JP6642850B2 - Package inspection apparatus, inspection method and manufacturing method, and packaging machine - Google Patents

Description

  The present invention relates to, for example, an inspection device, an inspection method, a manufacturing method, and a packaging machine for a package formed by filling contents such as powdered food into a packaging bag by a filling device and then sealing the packaging bag. TECHNICAL FIELD The present invention relates to a technique suitable for use in an inspection of a content being stuck in a seal portion of a package.

  For example, after a content such as a powdery food is filled in a packaging bag by a filling machine, a package formed by sealing the packaging bag is apt to be entangled in a seal portion sealed by heat sealing or the like. . The jammed package must be treated as a defective product and needs to be removed.

  As a technique for inspecting the above-mentioned biting, Patent Document 1 discloses a method including a plurality of transport mechanisms such as a conveyor for transporting packages, an illumination device, and an imaging device, and a gap between adjacent transport mechanisms. And an inspection device in which an illumination device and an imaging device are arranged so as to face each other with the gap interposed therebetween. This inspection device captures an image of the package by an imaging device while irradiating light from an illuminating device to the package passing through a gap from one transport mechanism to the other transport mechanism, and based on the captured image, Inspection is performed.

JP 2013-7597 A

  In the apparatus disclosed in Patent Document 1, the package is continuously transported, and the shape of each package may be different. Therefore, as apparent from comparison between FIGS. 5A and 5B, when the package M passes through the gap 103 formed between the adjacent transport mechanisms 101 and 102 in the direction of the arrow, the The passing speed of each package M may change due to variation in the shape of the product M. In this case, when the package M is imaged by the line camera 104, the length of the package M on the captured image expands and contracts in accordance with the passing speed, and as a result, an image desirable for inspection cannot be obtained, and the inspection accuracy decreases. May be. In addition, the degree of the swinging movement of the package M when passing through the gap 103 may change due to the variation in the shape of the package M. As a result, there is a possibility that the focus on the package M on the image is largely shifted, and similarly to the above, an image desired for the inspection cannot be obtained, and the inspection accuracy may be reduced. If an appropriate inspection cannot be performed on a captured image, an operation such as re-imaging may occur, and in this case, the efficiency of the inspection is significantly reduced.

  Further, when an image of a package having seal portions on two opposite sides as an inspection target is taken by an area camera, it is necessary to take two images while the package passes through the gap 103, and the inspection time is reduced. Becomes longer.

  The present invention has been made in consideration of the above-described circumstances, and it is possible to reliably and efficiently obtain an image of a package desired for inspection, and to perform a package inspection with high accuracy and in a short time. It is an object of the present invention to provide a product inspection device, an inspection method and a manufacturing method, and a packaging machine.

  The present invention is a transporting unit in which a transport surface that extends in an inclined shape that transports the package toward the obliquely downward side is disposed so as to face the transport surface, and the transport unit is passing through the transport surface. An imaging unit having an imaging unit that captures a still image or a moving image of a package, and a still image of the package extracted by the imaging unit or a still image of the package extracted from the moving image as an inspection image, An image processing determination unit that compares the inspection image with a reference image to determine the quality of the package.

  In the package inspection device, the transport surface may be configured to emit surface light, and the imaging unit may capture an image of the package irradiated with light from the transport surface.

  In this case, the transport unit is formed of a light-transmissive material, and an illumination unit that irradiates light toward the image capturing unit is provided on a side opposite to the image capturing unit with the transport unit interposed therebetween. Is also good. In the package inspection device, an illumination unit that irradiates light toward the imaging unit may be provided inside the transport unit.

  Further, in the package inspection device, the imaging unit is configured to capture a still image of the package, the imaging unit includes an imaging control unit that controls imaging of the imaging unit, and the transfer surface. And a trigger sensor that detects the approach of the package to a predetermined point passing through, and the imaging control unit performs the predetermined time after detecting the approach of the package to the predetermined point by the trigger sensor. The imaging unit may execute imaging.

  In this case, the predetermined point may be set below the center position in the tilt direction of the transport surface in the imaging range set in the imaging unit and above the lowest point of the imaging range. Good. More specifically, the predetermined point is a position separated from the center position in the inclination direction of the transport surface in the imaging range by half the maximum length of the package along the inclination direction or It may be set above the position.

