Receiving Unit The receiving unit 43 receives information regarding the inspection result of the product X transmitted from the seal inspection device 53 and the weight inspection device 54. In the present embodiment, the inspection results are received from both the inspection devices 53 and 54, but information on the inspection results may be collectively received from a control device (not shown) that controls the inspection devices 53 and 54.

  Of the products X conveyed from the weight inspection device 54, the posture detection device 10 can grasp the plane posture and the centroid position only for the products X for which the reception unit 43 has received a report indicating that both inspections have passed. Done.

(2-2) Commodity transfer device 60
The product transfer device 60 passes both the seal inspection and the weight inspection, and only the product X whose plane posture and centroid position are grasped by the posture detection device 10 is provided along the packaging device unit 1. This is a device for transporting to a cardboard box Y conveyed by 55 and packing it. The product transfer device 60 is an example of a holding transfer device that transfers the product X.

  The commodity transfer device 60 will be specifically described.

  The product X whose plane posture and centroid position are detected by the posture detection device 10 is transported to the lower part of the product transfer device 60 by the second transport conveyor 11b. The product X that has been conveyed is sucked and held from above by a suction pad 65a of a robot arm 65 that is a holding unit, and is lifted upward by a vertical movement mechanism 66a. The suction holding position by the suction pad 65a is the centroid position (holding position) of the product X transmitted from the transmission unit 42 of the posture detection device 10. The product X held by the robot arm 65 is transferred to the cardboard box Y prepared on the cardboard conveyor 55 by the horizontal movement mechanisms 66b and 66c. At this time, the product X is rotated in the R direction on the horizontal plane as shown in FIG. 8 in order to correct the plane orientation of the product X (the direction of the long side P of the product X that is rectangular in plan view) to a predetermined plane orientation. Be made. The rotation of the product X is executed by rotating the robot arm 65 holding the product X by driving the rotation mechanism 66d arranged on the upper part of the robot arm 65. The product X, whose plane orientation is corrected and transferred to the cardboard box Y, is packed in a state in which the long sides P of the rectangular product X are substantially the same in the cardboard box Y so as to overlap each other.

  On the other hand, an abnormality in the inspection result of either the seal inspection or the weight inspection is recognized, and the product X is not held by the product transfer device 60 but is transported by the second transport conveyor 11b and disposed downstream. 56.

(2-3) Control Device The control device 70 controls the commodity transfer device 60 that is a holding and transfer device. The control of the control device 70 includes control of the position and rotation angle of the robot arm 65 that is a holding unit of the commodity transfer device 60. The control device 70 is an example of a holding unit control device.

  FIG. 9 shows a schematic block diagram of the control device 70.

  The control device 70 is mainly composed of a CPU, a ROM, and a RAM. The control device 70 functions as a reception unit 71 and a robot arm control unit 72 as shown in FIG. 9 by reading and executing a program stored in a storage unit 75 such as a ROM or a RAM.

(2-3-1) Reception Unit The reception unit 71 receives various types of information including information related to the centroid position and the planar posture of the product X transmitted from the transmission unit 42 of the control unit 30 of the posture detection device 10. .

(2-3-2) Robot Arm Control Unit The robot arm control unit 72 is configured such that the reception unit 61 among the products X transported to the lower side of the product transfer device 60 by the second transport conveyor 11b has the centroid position and the planar posture. Control is performed so that only the product X for which the information related to is received is held and transferred by the robot arm 65. The product X that does not have information on the centroid position and the plane orientation is not transferred by the robot arm 65 because it means that the result of the seal inspection or the weight inspection is unacceptable. The product X that is not transferred by the robot arm 65 passes through the second transport conveyor 11b as a defective product and is delivered to the defective product transport conveyor 56.

  The robot arm control unit 72 controls the holding position of the product X by the suction pad 65 a of the robot arm 65 using the centroid position information of the product X transmitted from the transmission unit 42. Specifically, the robot arm control unit 72 determines the centroid position of the product X received by the reception unit 71 as a holding position by the suction pad 65a and causes the suction pad 65a to hold it. In addition, since the goods X are conveyed by the 2nd conveyance conveyor 11b, when holding the goods X by the suction pad 65a, the conveyance speed of the 2nd conveyance conveyor 11b is considered.

  Further, the robot arm control unit 72 instructs the horizontal movement mechanisms 66b and 66c to drive, and moves the robot arm 65, whereby the product X held by the suction pad 65a is prepared on the cardboard conveyor 55. Transfer to cardboard box Y.

  Further, the robot arm control unit 72 instructs the rotation mechanism 66d to drive and rotates the robot arm 65 to change the planar posture of the product X. Specifically, the robot arm control unit 72 makes the long side P of the product X substantially parallel to the transport direction D of the second transport conveyor 11b based on the information on the planar posture of the product X received by the receiving unit 71. The rotation direction and rotation angle of the rotation mechanism 66d are determined, and the rotation mechanism 66d is instructed to be driven.

(3) Control Processing The control flow of the control unit 30 of the attitude detection device 10 will be described below with reference to FIG.

  First, in step S <b> 201, it is determined whether or not the signal receiving unit 33 has received a signal indicating that the product X has been detected from the lateral photoelectric sensor 13. Step S201 is repeatedly executed until a signal indicating that the product X has been detected is received. If a signal indicating that the product X has been detected is received, the process proceeds to step S202.

  In step S202, it is determined whether or not the receiving unit 43 has received a signal indicating that the product X corresponding to the signal received by the signal receiving unit 33 has passed the seal inspection and the weight inspection. If it is determined that a signal indicating that both inspections have passed has not been received, the control process for the product X currently detected by the lateral photoelectric sensor 13 ends, and the process returns to step S201. Thereafter, for the next product X, step S201 is repeated until a signal indicating that the product X has been detected is received from the lateral photoelectric sensor 13. On the other hand, if it is determined in step S202 that a signal indicating that both tests have passed is received, the process proceeds to step S203.

