JPH0367811A - Presence-of-goods detecting method for goods transfer device - Google Patents

Presence-of-goods detecting method for goods transfer device

Info

Publication number
JPH0367811A
JPH0367811A JP1199839A JP19983989A JPH0367811A JP H0367811 A JPH0367811 A JP H0367811A JP 1199839 A JP1199839 A JP 1199839A JP 19983989 A JP19983989 A JP 19983989A JP H0367811 A JPH0367811 A JP H0367811A
Authority
JP
Japan
Prior art keywords
goods
load
light
loading platform
camera
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP1199839A
Other languages
Japanese (ja)
Inventor
Genichi Jo
徐 元一
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Daifuku Co Ltd
Original Assignee
Daifuku Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daifuku Co Ltd filed Critical Daifuku Co Ltd
Priority to JP1199839A priority Critical patent/JPH0367811A/en
Publication of JPH0367811A publication Critical patent/JPH0367811A/en
Pending legal-status Critical Current

Links

Abstract

PURPOSE:To detect even lightweight goods or thin goods by irradiating rays from obliquely above on a goods receiving table, and receiving the reflected light by a photographing means which has been provided so as to be opposite to the upper surface of the goods receiving table, and when the output level thereof is less than a prescribed value, by judging the presence of the goods. CONSTITUTION:The projecting rays of a projector 14A are reflected by a mirror 15A, so that the goods 17 on a receiving table 1 can be irradiated from obliquely above. Thereby, if the goods 17 is present on the goods receiving table 1, the shade is formed, and the reflecting light is reduced. In this condition, when photographing is carried out by a camera 10A, the voltage level of the luminance signal output from the camera 10A decreases. Thus, it can be judged that the goods is present when the voltage level decreases less than a prescribed value.

Description

【発明の詳細な説明】 産業上の利用分野 本発明は荷搬送装置上の荷の有無を検出する在荷検出方
法に関するものである。
DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a load detection method for detecting the presence or absence of a load on a load conveying device.

従来の技術 従来の上記在荷検出方法としては、たとえば特願昭62
−77693号に見られるように、l〜トレイ側面に貼
られた検出プレートのパターンが、トレイへの荷の投入
の振動により乱れることを光学的に読み取ってトレイの
上の荷の有無を検出する方法や、トレイ上の荷の通過経
路の両側に投受光器を対向して設け、荷により光が遮ら
れることによりトレイの上の荷の有無を検出する方法が
用いられている。
BACKGROUND OF THE INVENTION As a conventional method for detecting the presence of goods, for example, Japanese Patent Application No. 62
As seen in No. 77693, the presence or absence of a load on the tray is detected by optically reading when the pattern of the detection plate affixed to the side of the tray is disturbed by the vibration of loading the load onto the tray. A method is used in which the presence or absence of a load on the tray is detected by providing light emitters and receivers facing each other on both sides of the path through which the load on the tray passes, and the light is blocked by the load.

発明が解決しようとする課題 しかし、従来の在荷検出方法では、軽い荷や薄い荷の場
合トレイの振動がなく、投受光器の光が遮られることも
ないため、在荷検出が不可能であった・ 本発明は上記問題を解決するものであり、軽い荷や薄い
荷の場合も荷搬送装置上の荷の有無を検出可能な在荷検
出方法を提供することを目的とするものである。
Problems to be Solved by the Invention However, with the conventional method of detecting the presence of a load, it is impossible to detect the presence of the load because the tray does not vibrate and the light from the emitter and receiver is not blocked when the load is light or thin. The present invention solves the above-mentioned problem, and aims to provide a load detection method that can detect the presence or absence of a load on a load transfer device even when the load is light or thin. .

