Cutter system, unsealing system, unsealing method, and program

Abstract

A cutter system according to one embodiment of the present invention is provided with: a blade for cutting an object; the force applying mechanism is used for applying force to the blade; a second sensor for detecting the condition of the tip portion of the blade; and a control unit that controls the biasing mechanism on the basis of information detected by the second sensor.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is based on Japanese Patent Application No. 2022-172775 filed on October 27, 2022, Japanese Patent Application No. 2022-177630 filed on November 4, 2022, Japanese Patent Application No. 2023-007057 filed on January 20, 2023, Japanese Patent Application No. 2023-012542 filed on January 31, 2023, and Japanese Patent Application No. 2023-016215 filed on February 6, 2023, and claims the benefit of priority, and the entire contents of the patent applications are incorporated into this specification by reference. Technical Field

[0003] The present invention relates to a cutter system, an unsealing system, an unsealing method and a program. Background Art

[0004] Logistics is becoming more sophisticated and automated. For example, Patent Document 1 discloses a box unpacking and sorting device that can automatically and quickly unpack boxes containing containers and sort boxes and containers.

[0005] Prior art documents

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2000-128136 Summary of the invention

[0008] Problem that the invention aims to solve

[0009] On the other hand, for example, when unpacking a cardboard box, a cutter is used to manually unpack the cardboard box. At this time, if the force of the cutter is adjusted incorrectly, the articles contained in the cardboard box may be damaged.

[0010] Therefore, an object of the present invention is to provide a technology that enables unpacking of a box without damaging the stored items inside the box.

[0011] Means of solving the problem

[0012] A cutter system according to one embodiment of the present invention comprises: a blade for cutting an object; a force applying mechanism for applying force to the blade; a second sensor for detecting a condition of a front end portion of the blade; and a control unit for controlling the force applying mechanism based on information detected by the second sensor.

[0013] A cutter system according to another embodiment of the present invention comprises: a blade for cutting an object; a force applying unit for displacing the blade by applying a force to the blade; a detection unit for detecting a state of the blade relative to the object; a control unit for controlling the force applying unit based on the state of the blade detected by the detection unit; and a selection unit capable of selecting between electric drive and manual operation of the blade. The control unit controls the force applying unit when the selection unit selects electric drive, and does not control the force applying unit when the selection unit selects manual operation.

[0014] A cutter system in another embodiment of the present invention comprises: a blade for cutting an object; a drive unit that displaces the blade toward the object; a detection unit that detects the state of the blade relative to the object; a target position learning unit that learns the target displacement position of the blade based on the position of the blade when the blade penetrates the object as detected by the detection unit; and a drive control unit that controls the drive unit based on the target displacement position when displacing the blade toward the object.

[0015] Another embodiment of the opening system of the present invention comprises: an acquisition mechanism, which controls a scanner capable of measuring a three-dimensional shape to acquire the three-dimensional shape of an object containing a storage object; a setting mechanism, which sets a path for cutting the object based on the acquired three-dimensional shape; an estimation mechanism, which estimates the thickness of the object by performing a prescribed action on the object in at least one portion on the set path; and a control mechanism, which opens the object by controlling the cutting device based on the set path and the estimated thickness.

[0016] Another mode of the unsealing method of the present invention is performed by: controlling a scanner capable of measuring a three-dimensional shape to obtain the three-dimensional shape of an object containing a storage object; based on the obtained three-dimensional shape, setting a path for cutting the object; calculating the thickness of the object by performing a prescribed action on the object in at least one portion on the set path; and unsealing the object by controlling a cutting device based on the set path and the calculated thickness.

[0017] A program in another embodiment of the present invention enables a computer to execute: controlling a scanner capable of measuring a three-dimensional shape to obtain the three-dimensional shape of an object containing a storage object; setting a path for cutting the object based on the obtained three-dimensional shape; estimating the thickness of the object by performing a prescribed action on the object in at least one portion on the set path; and opening the object by controlling a cutting device based on the set path and the estimated thickness.

[0018] Effects of the Invention

[0019] According to the present invention, the box can be unpacked without damaging the stored items inside the box.

[0020] BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a diagram showing an example of the system configuration of the cutter system according to the first embodiment.

[0022] Figure 2 It is a diagram showing an example of the configuration of a control system of the cutter system according to the first embodiment.

[0023] Figure 3 This is a flowchart showing an example of a process procedure when cutting an object using a cutter system.

[0024] Figure 4 This is a diagram showing an example of when the cutting process is started.

[0025] Figure 5 This is a diagram showing an example in which the tip portion of the blade is located inside the object to be cut.

[0026] Figure 6 This is a diagram showing an example in which the tip portion of the blade is located at a portion that just penetrates the object to be cut.

[0027] Figure 7 This is a diagram showing an example in which the tip portion of the blade is positioned beyond the portion of the object to be cut.

[0028] Figure 8 It is a diagram showing an example of the configuration of a control system of a cutter system according to the second embodiment.

[0029] Fig. 9 It is a diagram showing an example of the system configuration of the cutter system according to the second embodiment.

[0030] Fig.10 This is a flowchart showing an example of a process procedure executed by the control unit of the second embodiment.

[0031] Fig.11 This is a diagram showing an example immediately before the cutting process starts.

[0032] Fig.12 It is a diagram showing an example of a system configuration of a cutter system according to a second modified example of the second embodiment.

[0033] Fig.13 It is a cross-sectional view showing the system configuration of a cutter system according to a third embodiment.

[0034] Fig.14 It is a front view showing the front structure of the operation portion according to the third embodiment.

[0035] Fig.15 It is a block diagram showing the configuration of a control system of a cutter system according to a third embodiment.

[0036] Fig.16 It is a diagram schematically showing an example of pattern data stored in the memory of the control unit according to the third embodiment.

[0037] Fig.17 This is a flowchart showing the procedure of processing executed by the control unit of the third embodiment.

[0038] Fig.18 This is a flowchart showing the procedure of processing executed by the control unit of the fourth embodiment.

[0039] Fig.19 : is a flowchart showing a processing procedure of the cutoff control executed by the control unit of the modification example of the fourth embodiment.

[0040] Fig. 20 It is a cross-sectional view showing the system configuration of a cutter system according to a fifth embodiment.

[0041] Fig.21 It is a block diagram showing the structure of a control system of a cutter system according to a fifth embodiment.

[0042] Fig. 22 This is a flowchart showing the procedure of the learning process executed by the control unit of the fifth embodiment.

[0043] Fig.23 1 is a flowchart showing a procedure of drive control executed by the control unit according to the fifth embodiment.

[0044] Fig.24 It is a block diagram showing the structure of a control system of a cutter system according to a sixth embodiment.

[0045] Fig.25 1 is a flowchart showing a procedure of drive control executed by a control unit according to the sixth embodiment.

[0046] Fig.26 It is a diagram showing an example of the appearance of the opening system according to the seventh embodiment.

[0047] Fig. 27 It is a diagram showing an example of the system configuration of the opening system according to the seventh embodiment.

[0048] Fig.28 This is a diagram showing an example of a cutting path of an object.

[0049] Fig.29 This is a diagram showing an example of a portion for estimating the thickness of an object.

[0050] Fig.30 It is a diagram showing an example of the hardware configuration of the opening device according to the seventh embodiment.

[0051] Fig.31This is a flowchart showing an example of a processing procedure when an object is unpacked using the unpacking system according to the seventh embodiment.

