JP7163264B2 - Inspection system, inspection method, inspection device, and computer program - Google Patents

Description

The present invention relates to an inspection system, an inspection method, an inspection device, and a computer program.

In the method described in Patent Literature 1, the weight of a package and a pallet (stand) loaded with the package is measured by a weight scale, and an image of the package is captured by a camera. Then, the number of packages is verified (calculated) based on the signals from the weight scale and the camera.

JP-A-2-81806

However, in the method described in Patent Document 1, the weight of the pallet varies depending on the material of the pallet, such as wood or synthetic resin. In particular, if the pallet is made of wood, some of the boards that make up the pallet may fall off, reducing the weight of the pallet, or the weight of the pallet may fluctuate depending on the humidity. Therefore, an error may occur in the calculated number of packages. In addition, the weight of the packing material may differ depending on the material of the packing material of the package, and the weight of the packing material may fluctuate depending on the humidity. Furthermore, even if the contents of the package are the same and the packaging material is the same size, the weight of the packaging material may vary depending on the manufacturer of the packaging material. Furthermore, even if the contents of the package are the same, the packaging materials are the same size, and the manufacturer of the packaging materials is the same, the weight of the packaging materials may change according to changes in the specifications of the packaging materials. There is

The present invention has been made in view of the above problems, and its object is to provide an inspection system, an inspection method, an inspection device, and a computer program that can accurately calculate information about the number of packages placed on a table. That's what it is.

An inspection system according to one aspect of the present application includes a distance measurement section and a calculation section. The distance measuring unit measures the distance to the upper surface of a group of packages made up of a plurality of packages placed on the table. The calculation unit calculates information about the number of the plurality of packages forming the package group based on the relative speed between the package group and the distance measuring unit and the distance.

In the inspection system of the present invention, when the group of packages is being conveyed along the conveying direction, the distance measuring section measures the distance between the upper surface of the group of packages and the distance measuring section along the scanning direction that intersects the conveying direction. It is preferred to measure said distance between the parts. Based on the scanning cycle including the time for the distance measuring unit to measure the distance from one end to the other end of the package group along the scanning direction, the relative speed, and the distance, Preferably, said information relating to the number of said plurality of parcels is calculated.

Preferably, the inspection system of the present invention further includes a storage section and a first reading section. The storage unit stores size information indicating the size of the baggage and number information indicating the number of the baggage positioned on one stage of the baggage group in association with the identification information for identifying the baggage. is preferred. It is preferable that the first reading unit reads a code attached to the package placed on the table and acquires identification information for identifying the package from the code. It is preferable that the information about the number of the plurality of packages indicates the number of the plurality of packages forming the package group. It is preferable that the calculation unit acquires the size information and the number information from the storage unit based on the identification information acquired by the first reading unit. It is preferable that the calculation unit calculates the number of the plurality of packages forming the package group based on the scanning period, the relative speed, the distance, the size information, and the number information. .

In the inspection system of the present invention, the calculator calculates a height distribution indicating a height distribution of the package group based on the distance between the upper surface of the package group and the distance measuring unit, and the scanning cycle. , and the relative velocity, the area of the upper surface of the package group is preferably calculated. Preferably, the calculation unit calculates the number of stages of the plurality of packages forming the package group based on the height distribution and the size information. It is preferable that the calculation unit calculates the number of packages positioned at the top of the package group based on the area of the upper surface and the size information. The calculation unit may calculate the number of the plurality of packages forming the package group based on the number of stages, the number information, and the number of packages positioned on the uppermost level of the package group. preferable.

Preferably, the inspection system of the present invention further includes a second reading section and a comparison section. The second reading unit reads a code attached to a package different from the package whose code is read by the first reading unit, among the plurality of packages constituting the package group, and reads the code attached to the different package from the code. It is preferable to obtain identification information that identifies the . Preferably, the comparison section compares the identification information read by the first reading section and the identification information read by the second reading section.

Preferably, the inspection system of the present invention further includes a moving section and a movement control section. It is preferable that the moving unit moves the second reading unit. The movement control unit controls the moving unit based on the distance so that the second reading unit moves to a position where the code attached to the package positioned at the top of the package group can be read. is preferred. It is preferable that the second reading section is positioned downstream of the distance measuring section in the conveying direction of the package group.

Preferably, the inspection system of the present invention further includes an arm and a drive mechanism. Preferably, the first reading unit is fixed to the arm. It is preferable that the drive mechanism drives the arm so that the first reading unit moves along the side surface of the package group.

Preferably, the inspection system of the present invention further includes a conveying device and a turntable. It is preferable that the transport device transports the table on which the package group is placed. It is preferable that the turntable is continuous with the transport device and rotates the turntable. It is preferable that the first reading unit reads a code attached to the baggage placed on the table on the turntable.

Preferably, the inspection system of the present invention further comprises a transport device. It is preferable that the transport device transports the table on which the package group is placed. Preferably, the conveying device continues conveying the table during the measurement period of the distance measuring unit. Preferably, the distance measuring unit measures the distance between the top surface of the package group during movement and the distance measuring unit.

According to another aspect of the present invention, an inspection method comprises the steps of: measuring a distance to an upper surface of a group of packages made up of a plurality of packages placed on a table; and calculating information about the number of the plurality of packages forming the package group based on the relative speed between the package group and the distance measuring unit and the distance.

According to still another aspect of the present invention, the inspection device includes a calculator. The calculation unit acquires information indicating the distance from a distance measurement unit that measures the distance to the upper surface of the package group composed of a plurality of packages placed on the table. The calculation unit calculates information regarding the number of the plurality of packages forming the package group based on the relative speed between the package group and the distance measuring unit and the distance.

According to still another aspect of the present invention, the computer program indicates to the computer the distance from a distance measuring unit that measures the distance to the upper surface of a group of packages composed of a plurality of packages placed on a table. Acquiring information; and calculating information regarding the number of the plurality of packages forming the package group based on the relative velocity between the package group and the distance measuring unit and the distance. .

According to the present invention, it is possible to provide an inspection system, an inspection method, an inspection device, and a computer program that can accurately calculate information about the number of packages placed on a table.

1 is a block diagram showing an inspection system according to Embodiment 1 of the present invention; FIG. 4 is a schematic diagram showing the first stage of the operation of the inspection system according to Embodiment 1. FIG. 4 is a schematic diagram showing the middle stage of the operation of the inspection system according to Embodiment 1. FIG. 4 is a schematic diagram showing the latter stage of the operation of the inspection system according to Embodiment 1. FIG. 4A is a diagram showing an example of distances measured by a distance measuring unit according to Embodiment 1; FIG. (b) is a diagram showing an example of distribution of heights of packages according to the first embodiment. 4A and 4B are diagrams showing scanning by the distance measuring unit according to the first embodiment; FIG. 8A is a diagram showing another example of distances measured by the distance measuring unit according to the first embodiment; FIG. 8B is a diagram showing another example of the distribution of heights of packages according to the first embodiment; FIG. 4 is a flowchart showing the first stage of an inspection method executed by the inspection system according to Embodiment 1; 4 is a flowchart showing the latter stage of the inspection method executed by the inspection system according to the first embodiment; 8A is a diagram showing a distance measuring unit according to a first modified example of the first embodiment; FIG. 8B is a diagram showing a distance measuring unit according to a second modification of the first embodiment; FIG. 8A is a diagram showing a distance measuring unit according to a third modified example of the first embodiment; FIG. (b) is a diagram showing a distance measuring unit according to a fourth modification of the first embodiment; (a) is a diagram showing a side surface of a first reading unit according to a fifth modification of the first embodiment. (b) is a plan view showing a first reading unit according to a fifth modification of the first embodiment; FIG. 12 is a diagram showing an inspection system according to a sixth modification of the first embodiment; (a) is a diagram showing a package group before rotation according to a sixth modification of the first embodiment. (b) is a diagram showing a package group after rotation according to a sixth modification of the first embodiment; It is a figure which shows the inspection system which concerns on Embodiment 2 of this invention. It is a figure which shows the inspection system which concerns on Embodiment 3 of this invention. (a) is a diagram showing an example of a package group transported in an inspection system according to Embodiment 4 of the present invention. (b) is a diagram showing another example of a package group transported in the inspection system according to the fourth embodiment. 14 is a flow chart showing the operation of the inspection system according to Embodiment 4. FIG. It is a figure which shows the inspection system which concerns on one Embodiment of this invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and description thereof will not be repeated. In embodiments of the present invention, the X, Y, and Z axes are orthogonal to each other, the X and Z axes are horizontally parallel, and the Y axis is vertically parallel.

(Embodiment 1)
An inspection system 100 according to Embodiment 1 of the present invention will be described with reference to FIG. The inspection system 100 calculates information about the number of packages forming a group of packages placed on a table. FIG. 1 is a block diagram showing an inspection system 100 according to the first embodiment. As shown in FIG. 1 , the inspection system 100 includes an inspection device 1 , a distance measuring section 20 , a first reading section 30 , a second reading section 40 , a moving section 60 and a display section 65 .

