JP2017057003A - Size detecting apparatus and packaging apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a size detecting apparatus and packaging apparatus capable of accurately detecting size of tray.SOLUTION: A size detecting apparatus 100 detects tray size of an object W comprising a product G and a tray on which the product G is loaded. The size detecting apparatus 100 comprises a volume measuring dish 12 comprising loading surface 12a on which the object W is loaded; a camera 14 capturing the object W loaded on the loading surface 12a from upper side; and a tray size detecting part 9b calculating tray size by image processing onto photo image captured by the camera 14 to detect tray size based on tray size calculation value obtained from the calculation. On front side of the loading surface 12a of the volume measuring dish 12, a claw part 12b projecting to loading surface 12a is formed. In a case where the tray T is loaded on the claw part 12b, the tray size detecting part 9b adjusts the tray size calculation value and detects tray size based on adjusted tray size calculation value.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a size detection device and a packaging device.

  2. Description of the Related Art Conventionally, a size detection device has been developed that detects the size of a product tray including a product and a tray on which the product is placed. As this type of technology, an object placed on the placement surface of the placement unit is imaged from above by the imaging unit, image processing is performed on the captured image, the size of the tray is calculated, and the calculation result is An apparatus for detecting the size of a tray based on this is known (for example, see Patent Document 1).

Japanese Patent No. 3833363

  In the size detection apparatus described above, a raised portion (a so-called claw portion) is usually formed outside the placement surface in the placement portion, and the tray is placed on the basis of this raised portion. In this case, the placed tray may be placed on the raised portion, and a part of the tray may be lifted from the placement surface. As a result, the tray appears larger than the actual image in the captured image captured by the imaging unit, and it may be difficult to accurately detect the size of the tray.

  Then, an object of this invention is to provide the size detection apparatus and packaging apparatus which can detect the size of a tray correctly.

  The size detection device of the present invention is a size detection device for detecting the size of a tray of an object including a product and a tray on which the product is placed, and a placement unit having a placement surface on which the object is placed An image pickup unit that picks up an object placed on the placement surface from above, and performs image processing on the picked-up image picked up by the image pickup unit to calculate the tray size, and the tray size calculation obtained by the calculation A tray size detector that detects the size of the tray based on the value, and a raised portion that is raised with respect to the placement surface is formed outside the placement surface in the placement portion, and the tray size detection portion When the tray is placed on the raised portion, the tray size calculation value is corrected, and the tray size is detected based on the corrected tray size calculation value.

  In this size detection apparatus, the tray size calculation value is corrected when the tray is placed on the raised portion, and the tray size is detected from the corrected tray size calculation value. As a result, even when the placed tray is placed on the raised portion and the tray appears larger than the actual image on the captured image, the size of the tray can be accurately detected.

  In the size detection device of the present invention, the tray size detection unit may correct the tray size calculation value with reference to tray information that is registered in advance and relates to the tray size when the tray is placed on the raised portion. According to this configuration, the tray size calculation value can be corrected using the tray information.

  In the size detection apparatus of the present invention, the tray information relates to a plurality of types of trays, and the tray size detection unit corrects the tray size calculation value based on the height of one tray in the tray information, and the corrected tray size. When the calculated value matches the size of the one tray in the tray information, a first process that uses the corrected tray size calculated value as a detection size candidate, and a first process that performs the first process for each of a plurality of types of trays in the tray information. When there are one or a plurality of detection size candidates after the second process and the second process, a third process for detecting the tray size based on the one or a plurality of detection size candidates may be executed. According to this configuration, it is possible to detect the tray size by correcting the tray size calculation value using the heights of a plurality of types of trays in the tray information.

  In the size detection device of the present invention, the tray size detection unit may execute a determination process for determining that the tray is placed on the raised portion when the raised portion and the tray overlap in the captured image. According to this configuration, it can be determined from the captured image that the tray is placed on the raised portion.

  In the size detection device of the present invention, the tray size detection unit corrects the tray size calculation value when the tray height is lower than the height of the raised portion when it is determined that the tray is placed by the determination process. Also good. Even though the height of the tray is lower than the height of the raised portion, when the raised portion and the tray overlap in the captured image, it can be assumed that a part of the tray is floating and the tray is placed on the raised portion. Therefore, according to this configuration, it is possible to accurately determine from the captured image that the tray is placed on the raised portion and correct the tray size calculation value.