[0052] Fig.32 This is a flowchart showing an example of a processing procedure when an object is unpacked using an unpacking system in a modification of the seventh embodiment. DETAILED DESCRIPTION

[0053] Embodiments of the present invention will be described with reference to the accompanying drawings. In each of the drawings, components denoted by the same reference numerals have the same or similar configurations.

[0054] <First embodiment>

[0055] Figure 1 It is a diagram showing an example of the system configuration of the cutter system 1 according to the first embodiment. Figure 1 The cutter system 1 shown includes a housing 10, a pressing portion 20, a blade 30, a control portion 50, a first sensor 60, a second sensor 70, and a biasing mechanism 80. Although not shown, a power source for driving the control portion 50 and the like may be provided.

[0056] The housing 10 is a box body for accommodating the blade 30, the control unit 50, the first sensor 60, the second sensor 70, the urging mechanism 80, etc., which constitute the cutter system 1. The housing 10 has an opening at its bottom.

[0057] The pressing portion 20 is provided to close the opening provided at the bottom of the housing 10. The pressing portion 20 is a portion that presses the object when the object is cut using the cutter system 1. A hole 21 is provided in a portion of the pressing portion 20 so that the blade 30 can pass through. Through the hole 21, the front end of the blade 30 can be moved outward (at the bottom) of the pressing portion 20 when viewed from the main body of the cutter system 1. Figure 1 The middle is the lower side) extending out.

[0058] Blade 30 is a blade for cutting off an object, and is made of a shape and material that can cut off an object. For example, the same shape and material as the blade of a cutter can also be used. In the present embodiment, though blade 30 has two hollow blade structures, it is not limited thereto, and can also be a blade.

[0059] The control unit 50 controls the force applying mechanism 80 based on the information detected by the first sensor 60 and / or the second sensor 70, so that the blade 30 performs the cutting process of the object. For example, the control unit 50 can control whether to drive the force applying mechanism 80 based on the information detected by the first sensor 60. In addition, the control unit 50 can control the direction in which the force applying mechanism 80 is driven based on the information detected by the second sensor 70.

[0060] The first sensor 60 is a sensor for detecting user operation. The first sensor 60 is a sensor for driving the force-applying mechanism 80, and may be, for example, a switch or a pressure sensor. For example, when a switch is used as the first sensor 60, when the user turns on the switch, the force-applying mechanism 80 is driven to apply force to the blade 30 in the outer direction of the cutter system 1. As a result, the blade 30 starts to move outward. In addition, when a pressure sensor is used as the first sensor 60, the force-applying mechanism 80 may also change the speed or force of the force-applying mechanism according to the pressure applied to the sensor by the user.

[0061] Alternatively, the first sensor 60 may be disposed inside or outside the pressing portion 20, and the user may press the pressing portion 20 against an object to cause the first sensor 60 to react. Thus, by pressing the pressing portion 20 of the cutter system 1 against the object to be cut, the force applying mechanism 80 is driven.

[0062] In addition, the control unit 50 can drive the force applying mechanism 80 on the condition that the first sensor 60 is turned on (for example, the button is continuously pressed). In this case, the cut-off process is stopped by the user turning off the first sensor 60. In addition, the control unit 50 can switch between driving and stopping the force applying mechanism 80 when the first sensor 60 is turned on (for example, when the button is pressed once). In this case, the cut-off process can be switched on and off every time the user operates the first sensor 60.

[0063] The second sensor 70 is a sensor for detecting the condition of the front end portion of the blade 30. The second sensor 70 may be a sensor using light, electromagnetic waves or images, for example, a laser sensor, an optical sensor, or an image processing unit (MoPU). The image processing unit preferably uses a high-speed image processing unit capable of capturing 1000 frames of images per second.

[0064] In the present embodiment, the second sensor 70 is disposed inside the blade 30 of the hollow two-blade structure (between the blades of the two blades) to sense the front end portion of the blade 30. Thus, the condition of the front end portion of the blade 30, i.e., the contact point between the cutting object portion and the blade 30, is detected. In addition, the setting position of the second sensor 70 is not limited thereto, and it can be set at any position as long as the condition of the front end portion of the blade 30 can be detected. For example, the second sensor 70 can be embedded in or attached to the front end portion of the blade 30. In addition, the second sensor 70 can also be set at a position where the periphery of the hole 21 of the pressing portion 20 can be observed.

[0065] The force applying mechanism 80 is a structure for applying force to the blade 30, and may be, for example, an actuator. Under the control of the control unit 50, the force applying device 80 moves in the outer direction ( Figure 1 The lower direction) and the medial direction ( Figure 1 The blade 30 is forced in the upper direction of the blade 30, thereby, the blade 30 can be moved in the outer direction and the inner direction. In addition, under the control of the control unit 50, the force applying mechanism 80 can stop the force applied to the blade 30 and keep the blade 30 in a specified position.

[0066] Figure 2 1 is a diagram showing an example of a configuration of a control system of the cutter system 1 according to the present embodiment. The control unit 50 includes a processor 52 and a memory 54, for example.

[0067] The processor 52 controls the overall operation of the cutter system 1. As the processor 52, for example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), an FPGA (Field Programmable Gate Array), or a microcomputer (microcontroller) can be used. The processor 52 functions as a control unit that controls the overall operation of the cutter system 1 by executing a program stored in the memory 54.

[0068] The memory 54 stores various programs executed by the processor 52 or various data. The memory 54 may include, for example, a volatile storage device such as a ROM (Read Only Memory) or a RAM (Random Access Memory) and a non-volatile storage device such as a HDD (Hard Disk Drive) or a flash memory. As various data, for example, pattern data for controlling the force applying mechanism 80 based on the information detected by the first sensor 60 and the second sensor 70 is included. The pattern data may include, for example, data for establishing a correspondence between the information detected by the first sensor 60 and the second sensor 70 and the size or amount of the force applied by the force applying mechanism 80.

[0069] Figure 3 1 is a flowchart showing an example of a process when the object D is cut using the cutter system 1. Here, the process of unpacking the cardboard box using the cutter system 1 is described as an example. Figure 3 Although not described in the specification, the user is in a state where the pressing portion 20 of the cutter system 1 is pressed to the cutting object D. Then, the user turns on the first sensor 60 to start driving the urging mechanism 80 .

[0070] Figure 41 is a diagram showing an example of when the cutting process starts. When the cutting process starts, that is, when the first sensor 60 is turned on in a state where the pressing portion 20 of the cutter system 1 is pressed against the cutting object D, the blade 30 is located inside the housing 10 of the cutter system 1, and the blade 30 is forced toward the outside of the cutter system 1 by the force applying mechanism 80. As a result, the blade 30 moves toward the outside.

[0071] return Figure 3 , the control unit 50 obtains sensing data related to the condition of the front end portion of the blade 30 from the second sensor 70 (step S101).

[0072] The control unit 50 determines whether the front end portion of the blade 30 is located inside or just before the cutting object D based on the information detected by the second sensor 70 (step S102). For example, when the sensing data obtained from the second sensor 70 indicates that the cutting object D exists at the front end portion of the blade 30, it can be determined that the front end portion of the blade 30 is located inside the cutting object D. In addition, when the sensing data obtained from the second sensor 70 indicates that the cutting object D exists before the front end portion of the blade 30, it can be determined that the front end portion of the blade 30 is located just before the cutting object D.