  In step S203, the signal regarding the presence / absence of detection of the product X received by the signal reception unit 33 from the vertical photoelectric sensors 12a to 12g is stored in the storage unit 45 as data related to one product X to be detected for each sensor and time series. Stored in. Note that the data related to one product X to be detected is that one of the vertical photoelectric sensors 12a to 12g detects the one product X from the time when the one product X starts to be detected by the horizontal photoelectric sensor 13. After the start, all the vertical photoelectric sensors 12a to 12g are continuously stored until all the vertical photoelectric sensors 12a to 12g do not detect the one product X. When the product X is not detected by all the vertical photoelectric sensors 12a to 12g, the process proceeds to step S204.

  In step S204, the time series data for each sensor stored in the storage unit 45 in step S203 is converted into position data for each sensor by the signal receiving unit 33. In addition, position data is data which shows the position of the goods X with respect to the virtual straight line mentioned later. The conversion of time series data into position data will be specifically described.

  Conversion from time series data to position data is performed when the horizontal photoelectric sensor 13 starts to detect the product X, and when the vertical photoelectric sensors 12a to 12g start transmitting a signal indicating that the product X has been detected. This is executed by calculating the elapsed time up to the time point when the transmission of the signal indicating that X is detected from the time series data and multiplying the calculated elapsed time by the transport speed of the transport conveyor 11.

  This will be described more specifically.

  For example, the transport speed of the transport conveyor 11 is 500 mm / second, and the vertical photoelectric sensor 12a starts to transmit a signal indicating that the product X is detected 0.1 seconds after the product X is detected by the horizontal photoelectric sensor 13. Suppose that the transmission of the signal indicating that the product X has been detected ends 0.4 seconds later. Multiplying each elapsed time by the transport speed of the transport conveyor 11 results in 50 mm and 200 mm. This value is the position data in the vertical photoelectric sensor 12a of one product X that is the detection target of the vertical photoelectric sensors 12a to 12g. This position data indicates that when the horizontal photoelectric sensor 13 first detects the product X, the product X from the upstream 50 mm to 200 mm in the transport direction D with respect to the installation position of the vertical photoelectric sensor 12a on the virtual straight line in plan view. It means to exist. The virtual straight line is a virtual straight line provided in a direction perpendicular to the transport direction D on the transport surface of the transport conveyor 11 at the position where the horizontal photoelectric sensor 13 first detects the product X.

  Conversion of time series data into position data is performed for all vertical photoelectric sensors 12a to 12g. In addition, the example of what illustrated position data is the bar graph-shaped part of FIG. 5 and FIG. 5 and 6 indicate position data of the vertical photoelectric sensors 12a, 12b,... 12g in order from the top. The left end of each bar graph portion indicates the position (the position of the imaginary straight line) where the horizontal photoelectric sensor 13 first detects the product X. The shaded portion of the bar graph portion indicates the position where the product X exists, and the white portion indicates the position where the product X does not exist.

  The position data displayed on the input / output unit 14 is in a line-symmetric relationship with the signals of the vertical photoelectric sensors 12a to 12g received by the signal receiving unit 33 with respect to the arrangement direction of the vertical photoelectric sensors 12a to 12g. . This will be described with reference to FIGS.

  FIG. 14 shows the conveyance state of the product X corresponding to the position data of FIG. The goods X are conveyed from right to left in FIG. In this case, in step S203, the signal receiving unit 33 receives signals as shown in FIG. 15 from the vertical photoelectric sensors 12a to 12g as time series data. The shaded portion of the bar graph-like portion in FIG. 15 indicates the time when the product X is detected, and the white portion indicates the time when the product X is not detected. Note that the direction of the time axis t is as indicated by an arrow in FIG. 15, which means that the data on the left side is newer. That is, in FIG. 15, a signal in which the vertical photoelectric sensors 12 a to 12 g first detect the product X appears on the right side, and a signal in which the vertical photoelectric sensors 12 a to 12 g have detected the product X until the end appears on the left side. However, in such a display, since it is difficult to grasp the relationship between the conveyance direction D and the article X, the data in FIG. 15 is folded back with respect to the arrangement direction of the vertical photoelectric sensors 12a to 12g and displayed as shown in FIG. Is done. Position data corresponding to such display is used, and the following angle calculation and posture calculation are executed.

  After step S204 is completed, the process proceeds to step S300, where the angle calculator 34 calculates the first angle. Calculation processing by the angle calculation unit 34 will be described with reference to FIG.

  First, in step S <b> 301, the angle calculation unit 34 detects a straight line portion using position data in the vertical photoelectric sensors 12 a to 12 g stored in the storage unit 45. The calculation for detecting the straight line portion will be specifically described taking the position data shown in FIG. 5 as an example.

  In the position data shown in FIG. 5, the product X is detected by the vertical photoelectric sensors 12b to 12f. Here, in the vertical photoelectric sensors 12b to 12f, the distances from the left end of the bar graph-like portion to the left end of the shaded portion are Ab, Ac, Ad, Ae, and Af, respectively.

  For the vertical photoelectric sensors 12b to 12f in which the product X is detected, the angle calculation unit 34 calculates the difference in distance between the adjacent vertical photoelectric sensors from the left end of the bar graph-like portion to the left end of the shaded portion. Are calculated in order from the left side with respect to the transport direction D. That is, in the case of FIG. 5, (Af-Ae), (Ae-Ad), (Ad-Ac), and (Ac-Ab) are calculated in order. This difference in distance is compared in the calculation order, and if there are two or more consecutive portions having a value of ± 5 mm, the portion is detected as a straight line portion. For example, in FIG. 5, since (Af-Ae), (Ae-Ad), and (Ad-Ac) are substantially the same value, the portions from the vertical photoelectric sensors 12c to 12f are detected as straight portions. On the other hand, since the values of (Ad-Ac) and (Ac-Ab) are greatly different, it is determined that the vertical photoelectric sensors 12b to 12d are not straight portions.