課題を解決するための手段 上記問題を解決するため本発明の荷搬送装置の在荷検出
方法は、一定経路上を走行して荷を搬送する荷搬送装置
の荷受台の上面に斜め上方より光を照射し、前記一定経
路の上方に前記荷受台上面に対向して、荷受台上面の反
射光を入力とする撮− 像手段を設け、この撮像手段の出力レベルが所定値以下
のとき在荷ありと判定するものである。
Means for Solving the Problems In order to solve the above-mentioned problems, the present invention provides a method for detecting the presence of a load in a load transfer device, in which light is emitted diagonally from above onto the top surface of a load receiving platform of a load transfer device that travels on a fixed path to convey loads. An imaging means is provided above the fixed path, facing the upper surface of the loading tray, and receiving the reflected light from the upper surface of the loading tray as input, and when the output level of the imaging means is below a predetermined value, it is possible to determine whether the cargo is present. This is determined to be true.

作用 上記本発明の在荷検出方法によれば、荷搬送装置の荷受
台に荷が存在すると、荷受台上に斜め上方からの光によ
って陰影ができるため、撮像手段へ入力される反射光が
減少し、撮像手段の出力レベルが低下することから在荷
が検出される。よって、荷が軽くまたは薄いものでも荷
の有無が確実に検出される。
Effects According to the cargo presence detection method of the present invention, when a cargo is present on the cargo receiving platform of the cargo transport device, a shadow is formed on the receiving platform by light diagonally from above, thereby reducing reflected light input to the imaging means. However, since the output level of the imaging means decreases, the presence of goods is detected. Therefore, even if the load is light or thin, the presence or absence of the load can be reliably detected.

実施例 以下本発明の一実施例を図面に基づいて説明する。Example An embodiment of the present invention will be described below based on the drawings.

第1図は本発明の荷搬送装置の在荷検出方法を使用した
荷搬送装置の構成を示す斜視図である。
FIG. 1 is a perspective view showing the configuration of a load conveying device using the method of detecting the presence of load in a load conveying device according to the present invention.

第1図において、1は一定経路上を矢印X方向に走行し
て荷を搬送する荷搬送装置の荷受台であり、この荷受台
1は第2図に示すように、機枠2に設けられた角筒状の
レール3を上下から支持する支持ローラ4および横振れ
防止用のローラ5からなリチェーンなどにてけん引され
る可動体6の上端に、前後方向ピン7を介して左右揺動
自在に取付けてあり、また荷受台1は下部両側に取付け
たローラ8が一対の支持レール9によって支持案内され
ることから、通常の搬送時においては第2図実線に示す
ように傾斜しない正姿勢として荷の支持を行い、所定の
場所にて支持レール9の一方をダウンさせると共に他方
をアップするなどして、荷受台上を第2図仮想線に示す
ように前後方向ピン7の周りで左右に揺動させることに
よって荷を自動的に落とし、よって荷を仕分けすること
ができるようになっている。
In FIG. 1, reference numeral 1 denotes a cargo receiving platform of a load conveying device that travels in the direction of arrow X on a fixed path to convey cargo, and this cargo receiving platform 1 is installed in a machine frame 2 as shown in FIG. A support roller 4 that supports the rectangular cylindrical rail 3 from above and below and a roller 5 for preventing lateral vibration are attached to the upper end of a movable body 6 that is towed by re-chaining or the like, and is attached to the upper end of a movable body 6 that swings left and right via a longitudinal pin 7. Since the rollers 8 attached to both sides of the lower part of the loading platform 1 are supported and guided by a pair of support rails 9, the loading platform 1 can be placed in a normal position without tilting as shown by the solid line in FIG. 2 during normal transportation. By lowering one of the support rails 9 and raising the other at a predetermined location, the load can be moved left and right around the longitudinal pin 7 on the loading platform as shown in the imaginary line in Figure 2. By swinging it, the load is automatically dropped, allowing the load to be sorted.