[0073] When it is determined that the front end of the blade 30 is located inside or in front of the cutting object D (step S102 : Yes), the control unit 50 controls the urging mechanism 80 to urge the blade 30 toward the outside of the cutter system 1 (step S103 ).

[0074] Figure 5 1 is a diagram showing an example in which the tip portion of the blade 30 is located inside the cutting object D. The blade 30 is urged in the outward direction of the cutter system 1, whereby the blade 30 moves in the outward direction.

[0075] return Figure 3 , the control unit 50 determines whether the front end portion of the blade 30 is located at the portion that just passes through the cutting object D based on the information detected by the second sensor 70 (step S104). For example, when the history of the sensing data obtained from the second sensor 70 indicates that the cutting object D existed at the front end portion of the blade 30 before, but the sensing data obtained from the second sensor 70 at this time indicates that the cutting object D does not exist at the front end portion of the blade 30, it can be determined that the front end portion of the blade 30 just passes through the cutting object D. In addition, for example, by storing the position of the blade 30 at this time in the memory 54, it can be determined whether the front end portion of the blade 30 is located at the portion that just passes through the cutting object D.

[0076] When it is determined that the tip of the blade 30 is located at the portion that just penetrates the cutting object D (step S104: Yes), the control unit 50 controls the urging mechanism 80 to stop urging the blade 30. Thus, the position of the blade 30 is maintained (step S105).

[0077] Figure 6 1 and 2 are diagrams showing an example in which the tip of the blade 30 is located at a portion that has just penetrated the object D to be cut. The blade 30 is held at a position where the blade 30 has just penetrated the object D to be cut by stopping the force applied to the blade 30 .

[0078] return Figure 3 , the control unit 50 determines whether the front end of the blade 30 is located beyond the cutting object D based on the information detected by the second sensor 70 (step S106). For example, the history of the sensing data obtained from the second sensor 70 indicates that the object or the like did not exist at the front end of the blade 30 before, but when the sensing data obtained from the second sensor 70 detects the storage inside the cutting object D, it can be determined that the front end of the blade 30 is located beyond the cutting object D.

[0079] When it is determined that the front end portion of the blade 30 is located beyond the cutting object D (step S106 : Yes), the urging mechanism 80 is controlled so that the blade 30 is urged inwardly of the cutter system 1 (step S107 ).

[0080] Figure 7 1 is a diagram showing an example in which the tip portion of the blade 30 is positioned beyond the portion of the cutting object D. The blade 30 is urged inwardly of the cutter system 1, whereby the blade 30 moves inwardly.

[0081] As described above, by cutting the object using the cutter system 1, the box can be easily unpacked without relying on the skills of the cutter and without damaging the contents inside the box.

[0082] <Second embodiment>

[0083] Next, the cutter system 1 of the second embodiment will be described. The following description will focus on the differences from the cutter system 1 of the first embodiment.

[0084] like Figure 8 As shown, in the cutter system 1 of this embodiment, the second sensor 70 is provided with an irradiation device 71. Fig. 9 As shown by the two-dot chain line, the irradiation device 71 emits colored light, for example, red light, downward from the gap at the front end of the blade 30. The irradiation device 71 is a device using, for example, an LED as a light source. In the present embodiment, the irradiation device 71 is an example of an irradiation unit.

[0085] like Figure 8 As shown, the first sensor 60 is provided with an illumination switch 61. The illumination switch 61 is a switch capable of switching on and off the illumination device 71. When the illumination switch 61 is in the on state, the illumination device 71 emits light, and when the illumination switch 61 is in the off state, the illumination device 71 does not emit light.

[0086] In the cutter system 1 of the present embodiment, the housing 10 and the pressing portion 20 are formed of a transparent material, for example, any one of polypropylene, polystyrene, and acrylic resin.

[0087] Fig.10 1 is a flowchart showing an example of a process performed by the control unit 50 of this embodiment. Fig.10 Processing shown.

[0088] like Fig.10 As shown, the control unit 50 first determines whether the irradiation switch 61 is on (step S200). When the irradiation switch 61 is on (step S200: Yes), the control unit 50 drives the irradiation device 71 (step S201) and emits light from the irradiation device 71.

[0089] Fig.11 2 is a diagram showing an example of light being emitted from the irradiation device 71. Fig.11 As shown, the light emitted from the irradiation device 71 is irradiated to the object D through the gap at the front end of the blade 30. Thus, the user can recognize the portion of the object D that is cut by the blade 30. In addition, if the light emitted from the irradiation device 71 is made consistent with the cutting target portion of the object D as the portion to be cut, the blade 30 can be positioned above the cutting target portion of the object D. At this time, since the housing 10 and the pressing portion 20 are formed of a transparent material, the user can confirm the portion of the object D that is being irradiated with light through the housing 10 and the pressing portion 20. By bringing the cutter system 1 close to the object D in this state, when the cutter system 1 is brought into contact with the object D, the blade 30 can be more reliably brought into contact with the cutting target portion of the object D.

[0090] like Fig.10 As shown, when the irradiation switch 61 is in the OFF state (step S200 : No), the control unit 50 stops the irradiation device 71 (step S202 ).

[0091] When the control unit 50 executes the processing of step S201 or the processing of step S202, the control unit 50 determines whether the first sensor 60 is in the on state (step S203). When the first sensor 60 is in the off state, that is, when the user does not perform the operation of driving the urging mechanism 80, the control unit 50 determines that the first sensor 60 is not in the on state (step S203: No), and temporarily ends the process. Fig.10 Processing shown.

[0092] When the first sensor 60 is in the on state (step S203: Yes), the control unit 50 executes the cut-off process (step S204). Figure 3 In addition, the control unit 50 of this embodiment is Figure 3 If a negative judgment is made in the process of step S106 shown in the figure (step S106: No), or if any of the processes of steps S103, S105, and S107 is executed, the process is temporarily terminated. Figure 3 In this case, if Fig.10 As shown in FIG. 1 , the control unit 50 ends the cutting process of step S204 and determines whether the first sensor 60 is in the off state (step S205). When the first sensor 60 remains in the on state, the control unit 50 determines that the first sensor 60 is not in the off state (step S205: No), and executes the cutting process of step S204. Therefore, while the first sensor 60 is in the on state, the cutting process of step S204 is repeatedly executed to make the blade 30 Figures 4 to 7 The object D is cut by the blade 30 as shown in the displacement.

[0093] Afterwards, if the user switches the first sensor 60 to the off state, the control unit 50 determines that the first sensor 60 is in the off state (step S205: Yes). In this case, the control unit 50 stops the force applying mechanism 80 (step S206), temporarily ending the process. Fig.10 Processing shown.

[0094] As described above, the cutter system 1 of the present embodiment includes the irradiation device 71 that irradiates the portion of the object D to be cut by the blade 30. With this configuration, the user can bring the blade 30 into contact with a desired portion of the object D accurately.

[0095] In the cutter system 1 of the present embodiment, the housing 10 and the pressing portion 20 are formed of a transparent material. According to this structure, the user can check the portion of the object D being irradiated with light through the housing 10 and the pressing portion 20, thereby improving convenience.

[0096] (First Modification)

[0097] Next, a first modified example of the cutter system 1 of the second embodiment will be described.

[0098] In the cutter system 1 of the present modification, the pressing portion 20 is formed of a material having sliding properties with respect to the object D, for example, fluororesin.

[0099] According to this configuration, when the pressing portion 20 is brought into contact with the object D, the cutter system 1 can be easily displaced relative to the object D, so that the object D can be easily cut by the blade 30 .