  In addition, the trigger sensor is a two-dimensionally expanding rectangular shape that rises upward from the transfer surface side and extends perpendicularly to the inclination direction of the transfer surface and parallel to the transfer surface on the predetermined point. May be formed, and the entry of the package into the detection area may be detected.

  The trigger sensor may include a light-emitting unit and a light-receiving unit that are disposed on one of the opposing ends of the transport unit in a direction perpendicular to the direction of inclination of the transport surface and extending parallel to the transport surface. And a reflector disposed on the other side.

  Further, in the package inspection device, the imaging unit captures a moving image of the package, and the image processing determination unit determines a moving image of the package based on a direction of a mark attached to a surface of the package. A still image to be used as the inspection image may be extracted from a moving image captured by the imaging unit.

  Further, in the package inspection device, the transport unit fills the content into a packaging bag by a filling device, and then, after the package formed by sealing the packaging bag with a sealing device is dropped after sealing, It may be arranged on the exit side of the shooter that guides the package downward.

  Further, the present invention provides a process in which a package is slid by a transport unit having a transport surface extending in an inclined manner and transported obliquely downward, and the package is passed through the transport surface from a position facing the transport surface. A step of capturing a still image or a moving image of the package, and a still image of the package extracted from the captured still image or the moving image of the package as an inspection image, and the inspection image and the reference image. And a step of comparing the packages to determine the quality of the package.

  In the method of inspecting a package, the transport surface may be configured to emit surface light, and in the imaging step, the package illuminated by the transport surface may be imaged.

  The inspection method of the package further includes a step of detecting an approach of the package to the predetermined point passing through the transport surface, and in the step of imaging, the step of imaging the package to the predetermined point is performed. The imaging may be performed after a predetermined time from the detection.

  In this case, the predetermined point is set below the center position in the tilt direction of the transport surface in the imaging range set at the time of imaging and above the lowest point of the imaging range. Is also good. More specifically, the predetermined point is a position separated from the center position in the inclination direction of the transport surface in the imaging range by half the maximum length of the package along the inclination direction or It may be set above the position.

  Also, in the package inspection method, in the imaging step, a moving image of the package is captured, and in the determining step, a moving image captured based on a direction of a mark provided on a surface of the package. A still image used as the inspection image may be extracted from the image.

  Further, in the method of inspecting the package, the transport unit fills the content into a packaging bag by a filling device, and then the package formed by sealing the packaging bag with a sealing device is dropped after sealing, and The inspection method may be arranged on an exit side of a shooter that guides the package downward, and the inspection method may inspect a package delivered from an exit of the shooter.

  The present invention also provides a step of filling the contents into a packaging bag with a filling device, a step of sealing the packaging bag with a sealing device to form a package, and inspecting the package by the inspection method. And a method for producing a package.

  Further, the present invention is a packaging machine including a filling device for filling contents into a packaging bag, a sealing device for sealing the packaging bag, and the inspection device.

  ADVANTAGE OF THE INVENTION According to this invention, the image of the package desired for a test | inspection can be acquired reliably and efficiently, and the test | inspection of a package can be performed accurately and in a short time.

It is a schematic diagram of a packing machine provided with an inspection device concerning one embodiment of the present invention. (A) is a schematic perspective view of a transport unit and a trigger sensor in the inspection device shown in FIG. 1, and (B) is a diagram in which the transport unit and the trigger sensor in the inspection device shown in FIG. 1 are orthogonal to the transport surface of the transport unit. FIG. 3 is a schematic diagram viewed from the outside along a direction. (A)-(D) is a figure explaining the aspect of an inspection by the inspection apparatus shown in FIG. FIG. 4 is a diagram illustrating a modified example of a transport unit in the inspection device illustrated in FIG. 1. (A), (B) is a figure which shows the mode of the package conveyed by the conveyance mechanism of the conventional inspection apparatus.

  Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

(First Embodiment)
FIG. 1 shows a schematic diagram of a packaging machine 1 according to an embodiment of the present invention. As shown in FIG. 1, a packaging machine 1 according to the present embodiment includes a packaging unit 10 having a filling device 11, a sealing device 12, a shooter 13 and a gripper unit 14, and a package M formed by the packaging unit 10. And an inspection device 20 for inspecting. In the packaging unit 10, the opposite ends of the packaging bag P having one end opened are sandwiched and supported by the gripper unit 14. The gripper unit 14 sequentially positions the supported packaging bag P at the filling position of the contents by the filling device 11 and the sealing position of the packaging bag P by the sealing device 12, and after the sealing device 12 seals the packaging bag P. The support state is released.