  The packaging device of the present invention includes the above-described size detection device and a packaging unit that packages an object with a film according to the size of the tray detected by the tray size detection unit.

  Also in this packaging apparatus, since the said size detection apparatus is provided, there exists the said effect that the size of a tray can be detected correctly. In addition, since the size of the tray can be accurately detected, packaging the target object with a film according to the detected size causes the product to be crushed as a tray smaller than the actual product without being properly packaged. Can be suppressed.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to provide the size detection apparatus and packaging apparatus which can detect the size of a tray correctly.

It is an external appearance perspective view which shows the packaging apparatus provided with the size detection apparatus which concerns on one Embodiment. It is a schematic front view which shows the inside of the packaging apparatus of FIG. FIG. 3 is a schematic arrow view taken along line III-III in FIG. 2. It is a block diagram which shows the structure of the packaging apparatus of FIG. It is a figure which shows an example of tray information. It is a flowchart which shows the detection process of the tray size by the size detection apparatus of FIG. It is a flowchart which shows the continuation of FIG. It is a figure which shows the example of a captured image. It is a model figure explaining the theoretical calculation used for correction | amendment of a tray size calculation value. It is a figure which shows the verification result which verified the effect of the size detection apparatus of FIG.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIGS. 1 to 3, the packaging device 1 is a device that performs film packaging of an object W including a commodity G such as a food product and a tray T on which the commodity G is placed. The packaging apparatus 1 wraps the object W with the film F by pushing up the object W against the tensioned film F and folding the peripheral portion of the film F to the bottom surface side of the tray T. The packaging device 1 includes a size detection device 100 that detects the size of the tray T of the object W. In addition to the film packaging function, the packaging device 1 has a weighing function and a priced function by labeling.

  The packaging device 1 includes a weighing-in mechanism 2, a packaging station 3, a roll holding mechanism 4, a film delivery mechanism 5, a film transport mechanism 6, a cutter mechanism 7, a seal mechanism 8, a label printer LP, a label An issuing machine LI and a control device 9 are included. Each mechanism included in the packaging device 1 is accommodated in a main body 1a and a casing 1b of the packaging device 1. The casing 1b is attached to the side part of the main body 1a.

  In the description of the present embodiment, “left and right” means left and right toward the front of the main body 1 a of the packaging device 1. The front side of the packaging device 1 in the front-rear direction is referred to as “front side”, and the opposite side is referred to as “back side”. Films F1 and F2 mean any one of film F1 and film F2, and are also simply referred to as film F. Film roll R1, R2 means arbitrary one among film roll R1 and film roll R2. “Upstream” and “downstream” mean upstream and downstream in the transport direction of the film F, respectively.

  As shown in FIG. 3, the weighing-in mechanism 2 includes a weighing device 2 a, a loading belt 2 b, a weighing pan (mounting unit) 12, and a camera 14. The weighing device 2 a measures the object W placed on the weighing pan 12 and outputs information indicating the weight of the object W to the control device 9. The carry-in belt 2b is stretched between a pair of rollers. The carry-in belt 2b is provided with a conveyance bar 13 for conveying the object W. The transport bar 13 moves to the back side according to the driving of the carry-in belt 2b, and pushes out the object W to the back side. Accordingly, the object W is sent onto a support member 33 of a lifter mechanism 30 described later in the packaging station 3. The transport bar 13 extends along the width direction of the weighing pan 12, and is positioned on the near side of the weighing pan 12 in the initial position.

  The weighing dish 12 is a rectangular shallow dish-like tray on which the object W is placed. The weighing pan 12 has a placement surface 12a on which the object W is placed. In the weighing pan 12, a claw portion (a raised portion) 12 b that is raised with respect to the placement surface 12 a is formed on the outer side (here, the near side) of the placement surface 12 a. The claw portion 12 b is a portion that becomes a reference when the tray T is placed on the weighing pan 12. The nail | claw part 12b is provided so that it may continue via a level | step difference with respect to the near side of the mounting surface 12a, and is located above the mounting surface 12a. The nail | claw part 12b here is arrange | positioned so that two or more may be located in a line with a predetermined space | interval seeing from upper direction (refer FIG. 8).

  The camera 14 is an imaging unit that captures an image of the object W placed on the weighing pan 12. The camera 14 constitutes the size detection device 100. The camera 14 is disposed above the weighing pan 12. In the example shown in the drawing, the camera 14 is provided downward on a discharge table 82 above the weighing pan 12 and captures an image of a predetermined area including the object W on the weighing pan 12 as a captured image. The camera 14 outputs image information regarding the captured image to the control device 9. As the camera 14, a CCD camera or a CMOS camera is used.