  Note that the detection of the straight line portion may be performed using not the distance from the left end of the bar graph-like portion to the left end of the shaded portion but the distance from the left end of the bar graph-like portion to the right end of the shaded portion. The detection principle of the straight line portion using the distance from the left end of the bar graph-like portion to the right end of the hatched portion is the same as the detection principle of the straight line portion using the distance from the left end of the bar graph-like portion to the left end of the hatched portion. Therefore, explanation is omitted. Further, in FIG. 5, one straight line portion is detected at each of the left end and right end of the hatched portion, but in FIG. 6, two straight portions are respectively present at the left end and right end of the hatched portion that is the detection portion of the product X. Location is detected.

  In step S302, a first angle formed by the straight line portion detected in step S301 and the transport direction D of the transport conveyor 11 is obtained. The first angle is stored in the storage unit 45 and the distance in the plan view of the vertical photoelectric sensors positioned at the right end and the left end with respect to the transport direction D among the vertical photoelectric sensors determined to constitute the linear portion in step S301. The calculated position data is used.

  Similar to the description of step S301, a specific description will be given using the position data shown in FIG.

First, among the vertical photoelectric sensors 12c and 12f detected as the straight line portion, the vertical photoelectric sensor 12f and the vertical photoelectric sensor 12c located at the leftmost and rightmost ends in the conveyance direction D of the conveyance conveyor 11 are illustrated in FIG. 5, the difference in distance from the left end of the bar graph portion to the left end of the shaded portion is calculated. That is, here, (Af−Ac) is calculated. Subsequently, the distance between the vertical photoelectric sensor 12c and the vertical photoelectric sensor 12f in a plan view is calculated. Since the vertical photoelectric sensors are arranged at intervals of 30 mm, the distance between the vertical photoelectric sensor 12c and the vertical photoelectric sensor 12f is obtained as 90 mm. At this time, the first angle is calculated by tan −1 (90 / (Af−Ac)) using (Af−Ac) and 90 mm.

  Although the first angle can be calculated using the difference in distance from the left end of the bar graph-like portion in FIG. 5 to the right end of the shaded portion, the concept is the same, and the description is omitted.

  The first angle calculated in step S302 is stored in the storage unit 45.

  Next, in step S303, it is determined whether the first angle has been calculated for all of the straight line portions detected in step S301. If the calculation of the first angle has been completed for all the straight line portions, the process proceeds to step S205. If there is a straight line portion for which the first angle has not yet been calculated, the process returns to step S302, and the straight line portion for which the first angle has not yet been calculated is calculated. That is, when there are a plurality of straight line portions, there are a plurality of first angles stored in the storage unit 45.

  Returning to FIG.

  In step S205, the calculation method selection unit 38 determines whether the first angle is in the range of not less than 20 ° and not more than 70 ° or in the range of not less than −70 ° and not more than −20 °. If this condition is satisfied, the process proceeds to step S310. If the condition is not satisfied, the process proceeds to step S320.

  In step S310, the first attitude calculation unit 39 calculates a second angle that is a planar attitude. This will be described with reference to FIG.

  In step S311, an index related to the centroid position for grasping the positional relationship between the centroid of the right polygon and the centroid of the left polygon in the transport direction D in plan view is calculated. The right-side polygon and the left-side polygon are on the right and left sides in the transport direction D when the product X is virtually divided by a straight line that passes through the centroid of the product X and extends along the transport direction D of the transport conveyor 11. Indicates the located polygon.

  The centroid operation unit 36 calls position data in the vertical photoelectric sensors 12 a to 12 g stored in the storage unit 45. Then, the centroid operation unit 36 finds the vertical photoelectric sensors 12a to 12g detecting the product X based on the position data, and divides the photoelectric sensor into two groups on the right side and the left side in the transport direction D of the transport conveyor 11. If the number of vertical photoelectric sensors 12a to 12g detecting the product X is an even number, the same number is divided into two groups, and if the number of vertical photoelectric sensors 12a to 12g detecting the product X is an odd number, The vertical photoelectric sensors located are ignored, and the right and left sides in the transport direction D are divided into two groups by the same number.

  For example, if it demonstrates concretely using the position data shown in FIG. 6, the vertical photoelectric sensors 12b-12d are a sensor group of the right side with respect to the conveyance direction D, and the vertical photoelectric sensors 12e-12g are in the conveyance direction D. On the other hand, it is a sensor group on the left side.

  Thereafter, for each of the vertical photoelectric sensors included in the sensor group on the right side with respect to the transport direction D, the distance from the virtual straight line perpendicular to the transport direction D to the intermediate position of the product X is calculated and integrated. This integrated value is the centroid position index of the right sensor group.

  For each of the vertical photoelectric sensors included in the sensor group on the left side with respect to the transport direction D, the distance from the virtual straight line perpendicular to the transport direction D to the intermediate position of the product X is calculated and integrated. This integrated value is the centroid position index of the left sensor group.

  Note that the distance from the virtual straight line perpendicular to the transport direction D to the intermediate position of the product X can be described in detail using the position data shown in FIG. The distance to the intermediate position of the shaded portion that is the intermediate position is shown.