[0100] (Second Modification)

[0101] Next, a second modification of the cutter system 1 of the second embodiment will be described.

[0102] In the cutter system 1 of this modified example, Fig.12 As shown, a roller 90 is provided in the pressing portion 20 .

[0103] According to this configuration, similarly to the first modified example, when the pressing portion 20 is brought into contact with the object D, the cutter system 1 can be easily displaced relative to the object D, so that the object D can be easily cut by the blade 30 .

[0104] <Third Embodiment>

[0105] Next, a second embodiment of the cutter system 1 will be described. Hereinafter, the description will be mainly focused on the differences from the cutter system 1 of the first embodiment.

[0106] Fig.13 The cutter system 1 of the present embodiment shown is provided with a state sensor 170 in place of the second sensor 70 of the first embodiment. The state sensor 170, like the second sensor 70, is a sensor for detecting the condition of the front end portion of the blade 30. In addition, the cutter system 1 of the present embodiment is provided with an actuator 180 in place of the force-applying mechanism 80 of the first embodiment. The actuator 180, like the force-applying mechanism 80, is a device for applying force to the blade 30 in the outer and inner directions of the cutter system 1. Furthermore, the cutter system 1 of the present embodiment is provided with an operating unit 160 in place of the first sensor 60 of the first embodiment. In the present embodiment, the state sensor 170 is an example of a detection unit, and the actuator 180 is an example of a force-applying unit and a driving unit.

[0107] The operation unit 160 is a part where the user performs various operations on the cutter system 1. Fig.14 As shown, the operation unit 160 is provided with an operation selection switch 161 , an object selection switch 162 , a drive switch 163 , and a manual operation unit 164 .

[0108] The operation selection switch 161 is a switch capable of selecting "electric drive" and "manual operation". When "electric drive" is selected in the operation selection switch 161, the force applied to the blade 30 is controlled by the actuator 180. When "manual operation" is selected in the operation selection switch 161, the user can manually displace the blade by operating the manual operation unit 164. When "manual operation" is selected in the operation selection switch 161, since the actuator 180 stops, the user needs to operate the manual operation unit 164 to displace the blade. In the present embodiment, the operation selection switch 161 is an example of a selection unit.

[0109] The object selection switch 162 is a switch for selecting an object to be cut by the blade 30 by the electric drive. In the case where the user unpacks a cardboard box as a packaging material, it can be considered that the user takes an action of cutting the cardboard itself, or takes an action of cutting the tape that seals the cardboard box. That is, the object to be cut is the cardboard or the tape. Therefore, in the cutter system 1 of the present embodiment, "cardboard" and "tape" are provided as the cutting objects that can be selected in the object selection switch 162. In the case where "cardboard" is selected in the object selection switch 162, when the blade 30 is applied by the actuator 180, the blade 30 is applied with a force suitable for the cardboard box. In the case where "tape" is selected in the object selection switch 162, when the blade 30 is applied by the actuator 180, the blade 30 is applied with a force suitable for the tape. In the present embodiment, the object selection switch 162 is an example of an object selection unit.

[0110] The drive switch 163 is a switch for selecting whether to drive the actuator 180 when the electric drive is selected in the operation selection switch 161. The drive switch 163 can be selected as "on" and "off". When the user operates the drive switch 163 to "on" in the state where the electric drive is selected in the operation selection switch 161, the actuator 180 applies a force in the outward direction to the blade 30, causing the blade 30 to protrude from the housing 10. Thereafter, when the user operates the drive switch 163 to "off" in the state where the electric drive is selected in the operation selection switch 161, the actuator 180 applies a force in the inward direction to the blade 30, and the drive of the actuator 180 is stopped after the blade 30 is accommodated in the housing 10.

[0111] As described above, the object selection switch 162 and the drive switch 163 are switches capable of switching the action of the cutter system 1 when the operation selection switch 161 is operated to "electric drive", in other words, they are switches capable of switching the action of the cutter system 1 when the force applied by the blade 30 is controlled by the actuator 180.

[0112] The manual operation part 164 is a part that can manually operate the displacement of the blade 30. The manual operation part 164 is a rotating object. When the user operates the manual operation part 164 in the clockwise direction, the blade 30 is displaced toward the outside of the cutter system 1. When the user operates the manual operation part 164 in the counterclockwise direction, the blade 30 is displaced toward the inside of the cutter system 1.

[0113] like Fig.15 As shown, the processor 52 controls the cutter system 1 based on the information detected by the state sensor 170 and the operation states of the operation selection switch 161 , the object selection switch 162 , and the drive switch 163 , respectively.

[0114] The memory 54 stores Fig.16 The pattern data PD shown in FIG. The pattern data PD includes, for example, data associated with the object to be cut, the detection information of the state sensor 170 , and the set value of the force of the actuator 180 . In the present embodiment, the memory 54 is an example of a storage unit.

[0115] Fig.17 1 is a flowchart showing an example of a process performed by the control unit 50. In addition, the control unit 50 repeatedly performs the process in a predetermined cycle. Fig.17 Processing shown.

[0116] like Fig.17 As shown, the control unit 50 first determines whether the drive switch 163 is in the on state (step S10). When the drive switch 163 is in the off state (step S10: No), the control unit 50 temporarily ends the Fig.17 Processing shown.

[0117] When the user switches the drive switch 163 from the off state to the on state, the control unit 50 determines that the drive switch 163 is in the on state (step S10: Yes). In this case, the control unit 50 determines whether the operation selection switch 161 is operated to "electric drive" (step S11). If the operation selection switch 161 is operated to "manual operation" (step S11: No), the control unit 50 temporarily ends the operation. Fig.17 Therefore, even when the drive switch 163 is turned on, the control unit 50 does not drive the actuator 180 unless the operation selection switch 161 is turned to "electric drive".

[0118] When the operation selection switch 161 is operated to "electric drive" (step S11: yes), the control unit 50 reads the selection state of the object selection switch 162 (step S12), and then reads the set value of the force of the actuator 180 corresponding to the read selection state from the memory 54 (step S13). For example, when "cardboard" is selected in the object selection switch 162, the control unit 50 reads the set value of the force of the actuator 180 corresponding to the cardboard from the memory 54. Then, the control unit 50 performs cutting control (step S14). Cutting control is a control that drives the actuator 180 to automatically apply force to the blade 30. Due to the process of cutting control and Figure 3 The processing procedures shown are the same or similar, so their detailed description is omitted.

[0119] The control unit 50 executes Figure 3 When any of the steps S103, S105 and S107 shown in the figure is processed, the Fig.17 After the cutting control shown in step S14, the control unit 50 determines whether the drive switch 163 is in the off state (step S15). When the drive switch 163 remains in the on state, the control unit 50 determines that the drive switch 163 is not in the off state (step S15: No), and returns to the cutting control of step S14. Therefore, when the drive switch 163 remains in the on state, the cutting control of step S14 is repeatedly executed. Thus, according to the state of the front end of the blade 30 detected by the state sensor 170, the cutting control of step S14 is executed in sequence. Figure 3 The processing of step S103, the processing of step S105 and the processing of step S107 are shown in FIG. Figures 4 to 7 As shown, the object D is cut by the blade 30 .

[0120] When the user switches the drive switch 163 from the on state to the off state, the control unit 50 determines that the drive switch 163 is in the off state (step S15: yes), and the actuator 180 applies an inward force to the blade 30, and stops driving the actuator 180 after the blade 30 is accommodated in the housing 10 (step S16).