  The packaging station 3 is a space formed in the main body 1a. The packaging station 3 is a space where a series of film packaging processes are performed on the object W weighed by the weighing-in mechanism 2. In the packaging station 3, a lifter mechanism 30 and a folding mechanism 37 are arranged.

  The lifter mechanism 30 is provided below the packaging station 3. The lifter mechanism 30 receives the bottom surface of the tray T by a plurality of support members 33, and moves the support base 31 fixed to the support members 33 upward by the electric ball screw mechanism 34. Thereby, the lifter mechanism 30 moves the object W upward while holding the bottom surface of the tray T. The lifter mechanism 30 pushes up the object W against the films (stretch films) F <b> 1 and F <b> 2 held in tension by the film transport mechanism 6.

  The folding mechanism 37 folds the portions around the films F1 and F2 on the bottom surface side of the object W pushed up by the lifter mechanism 30 (that is, the bottom surface side of the tray T), and covers the object W with the films F1 and F2. The folding mechanism 37 folds both ends of the films F1 and F2 in the film conveyance direction to the bottom surface side of the tray T by the left and right folding plates 76 and 77. The folding mechanism 37 folds the side portions on the far side in the width direction of the films F <b> 1 and F <b> 2 with the rear folding plate 78 on the bottom surface side of the tray T. When the tray T is discharged to the seal mechanism 8 side by the discharge pusher 79a, the folding mechanism 37 folds the side portion on the front side in the width direction of the films F1, F2 to the bottom surface side of the tray T by the front folding bar 79.

  The roll holding mechanism 4 is installed in the casing 1b as shown in FIGS. The roll holding mechanism 4 has a configuration for holding two film rolls R1 and R2 of the same or different types. A plurality of films F1 and F2 having a predetermined width are wound around the film rolls R1 and R2.

  2, the roll holding mechanism 4 includes an upper roll holding unit 41 that holds the film roll R1, a lower roll holding unit 42 that holds the film roll R2, an upper roll holding unit 41, and a lower roll. A roll drive unit 43 that selectively rotates the holding unit 42 to feed the film F1 or the film F2 from either one of the film rolls R1 and R2.

  The film delivery mechanism 5 is a mechanism for delivering the film F1 drawn from the film roll R1 or the film F2 drawn from the film roll R2 to the pair of feeder units 61 and 62 of the film transport mechanism 6. The film delivery mechanism 5 is installed in the casing 1b.

  As shown in FIGS. 2 and 3, the film transport mechanism 6 receives the film F from the film delivery mechanism 5 and transports the film F to the packaging station 3. Further, the film transport mechanism 6 holds the film F received from the film delivery mechanism 5 in tension at the central portion of the packaging station 3. The film transport mechanism 6 includes a first feeder unit 61, a second feeder unit 62, a first feeder moving unit 63, and a second feeder moving unit 64.

  The 1st and 2nd feeder units 61 and 62 pinch | interpose the width direction both sides of the film F with a belt. Slide shafts 66 and 67 extending in the width direction of the film F are provided on the longitudinal sides of the first and second feeder units 61 and 62. The first and second feeder units 61 and 62 are supported by slide shafts 66 and 67. The first and second feeder units 61 and 62 are driven by the first feeder moving unit 63 and the second feeder moving unit 64 and move in the film width direction along the slide shafts 66 and 67 to convey the film F.

  As shown in FIG. 2, the cutter mechanism 7 cuts the film F stretched between the film delivery mechanism 5 and the film transport mechanism 6 after the film delivery mechanism 5 delivers the film F to the film transport mechanism 6. To do. The cutter mechanism 7 cuts the film F stretched between the film delivery mechanism 5 and the film transport mechanism 6 after the film transport mechanism 6 transports the film F by a predetermined amount. The cutter mechanism 7 is disposed between the film delivery mechanism 5 and the film transport mechanism 6 and has a cutting blade 7 a longer than the film width of the film F. The cutting blade 7a is moved up and down by an actuator.

  The sealing mechanism 8 heat seals the film F folded by the folding mechanism 37. The sealing mechanism 8 includes a conveyance roller and a heating roller, and heat-seals the object W pushed out by the discharge pusher 79a while being conveyed by the conveyance roller and the heating roller. The seal mechanism 8 discharges the packaged object W toward the discharge table 82.