  In step S312, the centroid operation unit 36 determines which polygonal centroid, the right polygon or the left polygon, is located on the upstream side in the transport direction D. The determination is made by comparing the centroid position index of the right sensor group calculated in step S311 with the centroid position index of the distance of the left sensor group. If the centroid position index of the left sensor group is larger than the centroid position index of the right sensor group, the left polygon centroid is positioned upstream of the right polygon centroid in the transport direction D. Then, it is determined. That is, it is determined that the left polygonal centroid is positioned rearward in the transport direction D with respect to the right polygonal centroid. In other words, the product X is determined to be rightward with respect to the transport direction D. On the other hand, if the centroid position index of the right sensor group is larger than the centroid position index of the left sensor group, the opposite determination is made.

  If it is determined that the left polygonal centroid is located behind the right polygonal centroid, the process proceeds to step S313. If it is determined that the right polygon centroid is located behind the left polygon centroid in the transport direction D, the process proceeds to step S314.

  In step S313, it is determined whether or not the first angle is 0 ° or more. If the first angle is 0 ° or more, the first angle is directly calculated as the second angle in step S315. If the first angle is less than 0 °, a value obtained by adding 90 ° to the first angle is calculated as the second angle in step S316.

  Next, in step S314, it is determined whether or not the first angle is less than 0 °. If the first angle is less than 0 °, the process proceeds to step S315. If the first angle is 0 ° or more, a value obtained by subtracting 90 ° from the first angle is calculated as the second angle in step S317.

  If the second angle is calculated in any of steps S315 to S317, the calculated value is stored in the storage unit 45, and the process proceeds to step S206.

  Next, step S320 will be described. In step S320, the second attitude calculation unit 40 calculates a second angle that is a planar attitude. This will be described with reference to FIGS. 13a and 13b.

  In step S321, cases are classified according to the size of the first angle. If the absolute value of the first angle is smaller than 20 °, the process proceeds to step S322. In cases other than that described here, process flow proceeds to Step S332.

  A case where the absolute value of the first angle is smaller than 20 ° will be described.

  In step S322, calculation by the length calculation unit 37 is performed. The length calculation unit 37 performs length calculation using the first angle and the position data in the vertical photoelectric sensors 12 a to 12 g stored in the storage unit 45.

  First, the length calculation unit 37 uses the position data in the vertical photoelectric sensors 12a to 12g stored in the storage unit 45 to find data for which the product X has been detected for the longest time. If it demonstrates using the position data shown by FIG. 5, the length calculating part 37 will find the thing with the longest length of the oblique line part of a bar-graph-like part.

  Thereafter, the length calculator 37 calculates the distance between the opposite sides of the product X by calculation. This will be described with reference to FIG. If the maximum length found is B in FIG. 16, the distance C between opposite sides, which is the object of calculation, is calculated as B × sin | α |. Here, α represents the first angle, and | α | represents the absolute value of the first angle.

  In step S323, the second attitude calculation unit 40 determines whether the distance between opposite sides calculated by the length calculation unit 37 is equal to or greater than the average value of the lengths of the long side P and the short side Q of the product X. Is done. For the lengths of the long side P and the short side Q of the product X, values that are previously input by the user on the touch panel of the input / output unit 14 and stored in the storage unit 45 are used.

  When the distance between opposite sides calculated by the length calculation unit 37 is equal to or greater than the average value of the lengths of the long side P and the short side Q of the product X, the process proceeds to step S324, and the first angle remains as the second angle. Is calculated as

  When the distance between opposite sides calculated by the length calculation unit 37 is shorter than the average value of the lengths of the long side P and the short side Q of the product X, the process proceeds to step S325. In step S325, it is determined whether or not the first angle is 0 ° or more. If the first angle is 0 ° or more, a value obtained by subtracting 90 ° from the first angle is calculated as the second angle in step S326. If the first angle is less than 0 °, a value obtained by adding 90 ° to the first angle is calculated as the second angle in step S327.

  If the second angle is calculated in any of step S324, step S326, or step S327, the calculated value is stored in the storage unit 45, and the process proceeds to step S206.

  The case where the absolute value of the first angle is larger than 20 °, more precisely, the absolute value of the first angle is larger than 70 ° and not larger than 90 ° will be described.

  In step S332, the length calculation unit 37 performs calculation. The content of the calculation is the same as in step S322.

  In step S333, the second posture calculation unit 40 determines whether the distance between opposite sides calculated by the length calculation unit 37 is equal to or greater than the average value of the lengths of the long side P and the short side Q of the product X. Is done. For the lengths of the long side P and the short side Q of the product X, values previously input by the user on the touch panel of the input / output unit 14 and stored in the storage unit 45 are used.

  When the distance between opposite sides calculated by the length calculation unit 37 is equal to or greater than the average value of the lengths of the long side P and the short side Q of the product X, the process proceeds to step S335. In step S335, it is determined whether or not the first angle is 0 ° or more. If the first angle is 0 ° or more, a value obtained by subtracting 90 ° from the first angle is calculated as a second angle in step S336. If the first angle is less than 0 °, a value obtained by adding 90 ° to the first angle is calculated as the second angle in step S337.

  On the other hand, when the distance between opposite sides calculated by the length calculation unit 37 is shorter than the average value of the lengths of the long side P and the short side Q of the product X, the process proceeds to step S334, and the first angle remains as it is. Calculated as the second angle.

  If the second angle is calculated in any of step S334, step S336, or step S337, the calculated value is stored in the storage unit 45, and the process proceeds to step S206.

  In step S206, it is determined whether the second angle has been calculated for all the first angles calculated in step S300. If all the second angles have been calculated, the process proceeds to step S207. If there is a first angle that has not been calculated yet, the process returns to step S205. That is, when there are a plurality of first angles, there are also a plurality of second angles stored in the storage unit 45.

  In step S207, when a plurality of second angles are stored in the storage unit 45, the posture determination unit 41 determines one plane posture based on a statistical method. On the other hand, when only one second angle is stored in the storage unit 45, the second angle is determined as a plane posture as it is.