[0121] According to the cutter system 1 of the present embodiment described above, the following operations and effects can be obtained.

[0122] The cutter system 1 of the present embodiment includes: a blade 30 for cutting a cutting object D; an actuator 180 for displacing the blade 30 by applying a force to the blade 30; a state sensor 170 for detecting the state of the blade 30 relative to the cutting object D; and a control unit 50 for controlling the actuator 180 based on the state of the blade 30 detected by the state sensor 170. In addition, the cutter system 1 further includes an operation selection switch 161 that can select between electric drive and manual operation of the blade 30. The control unit 50 controls the actuator 180 when "electric drive" is selected in the operation selection switch 161, and does not control the actuator 180 when "manual operation" is selected in the operation selection switch 161.

[0123] According to this structure, when the user selects "electric drive" in the operation selection switch 161, the displacement of the blade 30 can be automatically controlled according to the state of the blade 30 relative to the cutting object D, and the cutting object D can be appropriately cut. In addition, when the user selects "manual operation" in the operation selection switch 161, the blade 30 can be manually displaced by operating the manual operation member 64, thereby realizing the displacement amount of the blade 30 desired by the user. In this way, according to the cutter system 1 of this embodiment, the user can arbitrarily select electric drive and manual operation according to each situation, thereby achieving more appropriate cutting without damaging the storage inside the box.

[0124] The cutter system 1 of this embodiment includes: a memory 54 storing a plurality of force setting values ​​of the actuator 180 corresponding to a plurality of cutting objects, respectively; and an object selection switch 162 capable of selecting any one of the plurality of cutting objects to be cut. The control unit 50 obtains selection information of the cutting object selected by the object selection switch 162, reads the force setting value corresponding to the obtained cutting object selection information from the memory 54, and controls the actuator 180 based on the read force setting value.

[0125] According to this configuration, since appropriate forces corresponding to the plurality of objects to be cut can be applied to the blade 30, the objects can be cut more appropriately.

[0126] <Fourth embodiment>

[0127] Next, a second embodiment of the cutter system 1 will be described. Hereinafter, the description will be mainly focused on the differences from the cutter system 1 of the third embodiment.

[0128] The control unit 50 of this embodiment executes Fig.18 The process shown is used as a cut-off control, instead of Fig.17 In addition, Fig.18 In the process shown, and Fig.17 The same processing as shown is denoted by the same figure mark, and its repeated description is omitted.

[0129] like Fig.18 As shown, after the process of step S13, the control unit 50 performs a process of vibrating the blade 30 by the actuator 180 (step S30). Specifically, the control unit 50 controls the actuator 180 so that the blade 30 is Figure 1 The device vibrates slightly in the lower and upper directions.

[0130] When the control unit 50 stops the actuator 180 in the process of step S16 , the micro vibration of the blade 30 caused by the actuator 180 is also stopped.

[0131] According to the cutter system 1 of the present embodiment described above, the following operations and effects can be obtained.

[0132] In the cutter system 1 of the present embodiment, the control unit 50 controls the actuator 180 to cause the blade 30 to vibrate slightly.

[0133] According to this configuration, since the object can be easily cut by the blade 30 that vibrates slightly, the cutting efficiency can be improved.

[0134] (Variation Example)

[0135] Next, a modification of the cutter system 1 according to the fourth embodiment will be described.

[0136] The control unit 50 of this modification executes Fig.17 The process shown in the figure is replaced by the process of the cut-off control of step S14. Figure 3 The process shown is adopted Fig.19 The process shown. Fig.19 As shown, after processing step S101, the control unit 50 determines whether the front end of the blade 30 has contacted the cutting object D based on the sensing data obtained by the state sensor 170 (step S40). When the front end of the blade 30 is not in contact with the cutting object D (step S40: No), that is, when the blade 30 is located in front of the cutting object D, the control unit 50 controls the actuator 180 to apply force to the blade 30 in the outward direction of the cutter system 1 (step S41). At this time, the control unit 50 controls the actuator 180 so that the force applied from the actuator 180 to the blade 30 becomes Fig.17 The set value of the acting force is obtained in the process of step S13 shown.

[0137] like Fig.19As shown, when the control unit 50 determines that the front end of the blade 30 is in contact with the cutting object (step S40: yes), the control unit 50 executes a process of vibrating the blade 30 by the actuator 180 (step S42). Next, the control unit 50 determines whether the front end of the blade 30 is located inside the cutting object D based on the sensing data obtained by the state sensor 170 (step S43). When it is determined that the front end of the blade 30 is located inside the cutting object D (step S43: yes), the actuator 180 is controlled to apply force to the blade 30 in the outer direction of the cutter system 1 (step S44). At this time, the control unit 50 controls the actuator 180 so that the force applied from the actuator 180 to the blade 30 becomes the force applied by the actuator 180 to the blade 30. Fig.17 The set value of the acting force is obtained in the process of step S13 shown.

[0138] like Fig.19 As shown, when the control unit 50 determines that the tip of the blade 30 is not located inside the cutting object D (step S43 : NO), it executes the processing after step S104 .

[0139] As described above, in the cutter system 1 of this modification, after starting control of the actuator 180 , the control unit 50 controls the actuator 180 to vibrate the blade 30 when the state sensor 170 detects that the tip of the blade 30 is in contact with the object D to be cut.

[0140] According to this configuration, since the blade 30 is vibrated only when the object D is cut, the user is unlikely to feel discomfort due to the vibration of the blade 30 .

[0141] <Fifth Embodiment>

[0142] Next, a fifth embodiment of the cutter system 1 will be described. Hereinafter, the description will be mainly focused on the differences from the cutter system 1 of the first embodiment.

[0143] Fig. 20 The cutter system 1 of the present embodiment shown includes an operation unit 160 in place of the first sensor 60 of the first embodiment. In addition, the cutter system 1 of the present embodiment further includes a notification device 190 and a position sensor 200.

[0144] Position sensor 200 detection Fig. 20 The position sensor 200 detects, for example, the displacement of the blade 30 in the upward and downward directions from the initial position of the blade 30 as the position of the blade 30. As the position sensor 200, for example, an optical linear encoder or a magnetic linear encoder can be used.

[0145] The operation portion 160 is a portion operated by a user when performing various operations on the cutter system 1. Fig.21 As shown, the operation unit 160 is provided with a learning switch 165 and a driving switch 166 as switches operable by a user.

[0146] The learning switch 165 is a switch operated by the user when learning the target displacement position. The target displacement position is the target value of the displacement position of the blade 30 when the actuator 180 is driven to displace the blade 30. When the user turns on the learning switch 165 in a state where the cutter system 1 is in contact with the object, the actuator 180 is automatically driven, and the blade 30 is displaced from the initial position to the lower side. After that, the blade 30 penetrates the object, and the position of the blade 30 detected by the position sensor 200 is learned as the target displacement position. In the present embodiment, the learning switch 165 is an example of a learning operation unit.

[0147] The drive switch 166 is a switch operated by the user when driving the actuator 180. When the user turns on the drive switch 166, the actuator 180 is driven to apply a force in the outer direction to the blade 30. After the blade 30 is displaced to the target displacement position, it is maintained at the position. At this time, the blade 30 is in a state of protruding from the housing 10. Thereafter, when the user turns off the drive switch 166, the actuator 180 applies a force in the inner direction to the blade 30 and the blade 30 is accommodated in the housing 10, and then the drive of the actuator 180 stops. In the present embodiment, the drive switch 166 is an example of a driving operation unit.