  As shown in FIGS. 1 and 4, the label printer LP prints information on articles on a label. The information on the article is, for example, a product name and a price. The label issuing machine LI attaches the label printed by the label printer LP to the discharged packaged product.

  The control device 9 is a computer arranged at the upper part of the main body 1a. The control device 9 controls the operation of each mechanism described above. The control device 9 includes an input / output interface I / O for inputting / outputting signals from / to the outside, a ROM (Read Only Memory) storing a program and information for performing processing, and a RAM for temporarily storing data (Random Access Memory), a storage medium such as an HDD (Hard Disk Drive), a CPU (Central Processing Unit), a communication circuit, and the like. Based on the signal output from the CPU, the control device 9 stores the input data in the RAM, loads the program stored in the ROM into the RAM, and executes the program loaded in the RAM, thereby executing each function. Realize.

  A display panel 16 and an operation unit 17 are connected to the control device 9. The display panel 16 is, for example, a touch panel display, and operation buttons are also displayed on the display. In the operation unit 17, various operations and inputs are performed by the user.

  The control device 9 includes a storage unit 9a and a tray size detection unit 9b. The control device 9 constitutes the size detection device 100. The storage unit 9a stores various data set in advance, input from the display panel 16, the operation unit 17, or the like, or transferred from an external device. Various types of data include data on properties of multiple types of film F (thickness, material, film width, etc.), data on unit price data and properties of multiple types of products G, properties of multiple types of trays T (size, shape, Data on materials, tare weight, etc.). The tray size detection unit 9b performs image processing on the captured image captured by the camera 14 to calculate the size of the tray T (hereinafter simply referred to as “tray size”), and based on the tray size calculation value obtained by the calculation. Detect tray size.

  Such a control device 9 refers to various data in the storage unit 9a, and based on the weight of the object W measured by the weighing-in mechanism 2 and / or the tray size detected by the tray size detection unit 9b. To calculate the price. The control device 9 controls the operations of the label printer LP and the label issuing machine LI, and prints the weight or price of the object W on the label.

  Moreover, the control apparatus 9 controls the operation | movement of the packaging mechanism (packing part) 10 of the packaging apparatus 1 according to the tray size detected by the tray size detection part 9b, and performs the film packaging according to the said tray size. The packaging mechanism 10 is a mechanism related to film packaging of the object W, and includes at least the film delivery mechanism 5, the film transport mechanism 6, the lifter mechanism 30, the folding mechanism, and the seal mechanism 8.

  For example, the control device 9 controls the operation of the packaging mechanism 10 to obtain a film F having a size that matches the tray size detected by the tray size detection unit 9b, or the tray size on the support member 33 of the lifter mechanism 30. The object W is positioned at a position matched to the above, or the portion around the film F is folded toward the bottom side of the tray T and packaged according to the tray size.

  Next, operation | movement of the packaging apparatus 1 is demonstrated roughly.

  In the packaging device 1, when the object W is placed on the weighing pan 12 of the weighing-in mechanism 2 by the user, the object W is weighed by the weighing instrument 2 a and imaged by the camera 15. The object W is pushed out onto the support member 33 of the lifter mechanism 30 by the transport bar 13. On the other hand, the film F is delivered to the film transport mechanism 6 by the film delivery mechanism 5, and the film F is cut by the cutter mechanism 7 to form one rectangular film F. The film F is carried by the both feeder units 61 and 62 to the upper side of the lifter mechanism 30, and the both sides in the width direction are held in tension.

  The object W is pushed up by the lifter mechanism 30 against the film F held in tension, and the film F is stretched so as to cover the object W. The periphery of the film F is folded below the tray T by the folding mechanism 37. The object W is pushed out to the seal mechanism 8 side by the discharge pusher 79a. And after the film F is heat-sealed by the sealing mechanism 8, it is discharged | emitted on the discharge stand 82. FIG.

  When processing including label sticking is executed, the price, weight, etc. of the product G calculated based on the measured value is printed on the label by the label printer LP, and the label is printed on the film F by the label issuing machine LI. Affixed.

  Next, the size detection apparatus 100 will be described in detail.

  The size detection device 100 includes the camera 14 and the control device 9 as described above. The tray size detection unit 9b of the control device 9 performs Hough transform (Hough transform) using the captured image captured by the camera 14, and detects the contour of the tray T. The tray size detection unit 9b calculates the tray depth, which is the depth size of the tray T, and the tray width, which is the width of the tray T, as the tray size calculation value from the detection result of the outline of the tray T.