  In step S208, the holding position grasping unit 35 approximately grasps the centroid position of the product X using the position data in the vertical photoelectric sensors 12a to 12g stored in the storage unit 45.

  First, the holding position grasping unit 35 determines the centroid position with respect to the direction perpendicular to the transport direction D as follows. The holding position grasping unit 35 calls the position data in the vertical photoelectric sensors 12 a to 12 g stored in the storage unit 45. And holding position grasping part 35 finds out vertical photoelectric sensors 12a-12g which are detecting goods X based on this position data. If the number of vertical photoelectric sensors 12a to 12g detecting the product X is an odd number, the position of one vertical photoelectric sensor located in the center among the vertical photoelectric sensors 12a to 12g detecting the product X Is determined to be the centroid position of the product X in the direction perpendicular to the conveyance direction D. If the number of the vertical photoelectric sensors 12a to 12g detecting the product X is an even number, the middle position of the two vertical photoelectric sensors located in the center among the vertical photoelectric sensors 12a to 12g detecting the product X is It is grasped that it is the centroid position of the product X in the direction perpendicular to the transport direction D. The position data of the vertical photoelectric sensors 12a to 12g are stored in the storage unit 45 in advance.

  Next, the holding position grasping unit 35 determines the centroid position with respect to the transport direction D as follows. The holding position grasping unit 35 calls the position data in the vertical photoelectric sensors 12 a to 12 g stored in the storage unit 45. And holding position grasping part 35 finds out vertical photoelectric sensors 12a-12g which are detecting goods X based on this position data. Thereafter, for the vertical photoelectric sensors 12a to 12g that detect the product X, the distances from the virtual straight line perpendicular to the transport direction D to the intermediate position of the product X are calculated and integrated. The calculated integrated value is divided by the number of vertical photoelectric sensors 12a to 12g detecting the product X. It is understood that the value obtained by the division is the centroid position in the conveyance direction D of the product X (the distance from the imaginary straight line in the conveyance direction D to the centroid position).

  Note that the distance from the virtual straight line perpendicular to the transport direction D to the intermediate position of the product X can be described in detail using the position data shown in FIG. Indicates the distance to the position.

  The centroid position of the product X relating to the conveyance direction D and the direction perpendicular to the conveyance direction D thus grasped is stored in the storage unit 45.

  Finally, in step S209, the planar posture of the product X determined by the posture determination unit 41 and the centroid position (holding position) of the product X grasped by the holding position grasping unit 35, which are stored in the storage unit 45, are transmitted. The unit 42 transmits to the receiving unit 71 of the control device 70.

  After step S209 ends, the process returns to step S201. In addition, a series of control is performed for every goods X which is the detection object of a plane attitude | position.

(4) Features (4-1)
The posture detection device 10 according to the present embodiment detects a flat posture of a product X that is a rectangle having a long side P and a short side Q in plan view while being conveyed. The posture detection device 10 includes a conveyor 11, seven vertical photoelectric sensors 12 a to 12 g, an angle calculation unit 34, a centroid calculation unit 36, and a first posture calculation unit 39. The transport conveyor 11 transports the product X by supporting it from below with the transport surface. The vertical photoelectric sensors 12 a to 12 g detect the product X passing on the conveyor 11. The angle calculation unit 34 detects the straight line portion of the product X in plan view using position data based on the time series data on the presence or absence of the product X detected by the vertical photoelectric sensors 12a to 12g, and the straight line portion and a predetermined reference A first angle formed by a straight line parallel to the transport direction D of the transport conveyor 11 that is a line is calculated. The centroid operation unit 36 is formed on the right side with respect to the transport direction D when the product X is virtually divided by a straight line extending along the transport direction of the transport conveyor 11 through the centroid of the product X in plan view. Based on the time-series data, which polygonal centroid of the right-side polygon and the left-side polygon formed on the left side with respect to the transport direction D is forward or backward with respect to the transport direction D. Calculate using position data. The first attitude calculation unit 39 calculates the plane attitude of the product X based on the calculation results of the angle calculation unit 34 and the centroid calculation unit 36.

  Thereby, the side of the product X can be correctly detected with a simple configuration, and the first angle formed by the side of the product X and the transport direction D of the transport conveyor 11 which is a reference line in a plan view is accurately calculated. Further, since the positional relationship between the right polygon and the left polygon of the product X is required, the long side P and the short side of the product X, which are not known only from the angle formed by the side of the product X and the transport direction D, are obtained. The positional relationship with Q can also be grasped, and a more detailed determination of the plane posture can be made.

(4-2)
In the posture detection device 10 according to the present embodiment, the first posture calculation unit 39 calculates the second angle formed by the transport direction D and the long side P of the product X as the planar posture of the product X in plan view.

  Thereby, the planar posture of the product X can be grasped as a second angle formed by the long side P or the short side Q of the product X and the transport direction D in a range of −90 ° or more and less than 90 °.

(4-3)
The posture detection apparatus 10 according to the present embodiment further includes a length calculation unit 37, a second posture calculation unit 40, and a calculation method selection unit 38. The length calculation unit 37 includes position data based on time-series data on the presence / absence of an article that the vertical photoelectric sensors 12a to 12g detect the distance between opposite sides of the article in plan view, and the first angle calculated by the angle calculation unit 34. Calculate based on Based on the calculation results of the angle calculation unit 34 and the length calculation unit 37, the second attitude calculation unit 40 sets the second angle formed by the conveyance direction D and the long side P of the product X in plan view to the plane of the product X Calculate as posture. The calculation method selection unit 38 causes the first posture calculation unit 39 to calculate the plane posture when the value of the first angle is 20 ° or more and 70 ° or less, or −70 ° or more and −20 ° or less. When the first angle is any other value, the calculation method selection unit 38 causes the second posture calculation unit 40 to calculate the plane posture.