[0148] The notification device 190 is a device that performs various notifications to the user using the cutter system 1 by sound or light. For example, when the notification is performed by sound, a speaker device can be used as the notification device 190. When the notification is performed by light, an LED device can be used as the notification device 190. In the present embodiment, the notification device 190 is an example of a notification unit.

[0149] like Fig.21 As shown, the control unit 50 includes a target position learning unit 56 and a drive control unit 57, which are functional structures implemented by the processor 52 executing a program stored in the memory 54. When the user operates the learning switch 165, the target position learning unit 56 performs a learning process for learning the target displacement position of the blade 30. When the user operates the drive switch 166, the drive control unit 57 performs a drive control for driving the actuator 180 to displace the blade 30 to the target displacement position.

[0150] The cutter system 1 of this embodiment is preferably used when cutting multiple objects of the same shape, such as cardboard boxes of the same shape, in a factory or the like. Specifically, the user selects one of the multiple objects as a learning object, and after pressing the cutter system 1 on the learning object, if the learning switch 165 is turned on, the position of the blade 30 when it just penetrates the learning object can be learned as the target displacement position. Thereafter, if the user turns on the drive switch 166 after pressing the cutter system 1 to other objects, the blade 30 automatically displaces to the target displacement position, that is, the position that just penetrates the object, and thus multiple other objects can be cut in this state.

[0151] Next, refer to Fig. 22 , the specific processing procedure of the learning process performed by the target position learning unit 56 is described. Fig. 22 The processing shown is repeatedly executed in a predetermined cycle by the target position learning unit 56. In the following, an example in which the learning object is a cardboard box will be described.

[0152] like Fig. 22 As shown, the target position learning unit 56 first determines whether the learning switch 165 has been turned on (step S310). If the learning switch 165 is in the off state, the target position learning unit 56 determines that the learning switch 165 has not been turned on (step S310: No), and the process is temporarily terminated. Fig. 22 Processing shown.

[0153] When the user turns on the learning switch 165, the target position learning unit 56 determines that the learning switch 165 has been turned on (step S310: Yes), and obtains sensing data related to the state of the front end of the blade 30 from the state sensor 170 (step S311). Next, the target position learning unit 56 determines whether the front end of the blade 30 has penetrated the learning object based on the sensing data obtained by the state sensor 170 (step S312). For example, at the time when the learning switch 165 is turned on, that is, at the time when the learning process starts, the blade 30 is at Figure 4 In this case, the target position learning unit 56 detects that the blade 30 and the learning object D are separated based on the sensing data obtained by the state sensor 170. At this time, the target position learning unit 56 Fig. 22 In the learning process shown in FIG. 1 , it is determined that the front end of the blade 30 has not penetrated the learning object D (step S312: No), and the actuator 180 is controlled to apply force to the blade 30 in the outer direction of the cutter system 1 (step S313). Figure 4 The initial position shown is in the outward direction ( Figure 4displacement in the lower direction).

[0154] After executing the process of step S313, the target position learning unit 56 repeatedly executes the processes of steps S311 to S313. Figure 5 As shown, the target position learning unit 56 enters the interior of the learning object D. At this time, the target position learning unit 56 detects that the blade 30 is in the state of entering the interior of the learning object based on the sensing data obtained by the state sensor 170. Therefore, the target position learning unit 56 Fig. 22 In the learning process shown in FIG. 1 , it is determined that the front end of the blade 30 has not penetrated the learning object D (step S312: No), and the actuator 180 is controlled to further apply force to the blade 30 in the outer direction of the cutter system 1 (step S313). Figure 5 The state shown is further outward ( Figure 4 displacement in the lower direction).

[0155] After executing the process of step S313, the target position learning unit 56 repeatedly executes the processes of steps S311 to S313. As a result, the tip of the blade 30 moves inside the learning object D. Finally, as shown in FIG. Figure 6 As shown in FIG. 1 , the front end of the blade 30 penetrates the learning object D. At this time, the target position learning unit 56 detects that the blade 30 penetrates the learning object D based on the sensing data obtained by the state sensor 170. Therefore, the target position learning unit 56 Fig. 22 In the learning process shown, it is determined that the front end of the blade 30 penetrates the learning object D (step S312: yes), the position sensor 200 detects the displacement position of the blade 30 at this time (step S314), and the target displacement position is set based on the detected displacement position of the blade 30 (step S315). At this time, the target position learning unit 56, for example, directly sets the displacement position detected by the position sensor 200 as the target displacement position. Alternatively, the target position learning unit 56 may also set a position that is offset from the displacement position detected by the position sensor 200 by only a specified distance in the downward direction or the upward direction as the target displacement position. The specified distance may also be set in advance or may be set by the user. After the processing of step S315, the target position learning unit 56 stores the set target displacement position in the memory 54 (step S316), drives the notification device 190 for a specified time (step S317), and temporarily ends. Fig. 22 By emitting sound or light from the driven notification device 190, the user can be made aware that the learning of the target displacement position has been completed.

[0156] Next, refer to Fig.23, the specific processing process of the drive control performed by the drive control unit 57 is described. In addition, Fig.23 The process shown is repeatedly executed at a predetermined cycle by the drive control unit 57. In the following, it is assumed that the user is in a state where the pressing unit 20 of the cutter system 1 is pressed against a cutting object having the same shape as the learning object D. The cutting object is also a cardboard box like the learning object D.

[0157] like Fig.23 As shown, the drive control unit 57 first determines whether the drive switch 166 is being turned on (step S320). When the drive switch 166 is in the off state, the drive control unit 57 determines that the drive switch 166 is not being turned on (step S320: No), and the process is temporarily terminated. Fig.23 Processing shown.

[0158] When the user turns on the drive switch 166, the drive control unit 57 determines that the drive switch 166 is turned on (step S320: Yes), and reads the target displacement position stored in the memory 54 (step S321). Then, the drive control unit 57 drives the actuator 180 to displace the blade 30 to the target displacement position (step S322), and then maintains the blade 30 at the target displacement position (step S323). As a result, the blade 30 is automatically displaced and maintained. Figure 6 The position shown in the figure is the position that just penetrates the object to be cut. Therefore, if the user slides the cutter system 1 relative to the object to be cut, the object to be cut can be cut without damaging the contents contained inside the object to be cut. In this way, in the cutter system 1 of this embodiment, as long as the target displacement position of the blade 30 is temporarily learned, multiple other objects to be cut having the same shape as the object to be cut can be cut without damaging the contents inside.

[0159] In addition, for example, when the user has not yet performed the above-mentioned learning process, that is, when the target displacement position has not been learned, it is assumed that the information of the target displacement position is not stored in the memory 54. In this case, the drive control unit 57 may also read the initial value of the target displacement position pre-stored in the memory 54 in the process of step S321 to perform the process of step S323. Alternatively, in such a case, the drive control unit 57 may not perform the process after step S321, but may drive the notification device 190 to perform a notification that prompts the user to perform the learning process.

[0160] After the process of step S323, the drive control unit 57 determines whether the drive switch 166 is turned off (step S324). When the drive switch 166 is kept on, the drive control unit 57 determines that the drive switch 166 is not turned off (step S324: No), and returns to the process of step S323. Therefore, while the drive switch 166 is in the on state, the blade 30 is maintained at the target displacement position.