  The tray size calculation value can be a size (dimension) when projected onto a reference projection plane that is a horizontal projection plane at the reference height. The image processing of the tray size detection unit 9b is not particularly limited, and various known image processing methods can be employed as long as the method can calculate the tray size from the captured image.

  The tray size detection unit 9b refers to various data stored in the storage unit 9a of the control device 9, and detects the tray size based on the tray size calculation value obtained by the calculation. Specifically, tray information related to tray sizes for a plurality of types of trays T is registered in advance in the storage unit 9a. The tray size detection unit 9b detects the calculated tray size calculation value as the tray size of the tray T when any of the plurality of types of tray sizes in the tray information matches the tray size calculation value. Thereby, the tray type having the same tray size in the tray information is specified as the type of the tray T.

  FIG. 5 is a diagram illustrating an example of tray information. As shown in FIG. 5, for example, the tray information D is information in which a tray size is associated with each of a plurality of types of trays. In the illustrated example, the tray information D is represented as a data table having a tray height, a tray width, and a tray depth associated with each of the first to fifth trays corresponding to the five selling prices. The tray width and the tray depth can be the sizes when projected onto the reference projection plane. The tray information D may further include actual measurement values of the tray width and the tray depth in association with each of the first to fifth trays.

  Returning to FIG. 3 and FIG. 4, when the tray T of the object W is placed on the claw portion 12 b of the weighing pan 12, the tray size detection unit 9 b of the present embodiment corrects the tray size calculation value, The tray size is detected based on the tray size calculation value. Specifically, when the tray T is placed on the claw portion 12b, the tray size detection unit 9b corrects the tray size calculation value with reference to the tray information D stored in the storage unit 9a.

  More specifically, the tray size detection unit 9b corrects the tray size calculation value based on the tray height of one tray T in the tray information D, and the corrected tray size calculation value is the one in the tray information D. If the tray size matches the tray size of the tray T, the first process is executed with the corrected tray size calculation value as the detected size candidate. The tray size detection unit 9b performs a second process in which the first process is performed for each of the plurality of types of trays T in the tray information D. If there is one or more detection size candidates after the second process, the tray size detection unit 9b executes a third process for detecting the tray size of the tray T based on the one or more detection size candidates.

  Further, the tray size detection unit 9b executes a determination process for determining that the tray is placed on the claw portion 12b when the claw portion 12b and the tray T overlap each other in the captured image. When it is determined that the tray T is placed, the tray size detection unit 9b corrects the tray size calculation value when the tray height is lower than the claw portion 12b. The height of the nail | claw part 12b is preset and memorize | stored in the memory | storage part 9a, for example. Details of the processing in the tray size detection unit 9b will be described later.

  Next, an example of processing related to tray size detection by the size detection apparatus 100 will be described in detail with reference to the flowcharts of FIGS. 6 and 7.

  In the size detection apparatus 100, when the object W is placed on the placement surface 12 a of the weighing pan 12, a captured image including the object W is captured by the camera 14 from above and obtained. Then, the following processing is executed in the tray size detection unit 9b.

  That is, first, the tray information D is acquired from the storage unit 9a of the control device 9 (S1). A tray size calculation value is acquired by performing image processing on the captured image captured by the camera 14 and calculating the tray size (S2). It is determined whether any tray size of the first to fifth trays in the tray information D matches the tray size calculation value (S3). In the case of NO in S3, it is determined whether or not the tray T overlaps the claw portion 12b on the captured image (S4).

  FIG. 8A is a diagram illustrating an example of a captured image S when the tray T does not overlap the claw portion 12b, and FIG. 8B is an image when the tray T overlaps the claw portion 12b. It is a figure which shows the example of the image. In S4, the area of the predetermined length information is recognized as the area of the nail part 12b from the lower edge of the captured image S, and a part of the tray T is placed in the area of the nail part 12b as shown in FIG. Is not entering, it is determined that the tray T does not overlap the claw portion 12b and the tray T is not placed on the claw portion 12b. On the other hand, as shown in FIG. 8B, when a part of the tray T enters the area of the claw portion 12b, the tray T overlaps the claw portion 12b, and the tray T rests on the claw portion 12b. It is determined that it is in a so-called (so-called nail placement) state.