The inspection device 1 calculates information about the number of packages forming a group of packages placed on the table. Specifically, the inspection device 1 includes a control section 10 and a storage section 50 . The storage unit 50 includes a storage device and stores computer programs such as software and data. Specifically, the storage unit 50 includes a main storage device such as a semiconductor memory, and an auxiliary storage device such as a semiconductor memory, a solid state drive, and/or a hard disk drive. The storage unit 50 may include removable media. The storage unit 50 is an example of a storage medium (eg, non-transitory computer-readable storage medium).

In Embodiment 1, the storage unit 50 stores identification information 51, size information 52, and number information 53 regarding packages. Specifically, the storage unit 50 stores size information 52 and number information 53 in association with the identification information 51 . The size information 52 includes height information 52a, width information 52b, and depth information 52c. Details of the identification information 51, the size information 52, and the number information 53 will be described later.

The control unit 10 includes a processor such as a CPU (Central Processing Unit). The processor of the control unit 10 executes computer programs stored in the storage device of the storage unit 50 and functions as the calculation unit 11 , the comparison unit 12 and the movement control unit 13 . That is, the controller 10 includes a calculator 11 , a comparator 12 and a movement controller 13 . The calculation unit 11, comparison unit 12, and movement control unit 13 will be described later. A processor is an example of a "computer."

The distance measuring unit 20 measures the distance between the object and the distance measuring unit 20 . The distance measurement unit 20 is, for example, a distance measurement sensor. The ranging sensor measures the distance between the object and the ranging unit 20 using light or ultrasonic waves, for example. A ranging sensor using light is, for example, a LiDAR (Light Detection and Ranging) sensor. A LiDAR sensor measures the distance between an object and the LiDAR sensor, for example, by emitting light (eg, laser light) and receiving light reflected by the object. Accordingly, a LiDAR sensor includes at least a light source (eg, a laser light source) and a light receiving element. A LiDAR sensor emits visible light or infrared light, for example. LiDAR sensors, for example, are of the scanning type. The scanning type may be movable or non-movable. In the movable type, for example, a motor is used to rotate the mirror to change the light emission direction (mechanical rotation method). In the movable type, for example, MEMS (Micro Electro Mechanical Systems) are used to rotate a mirror to change the direction of light emission (solid-state method). In the non-moving method, for example, liquid crystals, electro-optic crystals, or silicon photonics are used to change the direction of light emission by changing the light path. The non-scanning type emits strong flash light spread over a wide angle, and simultaneously measures the distances at multiple points by, for example, a CMOS (Complementary MOS) image sensor. In addition, the method of the distance measurement unit 20 is not particularly limited as long as the distance between the object and the distance measurement unit 20 can be measured.

In Embodiment 1, the case where the distance measuring unit 20 is a scanning LiDAR sensor will be described as an example. It should be noted that the measurement of the distance to the object by the distance measuring unit 20 may be referred to as "scanning".

Each of the first reading unit 30 and the second reading unit 40 reads the code attached to the object and obtains identification information for identifying the object from the code. The code is, for example, a one-dimensional code such as a bar code, or a two-dimensional code such as a QR code (registered trademark). Therefore, each of the first reading unit 30 and the second reading unit 40 is, for example, a barcode reader or a QR code reader.

In Embodiment 1, the case where each of the first reading unit 30 and the second reading unit 40 is a barcode reader will be described as an example.

The moving unit 60 is controlled by the movement control unit 13 to move the second reading unit 40 . Specifically, the moving section 60 is controlled by the movement control section 13 to raise or lower the second reading section 40 . The moving part 60 includes, for example, a ball screw mechanism and a motor that drives the ball screw mechanism.

The display unit 65 displays various information. The display unit 65 is, for example, a display such as a liquid crystal display.

Next, the operation flow of the inspection system 100 will be described with reference to FIGS. 2 to 4. FIG. FIG. 2 is a schematic diagram showing the first stage of the operation of the inspection system 100. As shown in FIG. As shown in FIG. 2, the inspection system 100 further includes a conveyor Cv in the first embodiment. Conveyor Cv is, for example, a roller conveyor, a belt conveyor, a chain conveyor, or a gravity conveyor. Conveyor Cv is an example of a "conveyor". Note that the inspection system 100 may include a carrier as a carrier instead of the conveyor Cv.

The conveyor Cv conveys the pallet PL along the conveying direction CD. The pallet PL is an example of a "table". A package group BS composed of a plurality of packages Ba is placed on the pallet PL. Therefore, the conveyor Cv conveys the package group BS placed on the pallet PL along the conveying direction CD.

The baggage Ba has a substantially rectangular parallelepiped shape (including a substantially cubic shape). The load Ba includes, for example, a box-shaped packing material and an article contained in the packing material. Specifically, the packing material is a cardboard box. Identification information 51 for identifying the package Ba is set for the package Ba. That is, the identification information 51 corresponding to the type of the package Ba is set for the package Ba. The identification information 51 is, for example, a character string combining numbers and/or alphabets.

A bar code BC is attached to each piece of baggage Ba. The barcode BC is an identifier that represents the identification information 51 that identifies the package Ba by the thickness of the striped lines. The bar code BC is attached to a predetermined position in the package Ba. The predetermined position is, for example, the side surface of the package Ba, the length between the lower end of the package Ba and the bar code BC is 32 mm±3 mm, and the end portion along the substantially vertical direction of the side surface of the package Ba. It is a position where the length between the bar code BC is 19 mm or more. The barcode BC is an example of a "code".

In Embodiment 1, the first reading unit 30 is positioned upstream of the distance measuring unit 20 in the conveying direction CD of the package group BS. The first reading unit 30 reads the barcode BC attached to the package Ba placed on the pallet PL, and acquires the identification information 51 for identifying the package Ba from the barcode BC. Therefore, according to the first embodiment, it is possible to obtain the identification information 51 of the packages Ba that make up the package group BS before the distance measuring unit 20 scans the package group BS. As a result, the calculation using the scanning result of the package group BS by the distance measuring unit 20 and the identification information 51 of the package Ba can be executed immediately after the scanning of the package group BS is completed. The details of the calculation using the scanning result of the package group BS and the identification information 51 of the package Ba will be described later.

Further, in Embodiment 1, the first reading unit 30 reads the barcode BC1 attached to the package Ba1 positioned at the bottom BL of the package group BS, and identifies the package Ba1 attached with the barcode BC1. Acquire the identification information 51 to be used. Therefore, the bar code BC attached to the packages Ba can be read without moving the first reading unit 30 vertically according to the number of stages of the packages Ba forming the package group BS.

FIG. 3 is a schematic diagram showing the middle stage of the operation of the inspection system 100. As shown in FIG. As shown in FIG. 3, after the first reading unit 30 reads the barcode BC attached to the package Ba, the group of packages BS is directed below the distance measuring unit 20 by the conveyor Cv along the conveying direction CD. transported by

In the first embodiment, the distance measuring unit 20 is fixed (stationary) and the load Ba is conveyed. Accordingly, the relative velocity V between the load Ba and the rangefinder 20 indicates the velocity of the load Ba with respect to the rangefinder 20 . When the cargo Ba is stopped (stationary) and the distance measuring unit 20 moves, the relative speed V between the cargo Ba and the distance measuring unit 20 indicates the speed of the distance measuring unit 20 with respect to the cargo Ba.

In Embodiment 1, since the package Ba is conveyed by the conveyor Cv, the relative speed V between the package Ba and the distance measuring unit 20 corresponds to the conveying speed of the conveyor Cv. Note that the transport speed of the conveyor Cv may be stored in advance in the storage unit 50, or may be detected by a speed sensor, for example. Further, in the first embodiment, when a plurality of packages Ba are placed on the pallet PL, the relative velocity V between the package group BS and the distance measuring unit 20 is the speed of the package group BS with respect to the distance measuring unit 20. , which corresponds to the conveying speed of the conveyor Cv. When the package group BS is stopped (stationary) and the rangefinder 20 moves, the relative velocity V between the package group BS and the rangefinder 20 is the speed of the rangefinder 20 with respect to the package group BS. show.

When a plurality of packages Ba are placed on the pallet PL, the distance measuring unit 20 measures the distance L to the upper surface BSf of the package group BS composed of the plurality of packages Ba placed on the pallet PL. That is, the distance measuring unit 20 measures the distance L between the distance measuring unit 20 and the upper surface BSf of the package group BS placed on the pallet PL. Then, the calculation unit 11 calculates the distance between the package group BS and the distance measurement unit 20 based on the relative velocity V between the package group BS and the distance measurement unit 20 and the distance L between the top surface BSf of the package group BS and the distance measurement unit 20. Information relating to the number of packages Ba forming the BS is calculated. Therefore, it is possible to calculate information about the number of the plurality of packages Ba placed on the pallet PL without being affected by the weight variation and/or the material of the pallet PL. As a result, it is possible to accurately calculate information about the number of packages Ba placed on the pallet PL. The details of the method of calculating the information on the number of packages Ba placed on the pallet PL will be described later.

Further, according to the first embodiment, the material of the package Ba, the weight of the packing material, and/or changes in the weight of the packing material according to environmental changes such as changes in humidity are not affected. , the number of packages Ba placed on the pallet PL can be calculated. As a result, it is possible to accurately calculate the number of packages Ba placed on the pallet PL.