[0161] After that, when the user uses the cutter system 1 to cut the object and then turns off the drive switch 166, the drive control unit 57 determines that the drive switch 166 has been turned off (step S324: Yes), and drives the actuator 180 to return the blade 30 to the original position. Figure 4 After the initial position shown (step S325), the process is temporarily terminated. Fig.23 Processing shown.

[0162] According to the cutter system 1 of the present embodiment described above, the following operations and effects can be obtained.

[0163] The cutter system 1 of this embodiment includes a state sensor 170, a target position learning unit 56, and a drive control unit 57. The state sensor 170 detects the state of the blade 30 relative to the object. The target position learning unit 56 learns the target displacement position of the blade 30 when the state sensor 170 detects that the blade 30 has penetrated the object. The drive control unit 57 controls the actuator 180 based on the target displacement position when the blade 30 is displaced toward the object.

[0164] According to this structure, the target displacement position is learned based on the position of the blade 30 when the blade 30 penetrates the object, and the actuator 180 displaces the blade 30 based on the target displacement position of the blade 30, so that the blade 30 can be displaced to the position that just penetrates the object. Thus, the object can be cut without damaging the object contained inside the object, which can be more appropriately cut.

[0165] The cutter system 1 of this embodiment further includes a user-operable learning switch 165. When the user operates the learning switch 165, the target position learning unit 56 drives the actuator 180 and learns the target displacement position based on the position of the blade 30 when the state sensor 170 detects that the blade 30 has penetrated the target object.

[0166] According to this configuration, the user can learn the target displacement position at any timing by operating the learning switch 165 .

[0167] The cutter system 1 of the present embodiment further includes a notification device 190 for notifying the user when the learning of the target displacement position of the blade 30 is completed.

[0168] According to this configuration, the user can easily recognize whether the learning is completed, thereby improving convenience.

[0169] The cutter system 1 of this embodiment further includes a user-operable drive switch 166. When the user operates the drive switch 166, the drive control unit 57 drives the actuator 180 to displace the blade 30 to a target displacement position, and then maintains the position of the blade 30.

[0170] According to this configuration, since the blade 30 is held in a state of being displaced to the target displacement position, the object can be cut by sliding the cutter system 1 relative to the object in this state.

[0171] (First Modification)

[0172] Next, a first modified example of the cutter system 1 of the first embodiment will be described.

[0173] In the cutter system 1 of the present modification, after the user operates the learning switch 165 to temporarily set the target displacement position, the target displacement position is set again when the learning switch 165 is turned on again. Specifically, the target position learning unit 56 performs the target displacement position learning operation when the user operates the learning switch 165 even when the target displacement position has been learned, that is, when the information of the target displacement position has been stored in the memory 54. Fig. 22 At this time, when the position sensor 200 detects the displacement position of the blade 30 when the front end of the blade 30 penetrates the learning object (step S314), the target position learning unit 56 sets the target displacement position based on the detected displacement position of the blade 30 (step S315). Next, as a process of step S316, the target position learning unit 56 updates the information of the target displacement position stored in the memory 54 to the information of the newly set target displacement position.

[0174] In this way, the target position learning unit 56 of this modification learns the target displacement position again when the user operates the learning switch 165 in a state where the target displacement position has already been learned. According to this structure, for example, when the object to be cut is switched, if the learning switch 165 is operated after the cutter system 1 is pressed against the switched object to be cut, the target displacement position suitable for the switched object to be cut can be learned. Therefore, even when the object to be cut is switched, it is possible to deal with it appropriately.

[0175] (Second Modification)

[0176] Next, a second modification of the cutter system 1 of the first embodiment will be described.

[0177] In the cutter system 1 of this modified example, Fig.21 As shown by the dotted line in the middle, the operation unit 160 is also provided with an adjustment button 74 that can be operated by the user. The target position learning unit 56 reads the amount of operation of the adjustment button 74 by the user, and fine-tunes the target displacement position based on the read amount of operation. For example, in the case where the adjustment button 74 is a rotary type, the target position learning unit 56 changes the target displacement position in the positive direction when the adjustment button 74 is operated in the clockwise direction, and changes the target displacement position in the negative direction when the adjustment button 74 is operated in the counterclockwise direction. The positive direction of the target displacement position is set to, for example, Figure 4 The lower direction in the target displacement position is set to the negative direction, for example Figure 4 Upward direction shown.

[0178] According to this configuration, even after the user temporarily learns the target displacement position by operating the learning switch 165, the target displacement position can be manually finely adjusted by operating the adjustment button 74. In this modification, the adjustment button 74 is an example of an adjustment unit.

[0179] <Sixth embodiment>

[0180] Next, a sixth embodiment of the cutter system 1 will be described. Hereinafter, the description will be mainly focused on the differences from the cutter system 1 of the fifth embodiment.

[0181] like Fig.24 As shown, the operation unit 160 of this embodiment is provided with a first learning switch 165a and a second learning switch 165b. When the user presses the cutter system 1 against the first learning object and then operates the first learning switch 165a, the target position learning unit 56 executes Fig. 22 The target position learning unit 56 learns the first target displacement position corresponding to the first learning object and stores it in the memory 54. In addition, when the user presses the cutter system 1 to the second learning object different from the first learning object and then operates the second learning switch 165b, the target position learning unit 56 performs Fig. 22 In the processing shown, the second target displacement position corresponding to the second learning object is learned and stored in the memory 54 .

[0182] like Fig.24 As shown, the operation unit 160 is provided with an object selection switch 168. The object selection switch 168 can select either a "first object" or a "second object." In the present embodiment, the object selection switch 168 is an example of a selection unit.

[0183] The drive control unit 57 executes the operation based on the selection state of the object selection switch 168. Fig.25 Next, Fig.25 The drive control shown in the figure is explained. Fig.25 In the drive control shown, and Fig.23 The same processing as shown is denoted by the same figure mark, and its repeated description is omitted.

[0184] like Fig.25 As shown, when the drive control unit 57 determines that the drive switch 166 is turned on (step S320: Yes), it determines whether the "first object" is selected in the object selection switch 168 (step S330). When the drive control unit 57 selects the "first object" in the object selection switch 168 (step S330: Yes), it reads the first target displacement position stored in the memory 54 (step S331), and performs the processing after step S322 based on the read first target displacement position. In this case, the blade 30 is displaced to the first target displacement position and is maintained at this position.

[0185] On the other hand, when the "first object" is not selected in the object selection switch 168 (step S330: No), that is, when the "second object" is selected in the object selection switch 168, the drive control unit 57 reads the second target displacement position stored in the memory 54 (step S332), and performs the processing after step S322 based on the read second target displacement position. In this case, the blade 30 is displaced to the second target displacement position and is held at this position.

[0186] According to the cutter system 1 of the present embodiment described above, the following operations and effects can be further obtained.

[0187] The target position learning unit 56 of this embodiment can learn a plurality of target displacement positions. The cutter system 1 includes an object selection switch 168 that can select any one of the plurality of target displacement positions. The drive control unit 57 controls the actuator 180 based on the target displacement position of the blade 30 selected by the object selection switch 168 .