  If YES in S4, the counter value i is initialized (i = 1) (S5). Subsequently, whether or not the counter value i is smaller than a value obtained by adding 1 to the tray type number N included in the tray information D (= N + 1), that is, whether or not the counter value i exceeds the tray type number N. Is determined (S6). In the example of the tray information D shown in FIG. 5, the tray type number N is set to “5”.

  Subsequently, it is determined whether or not the tray height of the i-th tray (i is a counter value) in the tray information is equal to or higher than the height of the claw portion 12b (S7). If NO in S7, the tray size calculation value is corrected based on the tray height of the i-th tray in the tray information (S8).

  FIG. 9 is a model diagram illustrating the theoretical calculation used for correcting the tray size calculation value. FIG. 9A shows a schematic side cross-section in a state where the tray T is placed on the claw portion 12 b of the weighing pan 12. FIG. 9B shows a schematic side cross-section in a state where the tray T is not placed on the claw portion 12 b of the weighing pan 12. The left side in the figure corresponds to the front side, and the right side in the figure corresponds to the back side. As shown in FIG. 9, in S8, the tray depth tdt ′ of the tray T when the nail is calculated calculated by the image processing is set to the tray height th, the positional relationship of the camera 14 with respect to the tray T, and the height of the nail portion 12b. Is corrected to the tray depth tdt of the tray T that is not mounted on the nail.

  Specifically, the tray depth tdt on the reference projection surface when the nail is not placed is calculated from “tray height th”, “tray depth tdt ′ of the tray T when nail is placed”, and “center coordinates of the camera 14”. From the distance L2 to the upper side of the tray T on the back side, it is acquired as a corrected tray size calculation value. More specifically, the tray depth tdt on the reference projection surface when the nail is not mounted is corrected by calculation using the following formulas (1) to (6), and the corrected tray size calculation value and To do. In the theoretical calculation here, it is assumed that the height th ′ of the upper end of the tray T from the mounting surface 12a is approximated to the actual tray height th.

Δh = ph−th ′ (1)
L3 = L2 × (Δh / (ch−ph)) (2)
tdt ″ = tdt ′ × (ch−ph) / (ch−th) (3)
L1 = tdt ″ + L3 (4)
td = (L1 ² + Δh ² ) ^0.5 (5)
tdt = td × (ch−bh) / (ch−th) (6)
However,
td: depth of actual tray,
tdt: Tray depth when the nail is not placed on the reference projection plane,
tdt ′: the depth of the tray when the nail is placed on the reference projection plane,
tdt ″: the depth of the tray when the nail is placed on the horizontal projection surface at the height position of the nail portion 12b,
Δh: the distance between the claw portion 12b in the height direction and the upper side of the tray T on the back side,
th: Actual tray height,
th ′: the height of the upper side of the tray T on the back side,
ch: the height of the camera 14,
ph: height of the claw portion 12b,
bh: height of the reference projection plane,
L1: Tray depth on the horizontal projection plane at the upper side position of the tray T on the back side,
L2: distance from the center coordinate of the camera 14 to the upper side of the tray T on the back side on the horizontal projection plane at the height position of the claw portion 12b,
L3: tdt ″ -L1.

  Subsequently, it is determined whether or not the tray size of the i-th tray in the tray information D matches the corrected tray size calculation value (S9). If YES in S9, the corrected tray size calculation value is stored as a detected size candidate in, for example, the storage unit 9a (S10). After NO in S7, NO in S9, or after S10, the counter value i is counted (i = i + 1), and the process returns to the determination process in S6 (S11).

  In the case of NO in S6, it is determined whether or not there is a detection size candidate, that is, whether or not one or more detection size candidates are stored by performing the process of S10 (S12). If YES in S12, it is determined whether or not there are a plurality of detection size candidates, that is, whether or not the processing of S10 is performed a plurality of times and two or more detection size candidates are stored (S13).

  In the case of NO in S13, the stored detection size candidate is detected as the tray size of the tray T (S14). Thereby, the tray T related to the detected size candidate in the tray information is specified as the type of the tray T. In the case of YES in S13, for example, a detection size candidate corresponding to the tray T having the highest tray height among the plurality of detection size candidates stored is detected as the tray size of the tray T (S15). Thereby, the tray T related to the detected size candidate in the tray information is specified as the type of the tray T.

  If YES in S3, NO in S4, or NO in S12, the tray size calculation value calculated in S2 is detected as the tray size of the tray T (S16). Thereby, the tray T related to the tray size calculation value in the tray information is specified as the type of the tray T.