Specifically, when the package group BS is being transported along the transport direction CD, the distance measuring unit 20 detects the top surface BSf of the package group BS and the distance measuring unit along the scanning direction SD intersecting the transport direction CD. 20 is measured. Therefore, according to Embodiment 1, by repeatedly measuring the distance L along the scanning direction SD (that is, by repeating scanning along the scanning direction SD), the top surface The distance L between each position of BSf and the distance measuring section 20 can be easily measured. In Embodiment 1, the scanning direction SD is substantially orthogonal to the transport direction CD and substantially parallel to the horizontal direction.

Then, the calculation unit 11 calculates the scanning period T by the distance measurement unit 20, the relative velocity V between the package group BS and the distance measurement unit 20, and the distance L between the distance measurement unit 20 and the upper surface BSf of the package group BS. Information on the number of packages Ba is calculated based on. The scanning period T by the distance measuring unit 20 indicates the time from the start of scanning of a certain line to the start of scanning of the next line on the upper surface BSf of the package group BS. A line indicates a straight portion from one end to the other end of the package group BS along the scanning direction SD. Therefore, the scanning cycle T includes the time for the distance measuring unit 20 to measure the distance L from one end of the package group BS to the other end along the scanning direction SD. In the first embodiment, the distance measurement unit 20 rotates the mirror by 360 degrees to change the light emission direction. Therefore, the scan period T indicates the time when the mirror rotates from 0 degrees to 360 degrees. In other words, the scanning period T indicates the time when the direction of light emitted from the distance measuring unit 20 rotates from 0 degrees to 360 degrees.

In particular, in the first embodiment, the information about the number of packages Ba that make up the package group BS indicates the number of packages Ba that make up the package group BS. Therefore, the calculator 11 calculates the number of packages Ba that form the package group BS.

Specifically, the calculation unit 11 acquires the size information 52 and the number information 53 from the storage unit 50 based on the identification information 51 acquired by the first reading unit 30 . The size information 52 indicates the size of the package Ba. The number information 53 indicates the number of packages Ba positioned in one stage of the package group BS. Next, the calculation unit 11 calculates the scanning period T by the distance measurement unit 20, the relative velocity V between the package group BS and the distance measurement unit 20, and the distance L between the distance measurement unit 20 and the upper surface BSf of the package group BS. Then, based on the size information 52 and the number information 53, the number of the plurality of packages Ba forming the package group BS is calculated. Therefore, according to the first embodiment, the number of packages Ba forming the package group BS is calculated according to the packages Ba identified by the identification information acquired by the first reading unit 30 . As a result, it is possible to accurately calculate the number of packages Ba placed on the pallet PL. The details of how the calculator 11 calculates the number of packages Ba will be described later.

Here, in the first embodiment, the distance measurement unit 20 measures the distance L between the distance measurement unit 20 and the upper surface BSf of the moving package group BS. Further, the conveyor Cv continues to transport the pallet PL on which the package group BS is placed without stopping the transport of the pallet PL on which the package group BS is placed during the measurement period of the distance L by the distance measuring unit 20. . As a result, the completion time of the inspection of the package group BS by the inspection system 100 can be shortened.

FIG. 4 is a schematic diagram showing the latter stage of the operation of the inspection system 100. As shown in FIG. As shown in FIG. 4, after the distance measuring unit 20 measures the distance L between the upper surface BSf of the package group BS and the distance measuring unit 20, the package group BS is transported along the conveying direction CD by the conveyor Cv to the first 2 It is conveyed toward a position facing the reading unit 40 .

The second reading unit 40 is located downstream of the distance measuring unit 20 in the transport direction CD. The second reading unit 40 reads the barcode BC2 attached to the package Ba2, which is different from the package Ba1 whose barcode BC1 is read by the first reading unit 30, among the plurality of packages Ba making up the package group BS, Identification information 51 for identifying a different package Ba2 is obtained from the barcode BC2.

The comparison unit 12 compares the identification information 51 read by the first reading unit 30 and the identification information 51 read by the second reading unit 40 . Therefore, the comparison unit 12 can determine whether or not the types of the plurality of packages Ba placed on the pallet PL are the same based on the comparison result. In other words, the comparison unit 12 can determine whether or not different types of packages Ba are mixed in the package group BS placed on the pallet PL based on the comparison result. The comparison unit 12 then displays the determination result on the display unit 65 .

Specifically, when the identification information 51 read by the first reading unit 30 and the identification information 51 read by the second reading unit 40 are the same, the comparison unit 12 selects the plurality of pieces placed on the pallet PL. It can be determined that the types of packages Ba are the same. That is, when the identification information 51 read by the first reading unit 30 and the identification information 51 read by the second reading unit 40 are the same, the comparison unit 12 determines the type of package group BS placed on the pallet PL. It can be determined that the packages Ba with different values are not mixed. On the other hand, when the identification information 51 read by the first reading unit 30 and the identification information 51 read by the second reading unit 40 are different, the comparison unit 12 determines that the type of the plurality of packages Ba placed on the pallet PL is can be determined to be different. That is, when the identification information 51 read by the first reading unit 30 and the identification information 51 read by the second reading unit 40 are different, the comparison unit 12 determines that the groups of packages BS placed on the pallet PL are of different types. It can be determined that the package Ba is mixed.

The movement control unit 13 moves the distance measuring unit 20 and the package group BS so that the second reading unit 40 moves to a position where the bar code BC attached to the package Ba positioned on the uppermost level TL of the package group BS can be read. The moving part 60 is controlled based on the distance L between the upper surface BSf of the . Accordingly, the moving unit 60 raises the second reading unit 40 along the movement direction MD1 to a position where the barcode BC2 attached to the package Ba2 positioned on the uppermost stage TL of the package group BS can be read. As a result, the second reading unit 40 reads the barcode BC2 attached to the package Ba2 positioned at the topmost stage TL of the package group BS, and acquires the identification information for identifying the package Ba2. Therefore, it can be determined whether or not the type of package Ba2 positioned on the uppermost level TL and the type of package Ba1 positioned on the lowermost level BL among the plurality of packages Ba constituting the package group BS are the same. , whether or not the plurality of packages Ba forming the package group BS are generally of the same type. Details of the height control of the second reading unit 40 by the movement control unit 13 will be described later.

In addition, since the second reading unit 40 is located downstream of the distance measuring unit 20 in the conveying direction CD, the second reading unit 40 can be moved to a reading position where the bar code BC2 attached to the package Ba2 positioned at the top TL of the package group BS can be read. As a result, since the second reading unit 40 can wait at the reading position, the reading completion time of the barcode BC2 by the second reading unit 40 can be shortened.

Further, in the first embodiment, the first reading unit 30 and the second reading unit 40 read the barcode BC attached to the moving baggage Ba. In addition, the conveyor Cv places the group of packages BS without stopping the transportation of the pallet PL on which the group of packages BS is placed during the reading period of the barcode BC by the first reading unit 30 and the second reading unit 40. Conveyance of the pallet PL is continued. As a result, the completion time of the inspection of the package group BS by the inspection system 100 can be further shortened.

Furthermore, in the first embodiment, as shown in FIG. 2, before the package group BS is conveyed to the position facing the second reading unit 40, the second reading unit 40 waits at the position where the barcode was read last time. is doing. Therefore, when the number of stages of the plurality of packages Ba forming the package group BS conveyed last time is the same as the number of stages of the plurality of packages Ba forming the package group BS conveyed this time, the moving unit 60 The barcode BC1 attached to the package Ba1 can be read without moving the second reading unit 40. - 特許庁

Next, with reference to FIGS. 5 to 7, the details of the method of calculating the number of packages Ba forming the package group BS will be described. FIG. 5(a) shows an example of a package group BS. In FIG. 5(a), the package group BS is viewed from the conveying direction CD (FIG. 3). As shown in FIG. 5(a), the distance measurement unit 20 emits light from the center Ce of the distance measurement unit 20, for example, while changing the emission direction along the rotation direction RD1, and outputs light to the package group BS. A distance L between the upper surface BSf and the distance measuring unit 20 is measured. That is, the distance measurement unit 20 measures the distance L between each measurement position MP on the upper surface BSf of the package group BS and the distance measurement unit 20 along the scanning direction SD. The center Ce is the center of rotation when changing the light emission direction along the rotation direction RD1. In the first embodiment, the center Ce is the rotation center of the mirror when changing the light emission direction along the rotation direction RD1. The distance measurement unit 20 holds the measurement angle θ when the distance L is measured. The measurement angle θ is the angle of the direction in which light is emitted by the rangefinder 20 with respect to the Q axis passing through the center Ce of the rangefinder 20 . The Q axis is substantially parallel to the scanning direction SD and substantially orthogonal to the transport direction CD. In Embodiment 1, the Q axis is substantially parallel to the horizontal direction. The Q axis may be referred to as the first axis.

The calculator 11 calculates the length Q(θ) along the Q axis based on the distance L and the measured angle θ. Specifically, the calculator 11 calculates the length Q(θ) by Q(θ)=L×cos θ. The length Q(θ) indicates the position on the Q axis of the measurement position MP on the upper surface BSf of the package group BS.