  The filling device 11 fills the inside of the packaging bag P positioned at the filling position from the open portion of the packaging bag P with contents such as powdered food, and the sealing device 12 fills the opened portion of the packaging bag P after filling the content. It is sandwiched and sealed (sealed) by, for example, heat sealing. In this manner, the contents are filled into the packaging bag P by the filling device 11, and the packaging bag P is then sealed by the sealing device 12, whereby the package M is formed. Then, as described above, the package M is dropped by releasing the support state of the packaging bag P after the gripper unit 14 is sealed by the sealing device 12. Here, the shooter 13 is configured to guide the dropped package M downward. In the illustrated example, the shooter 13 is formed into a curved shape after extending downward from the position where the package M is dropped in a side view, and sends the package M obliquely downward from the outlet thereof. ing.

  The inspection device 20 is disposed on the exit side of the chute 13, and has a conveyance section 21 formed with a conveyance surface 21 </ b> A that extends in a slanting manner and slides the package M from the chute 13 and conveys the diagonally downward direction. An imaging unit 22 having an imaging unit 22A that is arranged to face the transport surface 21A and captures a still image of the package M passing through the transport surface 21A, and a still image of the package M captured by the imaging unit 22A. An image processing determination unit 23 that determines the quality of the package M by comparing the inspection image with the stored reference image as an inspection image. In FIG. 1, for convenience of description, each element configuring the inspection device 20 is surrounded by a broken line.

  As illustrated in FIG. 1, the inspection device 20 according to the present embodiment further includes an illumination unit 24. The illumination unit 24 is provided on a side opposite to the imaging unit 22A with the conveyance unit 21 interposed therebetween. Light is emitted toward the part 22A. The transport unit 21 is a plate-like member having a transport surface 21A set on one of a pair of surfaces facing each other, and is formed of a light transmissive material. Thus, in the present embodiment, the illumination unit 24 irradiates light to the imaging unit 22A through the transport surface 21A, so that the transport surface 21 emits surface light. Further, the imaging unit 22A can image the package M irradiated with light from the transport surface 21A.

  The inspection device 20 according to the present embodiment mainly inspects the content of the package M at the sealing portion using a still image of the package M irradiated with light from the transport surface 21A. The sealing portion is located on the opposite side of the portion of the packaging bag P sealed by the above-described sealing device 12 or the open portion of the packaging bag P whose one end is opened at the time of filling by the filling device 11, and other portions before filling. Means the part sealed by the sealing device.

  In the case of inspecting in a still image whether or not the content is caught in the above-mentioned seal portion, the content sandwiched between the seal portions needs to be displayed on the still image. Therefore, in the present embodiment, the illumination unit 24 irradiates light including infrared light, and the imaging unit 22A can image light in the infrared region. In addition, if it is possible to project the contents of the sealing portion of the package M in the still image, the component of the light emitted by the illumination unit 24 and the wavelength region of the light that can be imaged by the imaging unit 22A are particularly limited. Not something.

  Also, in FIG. 1, reference numeral A1 indicates the inclination angle of the transport surface 21A. The inclination angle A1 is not particularly limited, but is preferably set in a range of 20 ° to 45 ° with respect to a horizontal plane. Within this range, the package M can slide on the transport surface 21A in a stable state. Reference numeral L1 indicates the length of the transport surface 21A of the transport unit 21 in the inclined direction, and reference numeral L2 indicates the maximum length of the package M. The length L1 of the transport unit 21 is not particularly limited, but is preferably 1.5 to 2 times the maximum length L2 of the package M. Note that the maximum length L2 of the package M means the length in the longitudinal direction when the package M filled with the contents and sealed is stretched by pulling in the longitudinal direction.

  The imaging unit 22 includes the above-described imaging unit 22A, an imaging control unit 22B that controls imaging of the imaging unit 22A, a trigger sensor 22C that detects the entry of the package M passing through the transport surface 21A to a predetermined point TP, have. The imaging unit 22A in the present embodiment is an area camera, and is configured to capture an image of a set rectangular imaging range by a single imaging operation. The imaging control unit 22B causes the imaging unit 22A to execute imaging after a predetermined time from the detection of the entry of the package M to the predetermined point TP by the trigger sensor 22C.