  As described above, in the size detection apparatus 100, the tray size calculation value is corrected when the tray T is placed on the claw portion 12b, and the tray size is detected from the corrected tray size calculation value. As a result, even if the tray T appears larger than when the tray T is placed on the claw portion 12b (see FIG. 8B) or not (see FIG. 8A), the tray T It becomes possible to detect the size accurately.

  As a result, erroneous recognition of the tray T can be reduced, and the user's production efficiency can be improved. In addition, accurate detection of the tray size can be realized relatively easily without requiring addition and / or change of special hardware (for example, a stereo camera, a sensor, and a light). Furthermore, an increase in calculation cost can be suppressed when detecting the tray size, and a high-performance IC (Integrated Circuit) is not required.

  In the size detection apparatus 100, the tray size detection unit 9b corrects the tray size calculation value with reference to the tray information D when the tray T is placed on the claw portion 12b. According to this configuration, the tray size calculation value can be corrected using the tray information D.

  In the size detection apparatus 100, the tray information D relates to a plurality of types of tray sizes. The tray size detection unit 9b corrects the tray size calculation value based on one tray height in the tray information D, and when the corrected tray size calculation value matches the one tray size in the tray information, The process (the above-mentioned S8-S10: the 1st process) which makes a tray size calculation value a detection size candidate is performed. The tray size detection unit 9b performs a process (S5, S6, S11: second process) of performing the first process for each of the plurality of types of trays T of the tray information D. Then, if there is one or more detection size candidates after the second process, the tray size detection unit 9b detects the tray size based on the one or more detection size candidates (S14, S15: Third Process). Thereby, it is possible to correct the tray size calculation value by using a plurality of types of tray heights of the tray information D, and to suitably detect the tray size.

  In the size detection device 100, the tray size detection unit 9b determines that the tray T is placed on the claw portion 12b when the claw portion 12b and the tray T overlap each other in the captured image S (S4). Execute. Thereby, it can be determined from the captured image S that the tray T is placed on the claw portion 12b.

  In the size detection apparatus 100, the tray size detection unit 9b corrects the tray size calculation value when the tray height is lower than the claw portion 12b when it is determined in S4 that the tray T is placed. (S7, S8) are executed. When the claw portion 12b and the tray T overlap on the captured image S even though the tray height is lower than the claw portion 12b, a part of the tray T is floated and the tray T is placed on the claw portion 12b. I can guess that. Therefore, according to this configuration, it is possible to accurately determine from the captured image S that the tray T is placed on the claw portion 12b, and to correct the tray size calculation value.

  The packaging device 1 includes a size detection device 100. Thereby, according to the packaging apparatus 1, there exists the said effect that a tray size can be detected correctly. In the packaging device 1, the packaging mechanism 10 is controlled by the control device 9, and the object W is film-wrapped according to the tray size detected by the tray size detection unit 9 b of the size detection device 100. In the packaging apparatus 1, since the tray size can be accurately detected, by film-wrapping the object W according to the detected tray size, for example, the film T is not properly performed, and the tray T is smaller than the actual one. It can suppress that the goods G are crushed after being packaged.

  When there are a plurality of detection size candidates, the size detection apparatus 100 detects a detection size candidate corresponding to the tray T having the highest tray height among the plurality of detection size candidates as the tray size (S15 described above). reference). As a result, the tray T having a higher tray height is more likely to cause nail placement, and even if the tray T having a lower tray height is placed on the nail, it falls from the nail portion 12b due to slipping and the like, and the nail placement tends to be resolved naturally. It becomes possible to adapt.

  The above effect of accurately detecting the tray size in the size detection apparatus 100 was verified. The verification results are shown in FIGS. 10 (a) and 10 (b). In the result shown in the figure, a plurality of types of trays T having different tray heights are targeted for verification. The detection results for “state where nail is not placed (no nail rest)”, “when nail is placed and the above correction is not performed”, and “when the nail is placed and the above correction is performed” A certain tray depth is compared. FIG. 10A shows the result when the tray height is set in increments of 5 mm, and FIG. 10B shows the result when the tray height is set in increments of 10 mm. The error represents a difference with respect to “no nail rest”. Here, the nail placement is such that all the sides of the tray T on the near side are placed on the claw portion 12b.