また、第1図において、IOA、IOBは荷受台■の一
定経路の上方に、第3図および第4図に示すように、荷
受台1の上面に対向して設けられた撮像手段である、撮
像素子としてCCDを使用したカメラであり、コンベヤ
11にて搬入されてきた荷を荷受台lに投入する投入イ
ンダクション13の荷受台1走行方向Xの下流側に、荷
受台1の長さの1/2間隔以下でそれぞれ設けられてい
る。また、3− 第3図および第4図に示すように、機枠2の両端で、荷
受台1走行方向Xとは垂直方向に、投光器14A、14
Bと、この投光器14A、14Bから投光された光を荷
受台上の上面にそれぞれ異なる斜め上方から照射する鏡
15A、15Bが設けられ、カメラ10A、IOBは投
光器14A、14B鏡15A、15Bが荷受台1の上面
に投光した光の反射光を入力している。
In addition, in FIG. 1, IOA and IOB are imaging means provided above a fixed path of the loading platform 1, facing the upper surface of the loading platform 1, as shown in FIGS. 3 and 4. This is a camera that uses a CCD as an image sensor, and is located on the downstream side in the running direction They are provided at intervals of /2 or less. 3- As shown in FIGS. 3 and 4, at both ends of the machine frame 2, projectors 14A, 14
B, and mirrors 15A and 15B are provided that project the light projected from the projectors 14A and 14B onto the upper surface of the loading tray from different diagonal directions above, respectively. The reflected light of the light projected onto the upper surface of the loading platform 1 is input.

また第1図において、12A〜12Hは仕分はシュート
であり、それぞれの仕分はシュート12A〜12Hには
前記荷受台lの支持レール9の一方をダウンさせて荷受
台1の荷を落とす荷搬入手段である駆動装置(図示せず
)が設けられ、さらにカメラIOA、IOBが撮像を行
っている荷受台1を特定するための投受光器16が、カ
メラIOA、IOBの荷受金工走行方向Xの上流に設け
られている。
Further, in FIG. 1, 12A to 12H are chutes for sorting, and each of the chutes 12A to 12H is a loading means for lowering one side of the support rail 9 of the loading platform 1 to drop the load on the loading platform 1. A driving device (not shown) is provided, and a light emitting/receiving device 16 for specifying the loading platform 1 that is being imaged by the cameras IOA and IOB is located upstream of the loading docking machine traveling direction X of the cameras IOA and IOB. It is set in.

荷受台1の上の荷の有無の在荷検出方法を説明する。A method of detecting the presence or absence of a load on the loading platform 1 will be explained.

荷受台1の上に第5図に示すように、荷17が載置され
ていると、鏡15Aによって斜め上方から照4− 射された光により荷受台1の上に陰影ができ、カメラI
OAに入力する反射光が減少する。よってカメラIOA
から出力される輝度信号の電圧レベルが低下することか
ら、この電圧レベルが所定値以下となることで荷受台1
の上に荷17が有ると判断できる。なお、カメラIOA
、IOBを2台とし、かつ荷17に照射する光の方向を
変えて、在荷検出の信頼性を高めている。
As shown in FIG. 5, when a load 17 is placed on the loading platform 1, the light emitted diagonally from above by the mirror 15A creates a shadow on the loading platform 1, and the camera I
The reflected light input to the OA is reduced. Therefore camera IOA
Since the voltage level of the brightness signal output from
It can be determined that the load 17 is on top of the . In addition, camera IOA
, the number of IOBs is two, and the direction of the light irradiated onto the cargo 17 is changed to improve the reliability of detecting the presence of the cargo.

上記原理による在荷検出装置18は、たとえば第6図に
示すように構成されている。在荷検出装置18はカメラ
IOA、IOBの出力の輝度信号および投受光器16の
荷受台検出信号が入力されている。荷受台走行方向Xの
上流側のカメラIOAの輝度信号は第1の電圧検出器1
9Aへ入力され、第1の電圧検出器19Aは入力した輝
度信号の電圧レベルが所定値以下となると、出力の検出
信号をオンとする。
The inventory detection device 18 based on the above principle is configured as shown in FIG. 6, for example. The presence detection device 18 receives the luminance signals output from the cameras IOA and IOB and the cargo receiving platform detection signal from the light emitter/receiver 16 . The brightness signal of the camera IOA on the upstream side in the loading platform traveling direction X is detected by the first voltage detector 1.
9A, and the first voltage detector 19A turns on the output detection signal when the voltage level of the input luminance signal becomes below a predetermined value.