  FIG. 2A is a schematic perspective view of the transport unit 21 and the above-described trigger sensor 23C, and FIG. 2B is a diagram illustrating the transport unit 21 and the trigger sensor 22C from the outside along a direction orthogonal to the transport surface 21A. FIG. 2A and 2B, a predetermined point TP set on the transfer surface 21A is indicated by a straight line.

  The trigger sensor 22C in the present embodiment is two-dimensionally formed on a predetermined point TP, rising upward from the transport surface 21A side and extending perpendicularly to the inclination direction of the transport surface 21A and parallel to the transport surface 21A. By forming an expanding rectangular detection area DA and detecting the approach of the package M to the detection area DA, the approach of the package M to a predetermined point TP is detected. In FIG. 2A, for convenience of explanation, the detection area DA is indicated by an area with dots.

  The trigger sensor 22C is, in the example shown in the drawing, arranged on one of the opposing ends of the transport unit 21 in a direction perpendicular to the inclination direction of the transport surface 21A and extending parallel to the transport surface 21A. It has a light receiving / emitting unit 22C1 having a unit and a light receiving unit, and a reflecting unit 22C2 arranged on the other side. In the light receiving / emitting unit 22C1, a plurality of light emitting units and light receiving units are arranged in a state of being arranged upward from the transport surface 21A side along a direction orthogonal to the transport surface 21A. Each of the plurality of light emitting units irradiates light toward the reflecting unit 22C2, and each of the plurality of light receiving units directs the light receiving region toward the reflecting unit 22C2. On the other hand, the reflection section 22C2 extends upward from the transport surface 21A side along a direction orthogonal to the transport surface 21A, and directs the reflection area to the light emitting / receiving unit 22C1.

  Thereby, the trigger sensor 23C can form a rectangular detection area DA that spreads two-dimensionally, and the light from the light emitting unit of the light receiving and emitting unit 22C1 is reflected by the light receiving unit of the reflected light by the reflecting unit 22C2. The change in the detection level makes it possible to detect the entry of the package M into the detection area DA.

  Further, in the present embodiment, as shown in FIG. 2 (B), the above-mentioned predetermined point TP is inclined by the inclination of the transport surface 21A in the imaging range Y (indicated by a two-dot chain line) set in the imaging unit 22A. It is set below the center position TC in the direction and above the lowest point of the imaging range Y. The imaging range Y includes a pair of first sides facing each other and extending in parallel with the inclination direction of the transport surface 21A, and a pair of opposite sides extending perpendicular to the inclination direction of the transport surface 21A and parallel to the transport surface 21A. , The first side and the second side are each set to be longer than the maximum length L2 of the package M (see FIG. 1). ing.

  More specifically, in the present embodiment, as shown in FIG. 2B, the predetermined point TP moves from the center position TC in the inclination direction of the conveyance surface 21A in the imaging range Y along the package along the inclination direction. It is set above a position separated by half the length L2 / 2 of the maximum length L2 of M. Note that the predetermined point TP may be set at a position separated from the above-described center position TC by half the maximum length L2 of the package M.

  Returning to FIG. 1, the image processing determination unit 23 outputs the still image of the package M captured by the imaging unit 22A, sets the still image as an inspection image, and compares the inspection image with the stored reference image. The quality of the package M is determined. Specifically, the image processing determination unit 23 compares the captured still image of the package M with the reference image by pattern matching to determine the quality of the package M. The reference image means an image of the package M having no defect.

  More specifically, in the present embodiment, as shown in FIGS. 2A and 2B, a mark MA is attached to the surface of the packaging bag P of the package M, and the image processing determination unit 23 An inspection image is generated by performing image processing on the basis of the position and the direction of the mark MA so that the direction of the captured still image of the package M matches the direction of the reference image, and is used for comparison with the reference image. At this time, the image processing determination unit 23 may use an image obtained by cutting out the seal portion of the package M as the inspection image. The mark MA has a triangular shape in the illustrated example. However, the mark MA is not particularly limited as long as it is a design or a character capable of specifying the direction of the packaging bag M.