Further, the calculation unit 11 calculates the length P(θ) along the P axis based on the distance L and the measurement angle θ. Specifically, the calculator 11 calculates the length P(θ) by P(θ)=L×sin θ. The P-axis passes through the center Ce of the distance measuring section 20 and is orthogonal to the Q-axis. Also, the P-axis is substantially orthogonal to the scanning direction SD and the conveying direction CD. In Embodiment 1, the P-axis is substantially parallel to the vertical direction. The P axis may be described as the second axis. The length P(θ) indicates the position on the P-axis of the measurement position MP on the top surface BSf of the package group BS. That is, the length P(θ) indicates the height of the measurement position MP on the top surface BSf with the Q axis as a reference.

FIG. 5B is a diagram showing an example of the height distribution HD calculated by the calculator 11. As shown in FIG. As shown in FIG. 5(b), the calculator 11 calculates a height distribution HD representing the height distribution of the package group BS based on the length P(θ) and the length Q(θ). . That is, the calculation unit 11 calculates the height distribution HD of the package group BS based on the distance L between the top surface BSf of the package group BS and the distance measuring unit 20 . FIG. 5(b) shows the height distribution HD1 of the package group BS shown in FIG. 5(a). That is, the height distribution HD1 for one line of scanning by the distance measuring unit 20 is shown. The height distribution HD1 is the height distribution (data distribution) of each measurement position MP on one line.

The height distribution HD of the package group BS may be the distribution of the height of the top surface BSf of the package group BS with reference to the Q axis, or the height distribution of the top surface BSf of the package group BS with the upper surface of the pallet PL as a reference. It may be the distribution of the height, or the distribution of the height of the upper surface BSf of the package group BS with reference to the lower surface of the pallet PL.

Specifically, the value of the S-axis indicating the height distribution HD of the package group BS may be the length P(θ), or the value of the package from the surface of the pallet PL on which the package Ba is placed. It may be the length H(θ) to the upper surface BSf of the group BS. The length H([theta]) is, for example, the value obtained by subtracting the length P([theta]) from the height PS from the surface of the pallet PL on which the package Ba is placed to the distance measuring unit 20. Note that the height distribution HD1 shown in FIG. 5B shows the distribution of the length H(θ) for easy understanding. Also, the value of the S-axis indicating the height distribution HD of the package group BS may be the sum of the length H(θ) and the height of the pallet PL. Especially in Embodiment 1, the standard for the height of the upper surface BSf of the package group BS is not limited.

The calculator 11 determines the reference length Sb based on the height distribution HD1. In the example of FIG. 5(b), the reference length Sb is determined from the surface of the pallet PL on which the packages Ba are placed, which is the uppermost package TL among the packages Ba forming the package group BS. It corresponds to the length to the upper surface of Ba. The method by which the calculation unit 11 determines the reference length Pb is not particularly limited. For example, the calculation unit 11 determines the length obtained by subtracting the minimum value of the lengths P(θ) in one line in the scanning direction SD from the height PS as the reference length Pb. Note that the calculator 11 may determine the minimum value of the lengths P(θ) in one line in the scanning direction SD as the reference length Sb.

Next, the calculator 11 determines the position Qmin and the position Qmax based on the height distribution HD1 and the reference length Pb. The position Qmin corresponds to the position (position on the Q-axis) of one end E1 of the package group BS in the scanning direction SD. Specifically, the calculation unit 11 calculates, in one line in the scanning direction SD, the length H(θ) that exists within the range of ±δ with respect to the reference length Sb on the Q-axis in the scanning direction SD. The starting position is determined at position Qmin. The position Qmax corresponds to the position of the other end E2 of the package group BS in the scanning direction SD (the position on the Q axis). Specifically, the calculation unit 11 calculates, in one line in the scanning direction SD, the length H(θ) that exists within the range of ±δ with respect to the reference length Sb on the Q-axis in the scanning direction SD. The end position is determined to be the position Qmax. δ is a preset value and indicates an allowable error.

Note that the calculation unit 11 calculates, in one line in the scanning direction SD, the length P(θ) existing within the range of ±δ with respect to the reference length Sb determined for the length P(θ). , the starting position on the Q-axis in the scanning direction SD may be determined to be the position Qmin. Further, the calculation unit 11 calculates, in one line in the scanning direction SD, the length P(θ) existing within the range of ±δ with respect to the reference length Sb determined for the length P(θ). , the end position on the Q-axis in the scanning direction SD may be determined to be the position Qmax.

The calculator 11 calculates the length MT=|Qmax−Qmin|. The length MT indicates the total length of the top surface along the scanning direction SD of the package Ba positioned at the top TL of the package group BS. In the example of FIG. 5, the length MT indicates the length along the scanning direction SD of the package group BS.

FIG. 6 shows the package group BS viewed from vertically above. As shown in FIG. 6, while the package group BS is being transported along the transport direction CD, the distance measuring unit 20 measures the upper surface BSf of the package group BS along the scanning direction SD intersecting the transport direction CD. A distance L between the distance portion 20 is measured.

Next, the calculator 11 calculates an area SA for one scanning line of the upper surface BSf of the package group BS each time scanning is performed, and integrates the area SA along the transport direction CD. The integrated result of the area SA indicates the area S of the upper surface BSf of the package group BS. Specifically, the calculator 11 calculates the area SA of the upper surface BSf from the trajectory TR1 of the light emitted for the first time to the trajectory TR2 of the light emitted the second time with respect to the package group BS. Similarly, the area SA of the upper surface BSf from the trajectory TR2 of the second emitted light to the trajectory TR3 of the third emitted light is calculated. After that, the calculator 11 calculates the area SA each time one line is scanned. Then, the calculator 11 integrates the areas SA to calculate the area S of the upper surface BSf of the package group BS. More specifically, the calculator 11 calculates the area SA for one scanning line of the upper surface BSf of the package group BS based on the formula (1).

SA=MT×V×T=|Qmax−Qmin|×V×T (1)

In Equation (1), SA indicates the area of the upper surface BSf from the trajectory TR of the light emitted Nth time to the trajectory TR of the light emitted N+1 times. V indicates the relative velocity between the rangefinder 20 and the package group BS. T indicates the scanning cycle by the distance measurement unit 20 . The calculator 11 calculates the area S of the upper surface BSf of the package group BS by integrating the values of the plurality of areas SA along the transport direction CD.

Here, in the above, the calculator 11 approximates as follows. That is, while the package group BS is being conveyed, the distance measuring unit 20 scans the package group BS along the scanning direction SD. and slightly sloping. However, the inclination of the trajectory TR with respect to the scanning direction SD is very small. Therefore, the calculator 11 calculates the length MT in the scanning direction SD calculated during one scanning period T, and the moving distance (V× T) and the area SA (=MT×V×T) is approximated as the area of the package group BS calculated during the scanning period T.

Next, the calculator 11 divides the height of the package group BS by the height of one package Ba to calculate the number of stages of the plurality of packages Ba forming the package group BS. Specifically, the calculation unit 11 calculates the number of stages C of the plurality of packages Ba forming the package group BS based on the formula (2).

C=Sb÷h (2)

In Equation (2), Sb indicates the reference length Sb. In this case, the reference length Sb is the length from the surface of the pallet PL on which the package Ba is placed to the upper surface of the package Ba positioned at the top TL among the plurality of packages Ba making up the package group BS. equivalent to Specifically, Sb indicates the length obtained by subtracting the minimum value of the length P(θ) in one line in the scanning direction SD from the height PS of the rangefinder 20 (see FIG. 5A). ). h indicates the height information 52a (FIG. 1) included in the size information 52; The size information 52 of the package Ba indicates the size of one package Ba. Specifically, the size information 52 indicates the size of the packing material that constitutes one package Ba. The height information 52a of the load Ba indicates the height of one load Ba (that is, the length of one load Ba along the vertical direction). Specifically, the height information 52a indicates the height of the packing material that constitutes one package Ba (that is, the length along the vertical direction of the packing material that configures one package Ba). Note that the calculation unit 11 acquires the size information 52 associated with the identification information acquired by the first reading unit 30 from the storage unit 50 .
Next, the calculator 11 divides the area S of the upper surface BSf of the package group BS by the area of the upper surface of one package Ba, thereby calculating the number Nt of packages Ba positioned on the uppermost level TL of the package group BS. do. Specifically, the calculation unit 11 calculates the number Nt of the packages Ba positioned on the uppermost stage TL of the package group BS based on the formula (3).

Nt=S÷(W×D) (3)

In Equation (3), S indicates the area of the upper surface BSf of the package group BS. W indicates the width information 52b included in the size information 52, and D indicates the depth information 52c included in the size information 52. FIG. The width information 52b of the package Ba indicates the width of one package Ba (that is, the length of one package Ba along the conveying direction CD) (FIG. 6). Specifically, the width information 52b indicates the width of the packing material that constitutes one package Ba (that is, the length of the packing material that configures one package Ba along the conveying direction CD). The depth information 52c of the package Ba indicates the depth of one package Ba (that is, the length of one package Ba along the scanning direction SD). Specifically, the depth information 52c of the package Ba indicates the depth of the packing material that constitutes one package Ba (that is, the length along the scanning direction SD of the packing material that configures one package Ba). . W×D corresponds to the area of the upper surface of one package Ba.