  As shown in FIG. 10A and FIG. 10B, according to the present verification result, the above-described effect of accurately detecting the tray size can be confirmed. Further, when the tray height is set in increments of 5 mm to 10 mm, it can be confirmed that the effect of reducing the error of the detected tray size can be exhibited. Furthermore, it can be confirmed that the step height of the tray height is preferably 5 mm, and as a result, it can be confirmed that the detection error of the tray size becomes smaller as the step height of the set tray height is smaller.

  Although one embodiment of the present invention has been described above, the present invention is not limited to the above embodiment.

  In the said embodiment, although the size detection apparatus 100 was applied to the packaging apparatus 1, the apparatus which can apply the size detection apparatus 100 is not specifically limited, You may apply to another goods processing apparatus. In the above-described embodiment, the weighing and packaging pricing device that performs weighing, packaging, and pricing has been described as the packaging device 1. However, the packaging device 1 may be configured not to perform weighing and / or pricing.

  In the embodiment described above, it is determined from the captured image S that the tray T is placed on the claw portion 12b in the process of S4. However, the determination as to whether the tray T is placed on the claw portion 12b is not limited to this. For example, whether or not the tray T is placed on the claw portion 12b may be determined using a sensor, a touch switch, or the like. Alternatively, for example, the user may make a determination, and the determination may be made according to an input from the user according to the determination result.

  In the embodiment described above, the tray information D may be stored in an external recording medium, and the tray information D may be acquired by communicating with the external recording medium by wire / wireless. In the above embodiment, the correction of the tray size calculation value is not limited to the theoretical calculation described above. Instead of or in addition to the above-described theoretical calculation, the tray size calculation value may be corrected using, for example, map data, function data, and / or table data.

  In the above embodiment, the tray depth of the tray size is corrected. However, instead of or in addition to this, the tray width of the tray size may be corrected in the same manner as the above correction. In general, since the error tolerance range of the tray depth is often narrower than the error tolerance range of the tray width, the above-described effects can be effectively achieved, for example, in terms of practical operation by correcting at least the tray depth. Is played.

  In the said embodiment, although the protruding part was demonstrated as the nail | claw part 12b, the shape of a protruding part, arrangement | positioning, a magnitude | size, etc. are not limited. The raised portion may be a convex protrusion, or may be another portion having a raised shape. In the above, the control apparatus 9 and the packaging mechanism 10 comprise a packaging part.

DESCRIPTION OF SYMBOLS 1 ... Packaging apparatus, 12 ... Measuring pan (mounting part), 12a ... Mounting surface, 12b ... Nail | claw part (raised part), 14 ... Camera (imaging part), 9 ... Control apparatus (packaging part), 9b ... Tray Size detection unit, 10 ... packaging mechanism (packaging unit), 100 ... size detection device, D ... tray information, G ... product, S ... captured image, T ... tray, W ... target.

Claims (6)

A size detection device for detecting the size of the tray of an object including a product and a tray on which the product is placed,
A placement unit having a placement surface on which the object is placed;
An imaging unit that images the object placed on the placement surface from above;
A tray size detection unit that performs image processing on the captured image captured by the imaging unit to calculate the size of the tray, and detects the size of the tray based on a tray size calculation value obtained by the calculation;
In the placement section described above, on the outside of the placement surface, a raised portion that is raised with respect to the placement surface is formed,
The tray size detection unit corrects the tray size calculation value when the tray is placed on the raised portion, and detects the size of the tray based on the corrected tray size calculation value.   2. The size according to claim 1, wherein when the tray is placed on the raised portion, the tray size detection unit corrects the tray size calculation value with reference to tray information related to the size of the tray registered in advance. Detection device. The tray information relates to a plurality of types of tray sizes.
The tray size detector
When the tray size calculation value is corrected based on the height of one tray in the tray information, and the corrected tray size calculation value matches the size of the one tray in the tray information, the corrected post-correction A first process of setting a tray size calculation value as a detection size candidate;
A second process of performing the first process for each of the plurality of types of trays in the tray information;
3. The third process of detecting the size of the tray based on one or a plurality of detection size candidates when there is one or a plurality of detection size candidates after the second process. Size detector.   The said tray size detection part performs the determination process which determines that the said tray is mounted in the said protruding part, when the said protruding part and the said tray have overlapped in the said captured image. The size detection apparatus as described in any one.   The tray size detection unit corrects the tray size calculation value when the height of the tray is lower than the height of the raised portion when it is determined by the determination process that the tray is placed. The size detection device described in 1. The size detection device according to any one of claims 1 to 5,
A packaging unit that wraps the object with a film according to the size of the tray detected by the tray size detection unit.

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