  Thereby, even if it is difficult to grasp the positional relationship of the centroid between the right polygon and the left polygon of the product X, the planar orientation of the product X is obtained by using the measured length of the opposite side of the product X. Can be grasped. More specifically, when the long side P of the product X is nearly perpendicular or parallel to the transport direction and it is difficult to grasp the positional relationship of the centroid between the right polygon and the left polygon of the product X, the second By using the attitude calculation unit 40, the plane attitude of the product X can be accurately grasped. As a result, it is easy to grasp the plane posture regardless of the plane posture of the product X.

(4-4)
The posture detection device 10 according to the present embodiment further includes a posture determination unit 41. The angle calculation unit 34 calculates a plurality of first angles when a plurality of straight lines are detected. The posture determination unit 41 sets an average value, an intermediate value, and a mode value of the plurality of second angles as one second angle when a plurality of second angles that are planar postures are calculated based on the plurality of first angles. Calculated and calculated as a planar orientation of the product X.

  Thereby, it is easy to appropriately correct the calculation error of the plane attitude caused by the measurement errors of the vertical photoelectric sensors 12a to 12g and accurately grasp the plane attitude of the product X.

(4-5)
In the attitude detection device 10 according to the present embodiment, the centroid calculation unit 36 is a virtual straight line perpendicular to the conveyance direction D provided on the conveyance surface (at the detection start position of the product X by the lateral photoelectric sensor 13) in plan view. The distance between the straight line) and the intermediate point of the product X on the transport surface with respect to the transport direction D obtained from the position data based on the time series data of the presence or absence of the product X detected by the vertical photoelectric sensors 12a to 12g is calculated. To do. Then, based on the calculation result, it is calculated whether the centroid of the right polygon or the left polygon is forward or backward with respect to the transport direction D.

  Thereby, it is possible to grasp the positional relationship between the centroid of the right polygon and the centroid of the left polygon with a simple configuration.

(4-6)
In the attitude detection device 10 according to the present embodiment, each of the vertical photoelectric sensors 12a to 12g includes light projecting elements 121a to 121g that emit signal light perpendicular to the transport surface of the transport conveyor 11, and light projecting elements 121a to 121g. It has the light receiving elements 122a-122g used as a pair. The light receiving elements 122a to 122g are arranged on the path of the signal light emitted from the pair of light projecting elements 121a to 121g with the transport conveyor 11 interposed therebetween, and receive the signal light emitted from the pair of light projecting elements 121a to 121g. To do. Further, the vertical photoelectric sensors 12a to 12g are arranged at regular intervals in a straight line perpendicular to the transport direction D of the transport conveyor 11 in a plan view, and the light projecting elements 121a to 121g between the adjacent vertical photoelectric sensors 12a to 12g. It arrange | positions so that the direction which emits light may become reverse direction.

  Thereby, when what is called a transmissive | pervious sensor is used, it becomes easy to suppress the influence of interference between sensors and to detect correctly the presence or absence of the articles | goods conveyed by a conveyance part.

(4-7)
The posture detection apparatus 10 according to the present embodiment further includes a holding position grasping unit 35 that grasps the centroid of the product X. The holding position grasping unit 35 grasps the centroid of the product X using position data based on time-series data on the presence / absence of articles detected by the vertical photoelectric sensors 12a to 12g.

  Thereby, in addition to the planar posture of the product X, the position (holding position by the suction pad 65a) to be held when the product X is held by the robot arm 65 of the boxing device unit 1 can be grasped. As a result, in addition to the planar orientation of the product X, information on the centroid position (holding position) of the product X necessary for aligning the orientation of the product X can be calculated by the orientation detection device.

(4-8)
The boxing device unit 1 according to the present embodiment includes an attitude detection device 10 having the above characteristics, a commodity transfer device 60, and a control device 70. The product transfer device 60 holds and transfers the product X by a rotatable robot arm 65. The control device 70 controls the position and rotation angle of the robot arm 65. The control device 70 controls the position and rotation angle of the robot arm 65 based on the planar posture of the product X and the centroid of the product X detected by the posture detection device 10.

  Thereby, based on the plane posture and centroid position of the product X grasped by the posture detection device 10, the product X is held at an appropriate position by the robot arm 65, and the robot arm 65 is rotated to rotate the product X. The plane posture can be appropriately corrected. As a result, it is possible to cause the boxing device unit 1 to box the products X in an orderly manner.

(5) Modification (5-1) Modification A
In the above embodiment, the posture detection device 10 is used as a part of the boxing device unit 1, but is not limited thereto. For example, the attitude detection device 10 may be used as part of a system for attaching a strip tape to the product X.

(5-2) Modification B
In the above embodiment, the angle formed by the long side P of the product X and the transport direction D of the transport conveyor 11 is recognized as the planar posture of the product X, but is not limited to this. An angle formed by the short side Q of the product X and the transport direction D of the transport conveyor 11 may be recognized as a planar posture of the product X, and the long side P or the short side Q of the product X is parallel to the transport direction D. An angle formed with an arbitrary reference line other than a straight line may be recognized as the plane posture of the product X.

(5-3) Modification C
In the above embodiment, seven vertical photoelectric sensors 12a to 12g are used, but the number of vertical photoelectric sensors is not limited to this. However, at least three vertical photoelectric sensors are necessary for recognizing the straight line portion of the product X, and at least four vertical photoelectric sensors are required for grasping the positional relationship between the right polygon and the left polygon of the product X. It is desirable to use a sensor. Further, increasing the number of vertical photoelectric sensors leads to an increase in the cost of the attitude detection device 10, and therefore it is desirable that there are up to about seven vertical photoelectric sensors.