Next, the calculation unit 11 calculates the number Nt of packages Ba positioned on the uppermost tier TL among the plurality of packages Ba forming the package group BS and the uppermost TL among the plurality of packages Ba comprising the package group BS. The number Na of the plurality of packages Ba forming the package group BS is calculated by calculating the sum of the number Nu of packages Ba located on different stages. Specifically, the calculator 11 calculates the number Na of the plurality of packages Ba forming the package group BS based on the formula (4).

Na=Nu+Nt=(C−1)×Nc+Nt (4)

In Expression (4), Nc indicates the number indicated by the number information 53 . That is, Nc indicates the number of packages Ba positioned in one stage of package group BS. Note that the calculation unit 11 acquires the number information 53 associated with the identification information acquired by the first reading unit 30 from the storage unit 50 .

As described above with reference to FIGS. 5 and 6, according to the first embodiment, the calculation unit 11 calculates the weight of the package group BS based on the distance L between the top surface BSf of the package group BS and the distance measuring unit 20. area S Calculate Further, based on the height distribution HD of the package group BS and the size information 52 (specifically, the height information 52a) of the package Ba, the calculation unit 11 Calculate C. Further, the calculation unit 11 calculates the top surface TL of the package group BS based on the area S of the upper surface BSf of the package group BS and the size information 52 (specifically, the width information 52b and the depth information 52c) of the package Ba. The number Nt of the located packages Ba is calculated. Further, the calculation unit 11 calculates the number of packages Ba that form the package group BS based on the number of tiers C, the number information 53, and the number Nt of packages Ba positioned on the uppermost tier TL of the package group BS. do. Therefore, according to the first embodiment, the number of packages Ba placed on the pallet PL can be calculated without being affected by the weight variation and/or the material of the pallet PL. As a result, it is possible to accurately calculate the number of packages Ba placed on the pallet PL.

FIG. 7(a) is a diagram showing another example of the package group BS. FIG. 7(b) is a diagram showing the height distribution HD2 of the package group BS shown in FIG. 7(a). As in FIG. 5B, the height distribution HD2 shown in FIG. 7B shows the distribution of the length H(θ) for easy understanding.

As shown in FIG. 7(a), the number of packages Ba positioned on the uppermost tier TL among the plurality of packages Ba making up the package group BS and the number of packages Ba positioned on a different tier from the highest tier TL are different. different. Therefore, in the height distribution HD2 of the package group BS shown in FIG. 7(b), the length H(θ) outside the range of the reference length Pb±δ exists over the range ΔQ. In range ΔQ, length H(θ) is smaller than reference length Pb−δ. Note that if the value of the S axis is set to the length P(θ), the length P(θ) is greater than the reference length Pb+δ in the range ΔQ.

In FIG. 7B, the calculator 11 determines the position Qmin1 and the position Qmin2 as the position Qmin. Further, the calculator 11 determines the position Qmax1 and the position Qmax2 as the position Qmax. The same is true when setting the value of the S axis to the length P(θ).

The calculator 11 calculates the length MT=|Qmax1-Qmin1|+|Qmax2-Qmin2|. The length MT is the total length of the uppermost surface of the luggage group BS in the scanning direction SD in the example of FIG. In other words, the length MT indicates the total length of the upper surfaces of the packages Ba positioned on the uppermost stage TL of the package group BS along the scanning direction SD. Generally, the calculator 11 calculates the length MT=Σ|Qmaxj−Qminj|. j represents an integer of 1 or more. Σ indicates the sum of j=1 to J. J is the number of positions Qmin or the number of positions Qmax present in one line. In this case, MT in equation (1) is Σ|Qmaxj−Qminj|.

Note that the movement control unit 13 described with reference to FIG. 4 controls the second reading unit 40 to move to a position where the barcode BC attached to the package Ba positioned on the uppermost stage TL of the package group BS can be read. Second, the moving part 60 is controlled based on the reference length Sb. The reference length Sb in this case is the same as Sb in Equation (2).

Next, an inspection method executed by the inspection system 100 will be described with reference to FIGS. 8 and 9. FIG. 8 and 9 are flowcharts showing the inspection method executed by the inspection system 100. FIG. As shown in FIGS. 8 and 9, the inspection method includes steps S10 to S60.

As shown in FIG. 8, in step S10, the first reading unit 30 reads the barcode BC1 attached to the package Ba1 positioned at the bottom BL in the package group BS, and reads the package Ba1 from the barcode BC1. Acquire identification information that identifies the Then, the calculation unit 11 acquires identification information for identifying the package Ba1 from the first reading unit 30 .

In step S15, the calculation unit 11 acquires the size information 52 and the number information 53 from the storage unit 50 based on the identification information acquired by the first reading unit 30 in step S10.

In step S20, the distance measuring unit 20 measures the distance L between the distance measuring unit 20 and the upper surface BSf of the package group BS. Then, the calculation unit 11 acquires information indicating the distance L from the distance measurement unit 20 .

In step S25, the calculation unit 11 calculates the area SA for one scanning line of the upper surface BSf of the package group BS based on the formula (1) for each scanning, and integrates the area SA along the transport direction CD. . That is, the calculator 11 calculates the area S of the upper surface BSf of the package group BS.

In step S30, the calculation unit 11 calculates the number of stages C of the plurality of packages Ba forming the package group BS placed on the pallet PL based on the formula (2).

In step S35, the calculation unit 11 calculates the number Nt of the packages Ba positioned on the uppermost stage TL of the package group BS based on the formula (3).

As shown in FIG. 9, at step S40, the calculator 11 calculates the number Na of the plurality of packages Ba that form the package group BS based on the formula (4).

In step S45, the movement control unit 13 controls the movement unit 13 so that the second reading unit 40 moves to a position where the barcode BC2 attached to the package Ba2 positioned at the top TL of the package group BS can be read. 60 (Fig. 4).

In step S50, the moving unit 60 moves the second reading unit 40 to a position where the bar code BC2 attached to the package Ba2 positioned at the top TL of the package group BS can be read.

In step S55, the second reading unit 40 reads the barcode BC2 attached to the package Ba2, which is different from the package Ba1 whose barcode BC1 is read by the first reading unit 30, among the plurality of packages Ba making up the package group BS. is read to obtain identification information for identifying a different package Ba2 from the bar code BC2.

In step S<b>60 , the comparing section 12 compares the identification information read by the first reading section 30 and the identification information read by the second reading section 40 . Then, the comparison unit 12 causes the display unit 65 to display the comparison result. Specifically, when the comparison result indicates that the identification information read by the first reading unit 30 and the identification information read by the second reading unit 40 are the same, the comparison unit 12 calculates in step S40 It determines that the number Na calculated by the unit 11 is a valid value. Then, the comparison unit 12 causes the display unit 65 to display the number Na determined to be a valid value. On the other hand, if the comparison result indicates that the identification information read by the first reading unit 30 and the identification information read by the second reading unit 40 are different, the comparison unit 12 calculates the Determine that the number Na is an invalid value. Then, the comparison unit 12 causes the display unit 65 to display, for example, that different types of packages Ba are mixed in the package group BS placed on the pallet PL.

Next, a first modification of the first embodiment will be described with reference to FIG. 10(a). Differences of the first modification from the first embodiment will be mainly described below. FIG. 10(a) shows a distance measuring section 20a according to a first modified example. In the first modified example, the inspection system 100 includes a distance measurement section 20 a instead of the distance measurement section 20 .

As shown in FIG. 10A, a distance measuring section 20a according to the first modified example is composed of a plurality of distance measuring sensors 200. As shown in FIG. In this modification, the plurality of ranging sensors 200 are arranged and fixed on a straight line along the scanning direction SD. Each of the plurality of ranging sensors 200 emits light or ultrasonic waves downward from the ranging sensors 200 to measure the distance L1 between the top surface BSf of the package group BS and the ranging sensors 200 . The distance L1 corresponds to the length P(θ) shown in FIG. 5(a). Therefore, the calculator 11 is not required to calculate the length P(θ) and the length Q(θ) shown in FIG. 5(a). As a result, the number of man-hours for calculation by the calculation unit 11 is reduced, and the accuracy of the calculated height distribution HD is improved.

Next, a second modification of the first embodiment will be described with reference to FIG. 10(b). In the following, differences of the second modification from the first embodiment will be mainly described. FIG. 10(b) shows a distance measuring section 20b according to the second modification. In the second modification, the inspection system 100 includes a distance measuring section 20b instead of the distance measuring section 20. FIG.

As shown in FIG. 10(b), the distance measuring unit 20b is a single distance measuring sensor. The configuration of the distance measurement sensor of the distance measurement unit 20b is the same as the configuration of the distance measurement sensor 200 in FIG. 10(a). A distance measuring unit 20b according to the second modification moves along the scanning direction SD. Therefore, the distance between the upper surface BSf of the package group BS and the distance measuring sensor can be measured at a plurality of positions on the upper surface BSf of the package group BS without using a plurality of ranging sensors. As a result, the cost of the inspection system 100 can be reduced.