  Next, a method of manufacturing the package M using the inspection device 20 according to the present embodiment and an inspection method performed in the middle thereof will be described mainly with reference to FIGS. FIG. 3A is a diagram illustrating a state in which a package M passing through the transport surface 21A enters a predetermined point TP, and FIG. 3B illustrates a state in which FIG. 3A is orthogonal to the transport surface 21A. FIG. 3 is a schematic diagram viewed from the outside along a direction in which FIG. 3C is a diagram illustrating a state in which a package M different from the package M illustrated in FIG. 3A that passes through the transport surface 21A enters the predetermined point TP, and FIG. It is the schematic which looked at the state of FIG. 3 (C) from the outside along the direction orthogonal to 21 A of conveyance surfaces.

  At the time of manufacturing the package M, as shown in FIG. 1, first, the filling device 11 fills the contents from the open portion of the packaging bag P supported by the gripper portion 14 and positioned at the filling position. I do. Next, the gripper unit 14 positions the packaging bag P at the sealing position, and the sealing device 12 sandwiches and seals the open portion of the packaging bag P. Next, when the gripper unit 14 releases the support state of the packaging bag P, the package M falls. The dropped package M is guided downward by the shooter 13 and sent out to the transport unit 21.

  Next, as shown in FIGS. 3A to 3D, when the trigger sensor 22C detects that the package M has entered the predetermined point TP on the transport surface 21A, the imaging control unit 22B instantaneously notifies the imaging unit 22A. Image. Accordingly, the still image of the package M passing through the transport surface 21A is captured by the imaging unit 22A. Here, in the present embodiment, at the time of inspection, the illumination unit 24 always emits light, and the package M imaged by the imaging unit 22 is in a state where light is emitted from the transport surface 21A. Become.

  After that, the still image of the package M captured by the imaging unit 22A is output to the image processing determination unit 23, and the image processing determination unit 23 sets the still image as an inspection image, and stores the inspection image and the reference image stored therein. The quality of the package M is determined by comparing. 3 (B) and 3 (D), the reference symbol X indicates the content that is bitten by the sealing portion of the package M. When such a content X exists in the inspection image, the package M is determined to be defective. Thereafter, the package M determined to be defective may be conveyed, for example, on a different route from the package M determined to be non-defective.

  The inspection device 20 according to the present embodiment described above includes a transfer unit 21 having a transfer surface 21A that extends in an inclined manner and slides the package M toward the lower side, and a transfer surface 21A. An imaging unit 22 having an imaging unit 22A that is arranged to face and captures a still image of the package M passing through the transport surface 21A, and a still image of the package M captured by the imaging unit 22A as an inspection image. And an image processing determination unit 23 that compares the inspection image with the reference image to determine the quality of the package M.

  According to such a configuration, even if the shape of each of the sequentially conveyed packages M varies, the packages M are slid by the inclined conveying surface 21A and conveyed obliquely downward. By doing so, the swinging movement of the package M during passage and the variation in the passage speed are suppressed. For this reason, it is possible to suppress the focus of the package M from being greatly deviated during imaging, or the degree of expansion and contraction of the package M from being greatly varied for each image to be captured due to a difference in the passing speed. Accordingly, an image suitable for the inspection can be reliably obtained, and occurrence of operations such as re-imaging of an image can be suppressed. Therefore, it is possible to reliably and efficiently acquire an image of the package M (still image in the present embodiment) that is desirable for the inspection, and it is possible to accurately and quickly inspect the package M.

  In particular, in the present embodiment, the transport surface 21A is configured to emit surface light, and it is not necessary to form the gap 103 for transmitting light as in the related art. This makes it possible to effectively suppress the swinging movement and the variation of the passing speed of the package M, so that the inspection of the package M can be performed accurately and in a short time.

  Further, in the present embodiment, since the imaging unit 22A is an area camera, and the set imaging range is imaged by a single imaging operation, the entire package M can be imaged by a single imaging operation, and the inspection efficiency can be improved. . Note that the imaging unit 22A may be a line camera, and in this case also, since the swinging motion and the variation in the passing speed of the package M during passing are suppressed, an image suitable for inspection can be reliably obtained. In addition, the inspection of the package M can be performed accurately and in a short time.

  Further, in the present embodiment, the imaging unit 22A performs imaging a predetermined time after the trigger sensor 22C detects that the package M has entered the predetermined point TP on the transport surface 21A. Accordingly, unnecessary images can be prevented from being excessively captured, so that the capacity of the memory for storing the images can be suppressed.