この検出信号と荷受台検出信号と論理積がとられ、第1
のフリップフロップ20のセット端子へ入力される。し
たがって、荷受台lの検出中に、カメラ10Aに対向し
た荷受台1の上に陰影が発生すると、6 第1のフリップフロップ20の出力はオンとなる。
This detection signal is logically ANDed with the loading platform detection signal, and the first
is input to the set terminal of the flip-flop 20. Therefore, when a shadow appears on the loading platform 1 facing the camera 10A during detection of the loading platform 1, the output of the 6 first flip-flop 20 is turned on.

またカメラIOAより荷受台走行方向Xの下流側に設け
られたカメラIOBの輝度信号は第2の電圧検出器19
Bへ入力され、第2の電圧検出器1.9Bは入力した輝
度信号の電圧レベルが所定値以下となると出力の検出信
号をオンとし、この検出信号と第1のフリップフロップ
20の出力信号と論理積がとられ、第2のフリップフロ
ップ2Iのセン1〜端子へ入力される。よって第2のフ
リップフロップ21の出力はカメラIOAおよびカメラ
JOBにより荷受台1の」二に陰影が発生したことが検
出されたときオンとなり、在荷が検出される。第2のフ
リップフロップ2】の出力の在荷検出信号は、荷受台1
から仕分はシューh12A〜12 Hへ荷を仕分ける制
御装置へ出力される。また、第1および第2のフリップ
フロップ20.21は荷受台検出信号がオフとなるとリ
セットされ、荷受台1毎に荷の有無が出力される。
In addition, the luminance signal of the camera IOB, which is provided downstream of the camera IOA in the loading platform running direction X, is transmitted to the second voltage detector 19.
When the voltage level of the input luminance signal becomes below a predetermined value, the second voltage detector 1.9B turns on the output detection signal, and combines this detection signal with the output signal of the first flip-flop 20. A logical product is taken and inputted to the sensor 1~terminal of the second flip-flop 2I. Therefore, the output of the second flip-flop 21 is turned on when it is detected by the camera IOA and the camera JOB that a shadow has appeared on the second side of the receiving platform 1, and the presence of the cargo is detected. The cargo presence detection signal output from the second flip-flop 2 is the output of the second flip-flop 2.
From there, the sorting information is output to a control device that sorts the loads into shoes h12A to 12H. Further, the first and second flip-flops 20.21 are reset when the loading platform detection signal is turned off, and the presence or absence of a load is output for each loading platform 1.

このように、荷17が軽く、あるいは薄い商品であって
も、荷受台1の上に陰影が発生することから、荷17の
有無を検出することができる。
In this way, even if the load 17 is a light or thin product, the presence or absence of the load 17 can be detected because a shadow appears on the load receiving platform 1.

なお、本実施例では、カメラ1.OA、]、IOB投光
器14A、14B、鏡15A、、15Bと各2台を設け
て信頼性を高めているが、各1台で荷17の有無を検出
できることはいうまでもない。また鏡]、5A、15B
を使用せず、投光器14A、、−14Bから直接荷受台
lの上面に斜め方向の光を照射するようにしてもよい。
Note that in this embodiment, camera 1. Although two units each of OA, ], IOB projectors 14A, 14B, and mirrors 15A, 15B are provided to improve reliability, it goes without saying that the presence or absence of the load 17 can be detected with each unit. Mirror], 5A, 15B
It is also possible to directly irradiate diagonal light from the projectors 14A, .