Next, a third modification of the first embodiment will be described with reference to FIG. 11(a). In the following, differences of the third modification from the first embodiment will be mainly described. FIG. 11(a) shows a distance measuring section 20c according to a third modified example. In the third modified example, the inspection system 100 includes a distance measurement section 20 c instead of the distance measurement section 20 .

As shown in FIG. 11(a), a distance measuring unit 20c according to the third modification is composed of a plurality of distance measuring sensors 200. As shown in FIG. Each of the multiple ranging sensors 200 faces a different direction. In this modification, the plurality of distance measuring sensors 200 are arranged in an arc. Therefore, it is possible to scan from the one end E1 to the other end E2 of the baggage group BS with a smaller number than when a plurality of distance measuring sensors 200 are linearly arranged.

Next, a fourth modification of the first embodiment will be described with reference to FIG. 11(b). Hereinafter, the differences of the fourth modification from the first embodiment will be mainly described. FIG. 11(b) shows a distance measuring section 20d according to a fourth modification. In the fourth modification, the inspection system 100 includes a distance measurement section 20d instead of the distance measurement section 20. FIG.

As shown in FIG. 11B, a distance measuring unit 20d according to the fourth modification is a single distance measuring sensor. The configuration of the distance measurement sensor of the distance measurement unit 20d is the same as the configuration of the distance measurement sensor 200 shown in FIG. 10(a). A distance measuring unit 20d according to the fourth modification rotates along the rotation direction RD2. Further, the distance measuring unit 20d stores the light emission angle when the distance between the distance measuring unit 20d and the upper surface BSf of the package group BS is measured. Therefore, the distance between the top surface BSf of the package group BS and the range finding sensor 200 can be measured at a plurality of positions on the top surface BSf of the package group BS without providing a plurality of range finding sensors 200 . As a result, it is possible to reduce the number of distance measuring sensors 200 and save the trouble of moving the distance measuring sensors 200 along the scanning direction SD.

Next, a fifth modification of the first embodiment will be described with reference to FIG. 12 . In the following, differences of the fifth modification from the first embodiment will be mainly described.

FIG. 12(a) is a diagram showing the first reading unit 30 according to the fifth modification. In FIG. 12(a), the package group BS is viewed from the transport direction CD. As shown in FIG. 12(a), the inspection system 100 according to the fifth modification further includes an arm 70, a drive mechanism 80, and a shaft Sh.

A first reading unit 30 is fixed to the arm 70 . Specifically, the first reading unit 30 is fixed to the tip of the arm 70 . A proximal end of the arm 70 is connected to the shaft Sh. The arm 70 is, for example, fixed to the shaft Sh. In this modification, the axis Sh extends along the vertical direction. In the example of FIG. 12(a), the position of the first reading unit 30 corresponds to the uppermost stage TL of the package group BS. However, the arm 70 may be provided so that the position of the first reading unit 30 corresponds to the bottom BL of the package group BS. Note that the vertical position of the first reading unit 30 is not particularly limited.

The drive mechanism 80 drives the arm 70 so that the first reading section 30 moves along the side surface 75 of the package group BS. Specifically, the drive mechanism 80 rotates the shaft Sh to move the first reading unit 30 along the side surface 75 of the package group BS. Drive mechanism 80 includes, for example, a motor.
FIG. 12(b) is a diagram showing the first reading unit 30 moving along the side surface 75 of the package group BS. In FIG. 12(b), the package group BS is viewed from vertically above. As shown in FIG. 12(b), the drive mechanism 80 drives the arm 70 to move the first reading unit 30 along the side surface 75 of the package group BS in the rotational direction RD3. Therefore, the first reading unit 30 can read the bar code BC attached to any one of the two sides of the plurality of sides of the package Ba. As a result, even if the orientation of the package Ba placed on the pallet PL is not fixed, the first reading unit 30 can read the barcode BC attached to the package Ba.

The arm 70 rotates approximately 90 degrees along the rotation direction RD3, for example. Therefore, the first reading unit 30 can read the bar code BC attached to either one of the two adjacent surfaces of the package Ba.

Further, the driving mechanism 80, for example, always moves the first reading section 30 along the side surface 75 of the package group BS. Therefore, it is possible to prevent the possibility that the package group BS passes through the first reading section 30 without the first reading section 30 reading the bar code BC.

Next, a sixth modification of the first embodiment will be described with reference to FIGS. 13 and 14. FIG. Differences of the sixth modification from the first embodiment will be mainly described below.

FIG. 13 is a diagram showing an inspection system 100 according to a sixth modification. As shown in FIG. 13, the inspection system 100 according to the sixth modification further includes a turntable TB. The turntable TB is an example of a "turntable". Also, the conveyor Cv includes a first conveyor CV1 and a second conveyor CV2.

The turntable TB is continuous with the conveyor Cv. Specifically, the turntable TB is positioned between the first conveyor CV1 and the second conveyor CV2 and is continuous with each of the first conveyor CV1 and the second conveyor CV2.

The turntable TB rotates the object placed on the turntable TB by rotating along the rotation direction RD3. In the sixth modification, the turntable TB rotates the pallet PL on the turntable TB along the rotation direction RD3. That is, the turntable TB rotates the package group BS placed on the pallet PL on the turntable TB along the rotation direction RD3.

FIG. 14(a) shows the package group BS before being rotated by the turntable TB. In FIG. 14(a), the package group BS is viewed from vertically above. For example, as shown in FIG. 14(a), when the barcodes BC attached to the plurality of packages Ba forming the package group BS do not face the first reading section 30, the turntable TB rotates in the rotation direction RD3. rotate along

FIG. 14(b) shows the package group BS after being rotated by the turntable TB. In FIG. 14(b), the package group BS is viewed from vertically above. By rotating the turntable TB, the load Ba rotates and the barcode BC faces the first reading unit 30 . Then, the first reading unit 30 reads the bar code BC attached to the package Ba on the turntable TB. Therefore, the first reading unit 30 can read the barcode BC attached to the package Ba without limiting the orientation of the pallet PL when the pallet PL is placed on the conveyor Cv. As a result, the user's burden of placing the pallet PL on the conveyor Cv can be reduced.

(Embodiment 2)
An inspection system 100a according to the second embodiment will be described with reference to FIG. The second embodiment is mainly different from the first embodiment in that one distance measuring unit 20 scans a group of packages BS conveyed by each of a plurality of conveyors Cv. In the following, regarding the second embodiment, matters different from the first embodiment will be described, and descriptions of portions overlapping with the first embodiment will be omitted.

FIG. 15 is a diagram showing an inspection system 100a according to the second embodiment. As shown in FIG. 15, the inspection system 100a includes a plurality of conveyors Cv. Each of the multiple conveyors Cv extends along the transport direction CD. In Embodiment 2, the multiple conveyors Cv are substantially parallel to each other. In the second embodiment, the inspection system 100 includes three conveyors Cv and two distance measuring units 20. FIG. Hereinafter, each of the three conveyors Cv may be distinguished and described as conveyor Cv1, conveyor Cv2, and conveyor Cv3. Also, the two distance measurement units 20 may be distinguished and described as a distance measurement unit 201 and a distance measurement unit 202 .

A plurality of conveyors Cv are arranged for one distance measuring unit 20 . That is, one distance measuring unit 20 is shared by a plurality of conveyors Cv. One first reading unit 30, one second reading unit 40, and one moving unit 60 are arranged for one conveyor Cv. That is, the number of distance measuring units 20 is smaller than the number of multiple conveyors Cv.

One distance measuring unit 20 scans a group of packages BS conveyed on each of a plurality of conveyors Cv. Therefore, the number of distance measuring units 20 can be reduced compared to the case where one distance measuring unit 20 is arranged for one conveyor Cv. As a result, costs can be reduced.

In Embodiment 2, two distance measurement units 20 are arranged for three conveyors Cv. A distance measuring unit 201 is located between the conveyor Cv1 and the conveyor Cv2. The distance measuring unit 202 is positioned between the conveyor Cv2 and the conveyor Cv3. Conveyor Cv2 is positioned between conveyor Cv1 and conveyor Cv3.

The distance measuring unit 201 scans the package group BS conveyed by the conveyor Cv1 and the package group BS conveyed by the conveyor Cv2. Then, the distance measuring unit 202 scans the package group BS conveyed by the conveyor Cv2 and the package group BS conveyed by the conveyor Cv3. Therefore, since one package group BS can be scanned by a plurality of distance measurement units 201 and 202, one package group BS is configured based on a plurality of scanning results (distance measurement results) by the plurality of distance measurement units 201 and 202. It is possible to calculate information on the number of the plurality of packages Ba to be carried. As a result, it is possible to more accurately calculate information about the number of packages Ba that form the package group BS.

(Embodiment 3)
An inspection system 100b according to the third embodiment will be described with reference to FIG. The third embodiment differs from the first embodiment mainly in that the inspection device 1a moves with respect to the stopped package group BS. Hereinafter, regarding Embodiment 3, matters different from Embodiment 1 will be described, and descriptions of portions that overlap with Embodiment 1 will be omitted.