  Further, the above-mentioned predetermined point TP is set below the center position TC in the tilt direction of the transport surface 21A in the imaging range Y set in the imaging section 22A and above the lowest point of the imaging range Y. I have. More specifically, the predetermined point TP is set above a position separated from the above-described center position TC in the imaging range Y by half the maximum length L2 of the package M along the inclination direction. Have been.

  This makes it possible to reliably image the package M within the imaging range Y. That is, as shown in FIGS. 3B and 3D, different packages M sequentially sent to the transport surface 21A may have different passing speeds due to variations in the shape and the like. However, in the case where the predetermined point TP is set at the above-described position as in the present embodiment, imaging is performed immediately after the predetermined point TP of the package M has entered, so that the variation in the passing speed may be caused. Instead, it is possible to reliably image the package M within the imaging range Y. Therefore, a still image of the package M that is desirable for the inspection can be reliably acquired, and the inspection accuracy of the package M can be reliably improved. Further, when the predetermined point TP is set at the above-described position, if the predetermined time from the entry of the package M to the predetermined point TP to the imaging is set as early as possible, the imaging range Y Since the imaging of the package M can be reliably performed, the setting operation for the predetermined time is facilitated.

  In addition, the trigger sensor 22C has a two-dimensionally expanding rectangular shape that rises above the predetermined point TP from the side of the transfer surface 21A and extends perpendicular to the inclination direction of the transfer surface 21A and parallel to the transfer surface 21A. The detection area DA is formed, and the entry of the package M into the detection area DA is detected. This makes it possible to accurately detect the entry of the package M to the predetermined point TP regardless of the variation in the shape of the package M.

  The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments, and various changes can be made.

  For example, in the above-described embodiment, the illumination unit 23 that irradiates light toward the imaging unit 22A is provided on the side opposite to the imaging unit 22A with the conveyance unit 21 interposed therebetween, but is not limited thereto. Not something. For example, as shown in FIG. 4, an illumination unit 24 ′ configured by linearly arranging a plurality of light sources 241 is provided inside the transport unit 21, and each light source 241 of the illumination unit 24 ′ is The 22A side may be irradiated with light.

  In the above-described embodiment, a still image is captured by the imaging unit 22A. However, a moving image is captured by the imaging unit 22A, and the image processing determination unit 23 extracts an image from the moving image of the package M captured by the imaging unit 22A. The obtained still image of the package M may be used as the inspection image, and the inspection image may be compared with the reference image to determine the quality of the package M. In this case, the image processing determination unit 23 may extract a still image to be used as an inspection image from a moving image captured by the imaging unit 22A based on the position and direction of the mark MA provided on the surface of the package M. . In this configuration, since it is not necessary to install the trigger sensor 22C, the overall configuration of the inspection device 20 can be simplified.

  In the above-described embodiment, the trigger sensor 22C includes the light emitting / receiving unit 22C1 having the light emitting unit and the light receiving unit, and the reflecting unit 22C2 disposed on the other side, but is not limited thereto. . For example, the trigger sensor 22C includes a light emitting unit disposed on one of the opposing ends of the transport unit 21 in a direction perpendicular to the inclination direction of the transport surface 21A and extending parallel to the transport surface 21A, and the other. And a light-receiving unit disposed on the side of.

  In the above-described embodiment, the sealing device 12 seals the packaging bag P by heat sealing, but an ultrasonic sealing device or a current impulse sealing device may be used instead of the heat sealing.

REFERENCE SIGNS LIST 1 packaging machine 10 packaging unit 11 filling device 12 sealing device 13 shooter 20 inspection device 21 transport unit 21A transport surface 22 imaging unit 22A imaging unit 22B imaging control unit 22C trigger sensor 22C1 light emitting / receiving unit 22C2 reflection unit 23 image processing determination unit TP predetermined Point TC Center position DA Detection area P Packaging bag M Packaging material MA Mark Y Imaging range

Claims (10)