(5-4) Modification D
In the said embodiment, although the length calculating part 37 is calculating the length of the opposite side of the goods X, it is not restricted to this. The length calculation unit 37 may obtain the length from the forefront to the end in the transport direction of the product X based only on the position data in the vertical photoelectric sensors 12a to 12g stored in the storage unit 45.

  Specifically, the length calculation unit 37 calls the position data in the vertical photoelectric sensors 12 a to 12 g stored in the storage unit 45. And the length calculating part 37 finds the vertical photoelectric sensors 12a-12g which are detecting the goods X based on this position data. Thereafter, for the vertical photoelectric sensors 12a to 12g detecting the product X, the distance between the position of the product X closest to the virtual straight line perpendicular to the transport direction D and the position of the product X farthest from the virtual straight line is calculated. Calculate by calculation. The calculated value is the length calculated by the length calculation unit 37 in this modification.

  Note that the distance between the position of the product X closest to the virtual straight line perpendicular to the transport direction D and the position of the product X farthest from the virtual straight line can be described vertically with reference to FIG. This is the difference between the distance from the left end of the bar graph-like portion to the left end of the shaded portion for the photoelectric sensor 12d and the distance from the left end of the bar graph-like portion to the right end of the shaded portion for the vertical photoelectric sensor 12e.

  Furthermore, the length calculation unit 37 replaces the position data of the vertical photoelectric sensors 12 a to 12 g with the product of the time from the start of detection of the product X of the horizontal photoelectric sensor 13 to the end of detection and the transport speed of the transport conveyor 11. It may be obtained and the value may be the length. By using the lateral photoelectric sensor 13, the length of the product X in the transport direction D can be easily recognized accurately.

(5-5) Modification E
The lateral photoelectric sensor 13 in the above embodiment is not an essential component. For example, the signal of the sensor that first detects one product X among the vertical photoelectric sensors 12 a to 12 g may be used instead of the signal of the horizontal photoelectric sensor 13.

(5-6) Modification F
In the above embodiment, when the angle calculation unit detects a plurality of straight line portions, the same number of first angles as the number of detected straight line portions is calculated. However, a plurality of angle calculation units are calculated. One or more straight lines may be selected, and the first angle may be calculated only for the selected straight lines.

  For example, the angle calculation unit may select the straight line part according to the positional relationship of the detected straight line part. Specifically, the first angle may be calculated by selecting only the straight line portion located rearward with respect to the transport direction D. In general, in the straight line portion positioned in front of the conveyance direction D, the side of the product X may be deformed by an impact when the product X is supplied, and a correct straight line may not be detected. On the other hand, by calculating the first angle by selecting a straight line portion located rearward with respect to the transport direction D, an accurate plane posture can be easily grasped. The angle calculation unit temporarily calculates all the first angles, then selects one or a plurality of linear portions, and uses the first angle used for posture detection from the temporarily calculated first angles. May be selected.

  In addition, for example, when a plurality of first angles are calculated with respect to a plurality of detected straight portions, the angle calculation unit selects a straight portion having the largest absolute value of the first angle, and the straight portion Only the first angle may be calculated. The large absolute value of the first angle means that the straight line portion is close to the direction perpendicular to the transport direction D. In this case, since there is a high possibility that the straight line portion is detected by more vertical photoelectric sensors 12a to 12g than the other straight line portions, the side of the product X is easily recognized accurately.

(5-7) Modification G
In the above-described embodiment, the posture determination unit 41 calculates one plane posture by a statistical method when a plurality of second angles as the plane posture are calculated, but is not limited thereto.

  For example, the posture determination unit 41 may select the straight line portion according to the positional relationship of the straight line portions used for calculating the first angle used for calculating the second angle. More specifically, the second angle obtained by using the first angle obtained with respect to the straight line portion located rearward with respect to the transport direction D may be determined as one plane posture. In addition, for example, the posture determination unit 41 may determine the second angle obtained from the first angle having the largest absolute value among the plurality of first angles as the plane posture.

  The effect in this case is the same as that of Modification F.

(5-8) Modification H
In the above embodiment, the vertical photoelectric sensors 12a to 12g are so-called transmission type photoelectric sensors in which the light projecting elements 121a to 121g and the separate light receiving elements 122a to 122g are combined. is not. For example, the product X may be detected using a reflection state of signal light using a photoelectric sensor in which a light projecting element and a light receiving element are integrated.

(5-9) Modification I
In the above embodiment, the boxing device unit 1 holds, transports and packs articles by the robot arm 65, but the holding unit for the product X is not limited to the robot arm 65. For example, a parallel link robot or the like may be used as the holding unit.

  The present invention has an attitude detection device capable of accurately grasping the planar posture of an article that is a rectangle having a long side P and a short side Q in plan view with a low-cost and simple configuration, and the posture detection device. Useful as a boxing unit.

DESCRIPTION OF SYMBOLS 1 Boxing device unit 10 Attitude detection device 11 Conveyor (conveyance part)
12a-12g Vertical photoelectric sensor (sensor)
34 angle calculation unit 35 holding position grasping unit 36 centroid calculation unit 37 length calculation unit 38 calculation method selection unit 39 first posture calculation unit 40 second posture calculation unit 41 posture determination unit 60 commodity transfer device (holding transfer device)
65 Robot arm (holding part)
70 Control device (holding unit control device)
121a to 121g Light projecting elements 122a to 122g Light receiving element D Transport direction P Long side Q Short side X Product (article)

JP 2004-262482 A JP-A-2005-162422

Claims (13)