FIG. 16 is a diagram showing an inspection system 100b according to the third embodiment. As shown in FIG. 16, the inspection device 1a of the inspection system 100b includes a distance measuring section 20, a first reading section 30, a second reading section 40, a moving section 60, and a moving body 90. As shown in FIG. In the third embodiment, the inspection device 1a moves along the movement direction MD3 with respect to the stopped package group BS. The inspection device 1a may be moved by a motor or manually.

The moving body 90 has, for example, a substantially U shape. The package group BS is positioned on the inner surface side of the moving body 90 . The distance measuring unit 20 is attached to, for example, the upper surface of the inner surface of the moving body 90 . The first reading unit 30 is attached, for example, on the upstream side of the inner surface of the moving body 90 in the movement direction MD3. Further, the first reading unit 30 can read, for example, the barcode BC attached to the package Ba positioned at the bottom BL among the plurality of packages Ba forming the package group BS on the inner surface of the moving body 90. installed in a proper position. The moving part 60 is attached, for example, on the downstream side of the inner surface of the moving body 90 in the moving direction MD3. The second reading unit 40 is attached to the moving unit 60 . The moving section 60 raises or lowers the second reading section 40 . The first reading section 30 , the second reading section 40 and the moving section 60 move together with the moving body 90 .

The rangefinder 20 measures the distance L between the rangefinder 20 and the top surface BSf of the package group BS. Then, based on the relative velocity V between the package group BS and the distance measuring unit 20 and the distance L measured by the distance measuring unit 20, the calculation unit 11 calculates information indicating the number of packages that make up the package group BS. Calculate In Embodiment 3, the rangefinder 20 moves and the package group BS remains stationary. Therefore, the relative velocity V between the package group BS and the rangefinder 20 indicates the velocity of the rangefinder 20 with respect to the package group BS. Here, the relative speed V between the package group BS and the distance measuring unit 20 may be detected by a speed sensor, or may be calculated based on the rotation speed of the motor when the inspection device 1a is moved by a motor. good.

According to Embodiment 3, it is possible to calculate information about the number of packages Ba forming the package group BS without conveying the package group BS by a conveyor or the like. Therefore, for example, when the package Ba is fragile, information regarding the number of packages Ba forming the package group BS can be calculated without transporting the package group BS. As a result, user convenience is improved when calculating the number of packages BS.

(Embodiment 4)
An inspection system 100 according to the fourth embodiment will be described with reference to FIGS. 1, 5(b), 7(b), and 17. FIG. The fourth embodiment differs from the first embodiment in that the inspection system 100 does not include the first reading unit 30 and the second reading unit 40 shown in FIG. Also, the control unit 10 of the inspection device 1 in the inspection system 100 according to the fourth embodiment includes a determination unit 14 . Hereinafter, regarding Embodiment 4, matters different from Embodiment 1 will be described, and descriptions of portions that overlap with Embodiment 1 will be omitted. In the fourth embodiment, the case where the number of packages Ba equal to the number information 53 is located in all the stages of the package group BS is defined as the package group BS that is neither excessive nor insufficient, and at least one of the stages of the package group BS A case where the number of packages different from the number information 53 is located in a given package group BS is defined as an excess or deficiency package group BS.

In the fourth embodiment, the information on the number of packages Ba that form the package group BS indicates the ratio between the first area information and the second area information. The first area information indicates information that correlates with the area of the upper surface of the package Ba positioned on the uppermost level TL of the package group BS. The second area information indicates information that correlates with the area of the upper surface of the package Ba positioned on a stage different from the top stage TL. Specifically, the calculation unit 11 shown in FIG. 1 calculates first area information and second area information based on the distance measurement result of the distance measurement unit 20 . In addition, the calculator 11 further calculates the ratio R between the first area information and the second area information.

For example, when the ratio R calculated by the calculation unit 11 indicates a value within a predetermined range, the determination unit 14 determines that there is no excess or deficiency in the package group BS. Further, the determination unit 14 determines that there is excess or deficiency in the package group BS when the ratio R calculated by the calculation unit 11 indicates a value outside the predetermined range. Therefore, based on the ratio R calculated by the calculator 11, it is possible to determine whether or not there is an excess or deficiency in the plurality of packages Ba making up the package group BS. The determination unit 14 causes the display unit 65 to display the determination result.

FIG. 17(a) shows a parcel group BS. The height distribution of the parcel group BS approximates, for example, the height distribution HD1 shown in FIG. 5(b). For example, the first area information is one line of length H(θ) that exists within a range of ±δ with respect to the reference length Sb when one package group BS is scanned. The integrated value when the number of data is integrated along the transport direction CD is shown. For example, the second area information is obtained by accumulating the number of effective data for one line indicating the length H(θ) along the conveying direction CD when scanning one package group BS. indicates the integrated value of Therefore, in the examples of FIGS. 17A and 5B, the ratio R is approximately 1 when expressed by the first area information/second area information. In this case, the determination unit 14 determines that there is no excess or deficiency in the package group BS. The effective number of data for one line indicating the length H(θ) is, for example, the number of data in the lower region of the height distribution HD1.
FIG. 17(b) shows a package group BS with excess and deficiency. The height distribution of the excess or deficiency of the package group BS approximates the height distribution shown in FIG. 7(b), for example. For example, as in the case of FIGS. 17(a) and 5(b), the first area information is ±δ It shows an integrated value when the number of data for one line indicating the length H(θ) existing within the range is integrated along the transport direction CD. Similarly, for example, the second area information is the number of effective data for one line indicating the length H(θ) when one package group BS is scanned, along the conveying direction CD. Indicates the integrated value when integrated. Therefore, as can be understood from FIG. 7(b), the first area information is smaller than the second area information in the excess/deficiency package group BS. In this case, the determination unit 14 determines that there is excess or deficiency in the package group BS. The effective number of data for one line indicating the length H(θ) is, for example, the number of data in the lower region of the height distribution HD2.

According to the fourth embodiment, even if the inspection system 100 does not include the first reading unit 30, it is possible to calculate information (specifically, the ratio R) regarding the number of packages Ba that form the package group BS. Specifically, even if the inspection system 100 does not include the first reading unit 30, it is possible to calculate excess/deficiency information regarding the number of the plurality of parcels Ba constituting the parcel group BS. As a result, costs can be reduced.

FIG. 18 is a flowchart showing an inspection method executed by the inspection system 100 according to the fourth embodiment. As shown in FIG. 18, the inspection method includes steps S70 to S90.

In step S70, the distance measurement unit 20 measures the distance L between the distance measurement unit 20 and the upper surface BSf of the package group BS.

In step S<b>75 , the calculation unit 11 calculates the first area information based on the measurement result of the distance L by the distance measurement unit 20 .

In step S<b>80 , the calculator 11 calculates the second area information based on the distance L measured by the rangefinder 20 .

In step S85, the calculator 11 calculates the ratio between the first area information and the second area information.

At step S90, the determination unit 14 determines whether there is an excess or deficiency of the packages Ba in the package group BS based on the ratio R calculated at step S85.

The embodiments of the present invention have been described above with reference to the drawings. However, the present invention is not limited to the above-described embodiments, and can be implemented in various aspects without departing from the gist of the present invention. Further, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the above embodiments. For example, some components may be omitted from all components shown in the embodiments. Furthermore, components across different embodiments may be combined as appropriate. In order to make the drawings easier to understand, the drawings mainly show each component schematically. may be different. In addition, the material, shape, dimensions, etc. of each component shown in the above embodiment are examples and are not particularly limited, and various changes are possible without substantially departing from the effects of the present invention. be.

(1) As described with reference to FIGS. 2 and 4, in the transport direction CD, the first reading section 30 is positioned upstream of the distance measuring section 20, and the second reading section 40 is positioned downstream of the distance measuring section 20. located in However, the first reading unit 30 may be positioned downstream of the distance measuring unit 20 as long as the second reading unit 40 is positioned downstream of the distance measuring unit 20 in the transport direction CD. Note that the second reading unit 40 may not be provided. Also, the first reading unit 30 and the second reading unit 40 may be integrated. Integration means that the inspection system 100 includes only the first reading unit 30 out of the first reading unit 30 and the second reading unit 40 as hardware, and the first reading unit 30 functions as the second reading unit 40. You may indicate that you have Further, integration means that the inspection system 100 includes only the second reading unit 40 of the first reading unit 30 and the second reading unit 40 as hardware, and the second reading unit 40 is the first reading unit 30. It may indicate that it has a function. In this case, the integrated first reading unit 30 and second reading unit 40 may move along the height direction of the package group BS according to the height of the package group BS. Then, the integrated first reading unit 30 and second reading unit 40 read the barcode BC1 attached to the package Ba1 positioned at the bottom BL and the package Ba2 positioned at the top TL of the package group BS. Read the bar code BC2 attached to.

(2) As described with reference to FIGS. 2 and 4, the first reading unit 30 reads the barcode BC1 attached to the package Ba1 positioned at the bottom BL of the package group BS, The reading unit 40 reads the bar code BC2 attached to the package Ba2 positioned at the top TL of the package group BS. However, as long as the first reading unit 30 and the second reading unit 40 read the barcodes BC attached to different packages Ba, the first reading unit 30 and the second reading unit 40 are different from each other in the package group BS. may read the bar code BC attached to the package Ba located on the same stage.