A package inspection device for sequentially inspecting a plurality of packages having a sealed portion sealed after filling the contents,
The plurality of packages may have a variation in shape,
A transport unit having a transport surface that extends in an inclined manner that transports the package toward the diagonally downward side,
An imaging unit having an imaging unit that is an area camera that is arranged to face the transport surface and captures a still image of the package passing through the transport surface,
A still image of the package imaged by the imaging unit is set as an inspection image, and the inspection image is compared with a reference image by pattern matching . An image processing determination unit that determines the quality of the package, including determining that the case where there is biting is defective,
The transport surface is configured to emit surface light including infrared light,
The imaging unit is capable of capturing an infrared region, and configured to capture a still image of the package that is irradiated with light including the infrared light from the transport surface,
The imaging unit further includes an imaging control unit that controls imaging of the imaging unit, and a trigger sensor that detects entry of the package passing through the transport surface to a predetermined point,
The imaging control unit causes the imaging unit to execute imaging after a predetermined time from detection of entry of the package to the predetermined point by the trigger sensor,
The trigger sensor is configured to detect a two-dimensionally expanding rectangular shape that rises upward from the transfer surface side and extends perpendicularly to the inclined direction of the transfer surface and parallel to the transfer surface on the predetermined point. Forming an area, detecting the approach of the package to the predetermined point by detecting the approach of the package to the detection area ,
The predetermined point is set below the center position in the inclination direction of the transport surface in the imaging range set in the imaging unit and above the lowest point of the imaging range , of the package. Inspection equipment. The transport unit is formed from a light-transmitting material,
The package inspection apparatus according to claim 1, wherein an illumination unit that irradiates light toward the imaging unit is provided on a side opposite to the imaging unit with the conveyance unit interposed therebetween.   The package inspection apparatus according to claim 1, wherein an illumination unit that irradiates light toward the imaging unit is provided inside the transport unit. The predetermined point is located at a position separated from the central position in the inclination direction of the conveyance surface in the imaging range by a half of the maximum length of the package along the inclination direction or above the position. The package inspection device according to claim 1 , wherein the package inspection device is set.   The trigger sensor is a light-emitting unit and a light-receiving unit disposed on one of the opposing ends of the transport unit in a direction perpendicular to the inclination direction of the transport surface and extending parallel to the transport surface, The package inspection apparatus according to claim 1, further comprising a reflection unit disposed on the other side. The conveying unit fills the contents into a packaging bag by a filling device, and after the package formed by sealing the packaging bag with a sealing device is dropped after sealing, guides the package downward. The package inspection device according to any one of claims 1 to 5 , wherein the inspection device is arranged on an exit side of the shooter. A package inspection method for sequentially inspecting a plurality of packages having a sealed portion sealed after filling the contents,
The plurality of packages may have a variation in shape,
A step in which the package is slid by a transfer section having a transfer surface extending in an inclined manner and transferred obliquely downward,
Detecting the approach of the package to a predetermined point passing through the transport surface,
A step of capturing a still image of the package passing through the transport surface from a position facing the transport surface after a predetermined time from the detection of entry of the package to the predetermined point,
The captured still image of the package is set as the inspection image, and the inspection image and the reference image are compared by pattern matching. Determining the quality of the package, including the case where there is a defect,
The transport surface is configured to emit surface light including infrared light,
In the imaging step, an imaging unit that is an area camera capable of imaging an infrared region is used, and the package is irradiated with light including the infrared light by the transfer surface,
In the detecting step, the entry of the package to a predetermined point is detected by a trigger sensor,
The trigger sensor is configured to detect a two-dimensionally expanding rectangular shape that rises upward from the transfer surface side and extends perpendicularly to the inclined direction of the transfer surface and parallel to the transfer surface on the predetermined point. Forming an area, detecting the approach of the package to the predetermined point by detecting the approach of the package to the detection area ,
The predetermined point is set below the center position in the tilt direction of the transport surface in the imaging range set at the time of imaging and above the lowest point of the imaging range,
Inspection method for packages. The predetermined point is located at a position separated from the center position in the inclination direction of the conveyance surface in the imaging range by a half of the maximum length of the package along the inclination direction or above the position. The package inspection method according to claim 7 , which is set. The conveying unit fills the contents into a packaging bag by a filling device, and after the package formed by sealing the packaging bag with a sealing device is dropped after sealing, guides the package downward. It is located on the exit side of the shooter,
The package inspection method according to claim 7 or 8, wherein the package delivered from the outlet of the shooter is inspected. A step of filling the contents into a packaging bag by a filling device,
Sealing the packaging bag with a sealing device to form a package;
Inspecting the package by the inspection method according to any one of claims 7 to 9 ,
A method for producing a package, comprising:

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