  1. A posture detection device that detects a plane posture of an article that is a rectangle having a long side and a short side in a plan view while being conveyed,
    A transport unit that transports the article supported from below by a transport surface;
    1st to n-th (n is an integer of 4 or more) sensors for detecting the article passing on the transport unit;
    Based on the time series data of the presence or absence of the article detected by the first to nth sensors, a straight line portion of the article in plan view is detected, and a first angle formed by the straight line portion and a predetermined reference line is determined. An angle calculation unit to calculate,
    In a plan view, when the article is virtually divided by a straight line extending along the conveyance direction of the conveyance unit through the centroid of the article, the right polygon formed on the right side with respect to the conveyance direction; A centroid operation unit that calculates which polygonal centroid is on the front side or the rear side with respect to the transport direction based on the time-series data, the left polygon formed on the left side with respect to the transport direction. When,
    A first attitude calculator that calculates the planar attitude of the article based on the calculation results of the angle calculator and the centroid calculator;
    An attitude detection device comprising:
  2. The first attitude calculation unit calculates a second angle formed by the predetermined reference line in plan view and the long side or the short side of the article as the plane attitude of the article.
    The posture detection apparatus according to claim 1.
  3. A length calculation unit, a second attitude calculation unit, and a calculation method selection unit;
    The length calculation unit calculates a distance between opposite sides of the article in plan view based on the time series data and the first angle, or calculates a length of the article in the transport direction in plan view as the time. Calculate based on series data,
    The second attitude calculation unit is configured to make the second line formed by the predetermined reference line in the plan view and the long side or the short side of the article based on calculation results of the angle calculation unit and the length calculation unit. An angle is calculated as the planar posture of the article,
    The calculation method selection unit selects which of the first posture calculation unit and the second posture calculation unit calculates the plane posture according to the value of the first angle.
    The posture detection apparatus according to claim 2.
  4. The predetermined reference line is a straight line perpendicular or parallel to the transport direction of the transport unit ,
    The attitude | position detection apparatus of any one of Claim 1 to 3 .
  5. The predetermined reference line is a straight line perpendicular or parallel to the transport direction of the transport unit,
    The calculation method selection unit selects the first posture calculation unit when the first angle is 20 ° or more and 70 ° or less, or −70 ° or more and −20 ° or less, and otherwise. Selecting the second attitude calculation unit;
    The posture detection apparatus according to claim 3.
  6. The angle calculation unit detects first to m-th (m is an integer of 2 to 4) straight line portions, and each of the first to m-th straight portions and the predetermined reference line form. First to m-th provisional angles are calculated, and based on the positional relationship of the first to m-th straight portions in plan view and / or the values of the first to m-th provisional angles, 1 Or, a plurality of the provisional angles are selected and calculated as the first angle.
    The attitude | position detection apparatus of any one of Claim 1 to 5.
  7. A posture determination unit;
    The angle calculation unit detects a plurality of the straight portions, calculates a plurality of the first angles,
    The posture determination unit is configured to calculate the first angle used for the calculation of the plane posture and / or the straight line portion when the first angle is calculated by the angle calculation unit when a plurality of the plane postures are calculated. Selecting and determining one plane orientation according to the positional relationship with respect to the transport direction;
    The attitude | position detection apparatus of any one of Claim 1 to 5.
  8. A posture determination unit;
    The angle calculation unit detects a plurality of the straight portions, calculates a plurality of the first angles,
    The posture determination unit calculates and determines one plane posture using a statistical method when a plurality of the plane postures are calculated.
    The attitude | position detection apparatus of any one of Claim 1 to 5.
  9. A posture determination unit;
    The posture determination unit calculates and determines one plane posture using a statistical method when a plurality of the plane postures are calculated.
    The posture detection apparatus according to claim 6.
  10. The centroid operation unit is configured to transfer the article on the conveyance surface obtained based on a virtual straight line perpendicular to the conveyance direction provided on the conveyance surface and the time-series data in a plan view. Calculate the distance between p points (p is an integer equal to or less than n) intermediate points with respect to the direction, and calculate which polygonal centroid is forward or backward with respect to the transport direction based on the calculation result. Do,
    The attitude | position detection apparatus of any one of Claim 1 to 9.
  11. The first to n-th sensors are:
    A light projecting element that emits light perpendicular to the transport surface of the transport unit, and a pair with the light projecting element, and sandwiching the transport unit on a path of the light emitted by the pair of light projecting elements A light receiving element that is disposed and receives the light,
    In a plan view, the light projecting elements of adjacent sensors are arranged so that the light emitting elements emit light in a straight line that is perpendicular to the transport direction of the transport unit. ,
    The attitude | position detection apparatus of any one of Claim 1 to 10.
  12. A holding position grasping part for grasping the centroid of the article;
    The holding position grasping unit grasps the centroid of the article using the time-series data;
    The attitude | position detection apparatus of any one of Claim 1 to 11.
  13. The posture detection device according to claim 12,
    A holding and transferring device for holding and transferring the article by a rotatable holding unit; and
    A holding unit control device for controlling the position and rotation angle of the holding unit;
    With
    The holding unit control device controls the position and the rotation angle of the holding unit based on the planar posture of the article and the centroid of the article, which are calculated by the posture detection device.
    Boxing device unit.
JP2012005396A 2012-01-13 2012-01-13 Attitude detection device Active JP5933270B2 (en)

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Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06109448A (en) * 1992-09-30 1994-04-19 Shinko Denshi Kk Dimension measuring method
ES2222474T3 (en) * 1996-12-31 2005-02-01 Datalogic S.P.A. Procedure and apparatus for measuring the volume of an object.
JP4256181B2 (en) * 2003-02-28 2009-04-22 株式会社イシダ Product inspection apparatus, strip tape mounting system and boxing system provided with the same
JP4451126B2 (en) * 2003-12-04 2010-04-14 ゼネラルパッカー株式会社 Positioning method of conveyed product on conveyor

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