(3) As described with reference to FIGS. 1 to 9, the inspection system 100 includes the distance measuring section 20. FIG. However, the inspection system 100 does not have to include the distance measuring section 20 . In this case, the inspection system 100c includes a plurality of first reading units 30, as shown in FIG. FIG. 19 illustrates an inspection system 100c according to one embodiment of the invention. The plurality of first reading units 30 are arranged in such a number and intervals that the barcodes BC can be read covering all areas in the height direction of the package group BS. Note that the inspection system 100 according to the first embodiment described with reference to FIGS. 1 to 9 may include a plurality of first reading units 30 shown in FIG.

(4) As described with reference to FIG. 12, in the fifth modification, the drive mechanism 80 drives the arm 70 to move the first reading unit 30 along the side surface 75 of the package group BS. . However, the second reading unit 40 may move along the side surface 75 of the package group BS. At this time, the second reading unit 40 may be fixed to the arm, and the drive mechanism may drive the arm.

INDUSTRIAL APPLICABILITY The present invention provides an inspection system, an inspection method, an inspection device, and a computer program, and has industrial applicability.

100, 100a, 100b inspection system 11 calculation unit 12 comparison unit 13 movement control unit 20 distance measurement unit 30 first reading unit 40 second reading unit 50 storage unit 60 moving unit 70 arm 80 drive mechanism Ba package BS package group BSf upper surface Cv Conveyor (conveyor)
CD Conveying direction PL Pallet (stand)
SD Scanning direction TB Turntable
TL top

Claims (9)

a distance measuring unit that measures the distance to the upper surface of a group of packages made up of a plurality of packages placed on a platform;
a calculation unit that calculates information about the number of the plurality of packages forming the package group based on the relative speed between the package group and the distance measuring unit and the distance ;
a storage unit that stores size information indicating the size of the baggage and number information indicating the number of the baggage positioned in one stage of the baggage group, in association with the identification information for identifying the baggage;
a first reading unit that reads a code attached to the package placed on the table and acquires identification information for identifying the package from the code;
with
In a stage different from the uppermost stage of the luggage group, the luggage is present without loss,
When the package group is being transported along the transport direction, the distance measuring unit measures the distance between the upper surface of the package group and the distance measuring unit along a scanning direction that intersects the transport direction. to measure
the information relating to the number of the plurality of packages indicates the number of the plurality of packages constituting the package group;
The calculation unit
acquiring the size information and the number information from the storage unit based on the identification information acquired by the first reading unit;
a height distribution showing the distribution of heights of the package group based on the distance between the upper surface of the package group and the distance measuring unit; and from one end to the other end of the package group along the scanning direction. calculating the area of the upper surface of the package group based on the scanning cycle including the time for the distance measuring unit to measure the distance and the relative speed;
calculating, based on the height distribution and the size information, the number of stages of the plurality of packages forming the package group;
calculating the number of packages positioned at the top of the package group based on the area of the upper surface and the size information;
An inspection system for calculating the number of the plurality of parcels forming the parcel group based on the number of stages, the number information, and the number of parcels positioned on the uppermost tier of the parcel group . Among the plurality of packages constituting the package group, a code attached to a package different from the package whose code is read by the first reading unit is read, and identification information for identifying the different package is obtained from the code. a second reading unit to acquire;
The inspection system according to claim 1 , further comprising: a comparison section that compares the identification information read by the first reading section and the identification information read by the second reading section. a moving unit that moves the second reading unit;
a movement control unit that controls the moving unit based on the distance so that the second reading unit moves to a position where the code attached to the package positioned at the top of the package group can be read; prepared,
3. The inspection system according to claim 2 , wherein said second reading section is positioned downstream of said distance measuring section in said conveying direction of said package group. an arm to which the first reading unit is fixed;
4. The inspection system according to any one of claims 1 to 3 , further comprising a drive mechanism that drives the arm so that the first reading unit moves along the side surface of the package group. a conveying device that conveys the platform on which the package group is placed;
a rotating table that is continuous with the conveying device and rotates the table,
4. The inspection system according to any one of claims 1 to 3 , wherein said first reading unit reads a code attached to said package placed on said table on said turntable. A transport device for transporting the table on which the package group is placed,
The conveying device continues conveying the table during the measurement period by the distance measuring unit,
5. The inspection system according to any one of claims 1 to 4 , wherein said rangefinder measures said distance between said upper surface of said package group and said rangefinder during movement. a step in which the distance measuring unit measures the distance to the upper surface of a group of packages composed of a plurality of packages placed on a platform;
a calculating unit calculating information about the number of the plurality of packages forming the package group based on the relative speed between the package group and the distance measuring unit and the distance ;
a step in which a first reading unit reads a code attached to the package placed on the table and acquires identification information for identifying the package from the code;
A detection method comprising
In a stage different from the uppermost stage of the luggage group, the luggage is present without loss,
In the detection method, the calculation unit calculates size information indicating the size of the package and the number of packages positioned on one stage of the package group based on the identification information acquired by the first reading unit. further comprising obtaining count information indicating
The distance is the distance between the top surface of the package group and the distance measuring unit along the scanning direction that intersects the transport direction when the package group is being transported along the transport direction. is the distance measured by
the information relating to the number of the plurality of packages indicates the number of the plurality of packages constituting the package group;
In the calculating step, the calculating unit
a height distribution showing the distribution of heights of the package group based on the distance between the upper surface of the package group and the distance measuring unit; and from one end to the other end of the package group along the scanning direction. calculating the area of the upper surface of the package group based on the scanning cycle including the time for the distance measuring unit to measure the distance and the relative speed;
calculating, based on the height distribution and the size information, the number of stages of the plurality of packages forming the package group;
calculating the number of packages positioned at the top of the package group based on the area of the upper surface and the size information;
An inspection method, wherein the number of the plurality of packages forming the package group is calculated based on the number of tiers, the number information, and the number of the packages positioned at the top of the package group . a calculation unit that acquires information indicating the distance to the upper surface of a package group composed of a plurality of packages placed on a table, measured by the distance measurement unit ;
a storage unit that stores size information indicating the size of the baggage and number information indicating the number of the baggage positioned on one stage of the baggage group in association with the identification information for identifying the baggage;
with
In a stage different from the uppermost stage of the luggage group, the luggage is present without loss,
The distance is the distance between the top surface of the package group and the distance measuring unit along the scanning direction that intersects the transport direction when the package group is being transported along the transport direction. is the distance measured by
The calculation unit acquires the identification information acquired by the first reading unit,
The identification information is identification information for identifying the package from the code obtained by reading the code attached to the package placed on the table by the first reading unit,
The calculation unit
acquiring the size information and the number information from the storage unit based on the identification information;
a height distribution showing the distribution of heights of the package group based on the distance between the upper surface of the package group and the distance measuring unit; and from one end to the other end of the package group along the scanning direction. calculating the area of the upper surface of the package group based on a scanning cycle including the time for the rangefinder to measure the distance and the relative speed between the package group and the rangefinder;
calculating, based on the height distribution and the size information, the number of stages of the plurality of packages forming the package group;
calculating the number of packages positioned at the top of the package group based on the area of the upper surface and the size information;
An inspection device for calculating the number of the plurality of parcels forming the parcel group based on the number of stages, the number information, and the number of parcels positioned on the uppermost tier of the parcel group . to the computer,
Acquiring information indicating the distance to the upper surface of a group of packages made up of a plurality of packages placed on a table, measured by the distance measuring unit ;
calculating information about the number of the plurality of packages forming the package group based on the relative speed between the package group and the distance measuring unit and the distance ;
a step of storing size information indicating the size of the baggage and number information indicating the number of the baggage positioned on one stage of the baggage group in association with the identification information identifying the baggage;
a step of acquiring the identification information acquired by the first reading unit;
A computer program that causes the execution of
In a stage different from the uppermost stage of the luggage group, the luggage is present without loss,
The identification information is identification information for identifying the package from the code obtained by reading the code attached to the package placed on the table by the first reading unit,
The computer program causes the computer to:
a step of acquiring size information indicating the size of the package and number information indicating the number of the packages positioned on one stage of the package group based on the identification information acquired by the first reading unit; let it run,
The distance is the distance between the top surface of the package group and the distance measuring unit along the scanning direction that intersects the transport direction when the package group is being transported along the transport direction. is the distance measured by
the information relating to the number of the plurality of packages indicates the number of the plurality of packages constituting the package group;
In the calculating step,
a height distribution showing the distribution of heights of the package group based on the distance between the upper surface of the package group and the distance measuring unit; and from one end to the other end of the package group along the scanning direction. calculating the area of the upper surface of the package group based on the scanning cycle including the time for the distance measuring unit to measure the distance and the relative speed;
calculating, based on the height distribution and the size information, the number of stages of the plurality of packages forming the package group;
calculating the number of packages positioned at the top of the package group based on the area of the upper surface and the size information;
A computer program for calculating the number of the plurality of parcels forming the parcel group based on the number of tiers, the number information, and the number of parcels positioned on the uppermost tier of the parcel group .

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