なお、このとき光が荷受台1の全面に照射されるよう、
投光器14A、14.8と荷受台1の距離をとる必要が
あり、設置の場所などに問題が残る。
In addition, at this time, so that the light is irradiated on the entire surface of the loading platform 1,
It is necessary to provide a distance between the floodlights 14A, 14.8 and the loading platform 1, and problems remain regarding the location of installation.

発明の効果 以上のように本発明の在荷検出方法によれば。Effect of the invention As described above, according to the inventory detection method of the present invention.

荷受台の斜め上方から荷受台トこ光を照射し、荷によっ
てできる陰影を撮像手段の出力レベルが低下したことで
検出することによって、荷受台上の荷の有無を検出する
ことができ、しかも荷が軽く、薄い商品であっても確実
に在荷を検出することができる。
The presence or absence of a load on the loading platform can be detected by irradiating the loading platform with light from diagonally above the loading platform and detecting the shadow formed by the load by detecting the drop in the output level of the imaging means. Even if the load is light and thin, the presence of the product can be reliably detected.

【図面の簡単な説明】[Brief explanation of drawings]

彫工図は本発明の荷搬送装置の在荷検出方法を使用した
荷搬送装置の構成を示す斜視図、第2図は同荷搬送装置
の荷受台部の正面断面図、第3図および第4図は同荷搬
送装置の在荷検出部の平面図および正面図、第5図は同
荷搬送装置の在荷検出方法を説明するための模式図、第
6図は同荷搬送装置の在荷検出装置のブロック図である
。 1・・・荷受台、1.OA、IOB・・・カメラ、14
A、 14B・・・投光器、15A、15B・・・鏡、
17・・・荷、18・・・在荷検出装置。
The engraving drawing is a perspective view showing the configuration of a load conveying device using the method of detecting the presence of load in a load conveying device of the present invention, FIG. The figures are a plan view and a front view of the load detection unit of the load transfer device, FIG. 5 is a schematic diagram for explaining the load detection method of the load transfer device, and FIG. FIG. 2 is a block diagram of a detection device. 1... Loading platform, 1. OA, IOB...camera, 14
A, 14B... Floodlight, 15A, 15B... Mirror,
17... Cargo, 18... Cargo presence detection device.

Claims (1)

【特許請求の範囲】[Claims] 1、一定経路上を走行して荷を搬送する荷搬送装置の荷
受台の上面に斜め上方より光を照射し、前記一定経路の
上方に前記荷受台上面に対向して、荷受台上面の反射光
を入力とする撮像手段を設け、この撮像手段の出力レベ
ルが所定値以下のとき在荷ありと判定する荷搬送装置の
在荷検出方法。
1. Light is irradiated diagonally from above onto the top surface of a load receiving platform of a load carrying device that travels on a fixed path to transport loads, and the light is directed above the fixed path and opposite to the top surface of the load receiving platform to reflect light on the top surface of the load receiving platform. A method for detecting the presence of goods in a cargo conveyance device, which includes an imaging means that receives light as an input, and determines that the goods are present when the output level of the imaging means is below a predetermined value.
JP1199839A 1989-08-01 1989-08-01 Presence-of-goods detecting method for goods transfer device Pending JPH0367811A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1199839A JPH0367811A (en) 1989-08-01 1989-08-01 Presence-of-goods detecting method for goods transfer device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1199839A JPH0367811A (en) 1989-08-01 1989-08-01 Presence-of-goods detecting method for goods transfer device

Publications (1)

Publication Number Publication Date
JPH0367811A true JPH0367811A (en) 1991-03-22

Family

ID=16414505

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1199839A Pending JPH0367811A (en) 1989-08-01 1989-08-01 Presence-of-goods detecting method for goods transfer device

Country Status (1)

Country Link
JP (1) JPH0367811A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4866863B2 (en) * 2005-01-11 2012-02-01 エンキャップ エーエス Security code generation method and user device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4866863B2 (en) * 2005-01-11 2012-02-01 エンキャップ エーエス Security code generation method and user device

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