[0188] For example, when a user considers cutting a cardboard box, there are situations in which the user desires to cut the cardboard itself, and there are situations in which the user desires to cut the tape that seals the cardboard box. According to the cutter system 1 of the present embodiment, it is possible to learn a first target displacement position suitable for the cardboard and a second target displacement position suitable for the tape, respectively. Then, if the user selects "first object" in the object selection switch 168 when cutting the cardboard box, the contents in the cardboard box will not be damaged because the blade 30 is kept in a position that penetrates the cardboard. In addition, if the user selects "second object" in the object selection switch 168 when cutting the tape, the contents inside the cardboard box will not be damaged in this case because the blade 30 is kept in a position that penetrates the tape. In this way, according to the cutter system 1 of the present embodiment, different objects can be cut more appropriately.

[0189] <Seventh embodiment>

[0190] Next, an embodiment of the unsealing system will be described. Fig.26 FIG. 1 is a diagram showing an example of the appearance of the opening system 100 according to the present embodiment. Fig.26 As shown, the unsealing system 100 is a system including an unsealing device 110. Preferably, the unsealing system 100 further includes a scanner 120 and a cutting device 130. The unsealing system 100 is controlled by the unsealing device 110 to measure the shape of the object B such as a cardboard box and estimate the thickness of the object B, and then adjust the length of the blade that penetrates the object B according to the thickness, so as to cut at least a part of the object B without damaging the contents contained in the object B.

[0191] The unsealing device 110 is an information processing device that controls the overall operation of the unsealing system 100. The unsealing device 110 controls the scanner 120 to obtain the three-dimensional shape of the object B. In addition, the unsealing device 110 controls the cutting device 130 to cut at least a portion of the object B.

[0192] The scanner 120 is a three-dimensional scanner (3D scanner) capable of measuring the three-dimensional shape of the object B. The scanner 120 may adopt any structure and / or any method as long as it can measure the three-dimensional shape of the object B. For example, the three-dimensional shape of the object B may be measured by a structure having a plurality of cameras. Alternatively, the three-dimensional shape of the object B may be measured by moving one camera.

[0193] The cutting device 130 is a device capable of cutting at least a portion of the object B, and may be, for example, a multi-joint robot having a cutter provided at an end effector. For example, the cutting device 130 may be controlled by the unsealing device 110 to move the cutter with a predetermined force and along a predetermined path.

[0194] Fig. 27 1 is a diagram showing an example of a system configuration of the unsealing system 100 according to the present embodiment. Fig. 27 As shown, the unsealing device 110 includes an acquisition unit 112, a setting unit 114, an estimation unit 116, and a control unit 118. In addition, the unsealing device 110 is connected to a scanner 120 and a cutting device 130.

[0195] The acquisition mechanism 112 has a function of controlling the scanner 120 to acquire the three-dimensional shape of the object B containing the storage object.

[0196] The setting unit 114 has a function of setting a path for cutting the object B based on the three-dimensional shape of the object B acquired from the scanner 120 via the acquisition unit 112. For example, when the object B is a box made of paper such as a cardboard box and has a rectangular parallelepiped shape, the cutting path can be set along the outer periphery of the rectangle constituting the upper surface of the object B in the shape of the rectangular parallelepiped.

[0197] Fig.28 2 is a diagram showing an example of a cutting path of the object B. For example, when the object B is a rectangular parallelepiped cardboard box, the cutting path X can be set along the four sides of the upper surface of the object B.

[0198] return Fig. 27 The estimation mechanism 116 has a function of estimating the thickness of the object B in at least one portion of the cutting path set by the setting mechanism 114. The estimation mechanism 116 can control the cutting device 130 to perform an invasive or non-invasive predetermined action on the surface of the object B, such as pressing, drilling a hole, or cutting with a cutter, to estimate the thickness of the object B.

[0199] For example, when the object B is a rectangular parallelepiped cardboard box, the thickness of the object B can be estimated in at least one of the four corners of the rectangle constituting the upper surface of the object B.

[0200] Fig.29 1 is a diagram showing an example of a portion for estimating the thickness of the object B. The estimating mechanism 116 can estimate the thickness of the object B based on the pressure of the object B in the four corners Ba, Bb, Bc, and Bd of the upper surface of the rectangular object B. For example, the estimating mechanism 116 can control the cutting device 130 to press any one of the four corners Ba, Bb, Bc, and Bd with a predetermined force using the end effector of the cutting device 130, and measure the pressure of the object B in the portion based on the displacement at this time, and estimate the thickness of the object B. In addition, the pressure of the object B can also be measured using a device not shown in the figure instead of the cutting device 130.

[0201] When estimating the thickness of object B, the thickness of object B can be estimated from the pressure at one of the four corners, or the thickness of object B can be estimated based on the pressure at multiple corners, such as the average value, most frequent value, maximum value, minimum value, etc. of the pressure.

[0202] In addition, the estimation mechanism 116 can estimate the thickness of the object B by penetrating the object B at at least one of the four corners Ba, Bb, Bc, and Bd on the upper surface of the rectangular object B. For example, the estimation mechanism 116 can control the cutting device 130 to estimate the thickness of the object B based on the change in pressure when the cutter at the front end of the cutting device 130 penetrates the object B.

[0203] return Fig. 27 The control mechanism 118 controls the cutting device 130 based on the cutting path set by the setting mechanism 114 and the thickness of the object B estimated by the estimation mechanism 116, and unseals the object B. Based on the thickness of the object B estimated by the estimation mechanism 116, the upper surface of the object B is cut along the cutting path so that the blade of the cutter and its depth are consistent, so that the object B can be unsealed without damaging the stored object.

[0204] Fig.30 1 is a diagram showing an example of the hardware configuration of the opening device 110 according to the present embodiment. The opening device 110 includes a processor 201, a storage device 202, and a communication interface (communication IF) 203. Furthermore, the opening device 110 may also include an input device 204 and an output device 205. In the present embodiment, the opening device 110 is an example of a computer.

[0205] The processor 201 controls the overall operation of the opening system 100. For example, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), an FPGA (Field Programmable Gate Array), or a microcomputer (microcontroller) can be used as the processor 201. The processor 201 functions as the acquisition mechanism 112, the setting mechanism 114, the estimation mechanism 116, and the control mechanism 118 of the opening device 110 by executing the program stored in the storage device 202.

[0206] The storage device 202 stores various programs or various data executed by the processor 201. The storage device 202 may include, for example, a volatile storage device such as a DRAM (Dynamic Random Access Memory) or an SRAM (Static Random Access Memory), and a non-volatile storage device such as a ROM (Read Only Memory), an HDD (Hard Disk Drive), or a flash memory.

[0207] The communication interface 203 performs wired or wireless communication. The input device 204 is an item that receives input operations, such as a keyboard, a touch panel, a mouse and / or a microphone. The output device 205 is an item that performs output of information, such as a display, a touch panel and / or a speaker.

[0208] Fig.31 1 is a flowchart showing an example of a process procedure when the object B is unsealed using the unsealing system 100 .

[0209] First, the unsealing device 110 controls the scanner 120 to measure the three-dimensional shape of the object B containing the storage object with the scanner 120 (step S110 ).

[0210] The acquisition mechanism 112 of the opening device 110 acquires the three-dimensional shape of the object B measured by the scanner 120 (step S120 ).

[0211] Based on the three-dimensional shape of the object B acquired in step S120 , the setting mechanism 114 of the opening device 110 sets a path for cutting the object B (step S130 ).

[0212] By performing a predetermined operation on the object B at any portion on the cutting path set in step S130 , the estimating mechanism 116 of the opening device 110 estimates the thickness of the object B (step S140 ).

[0213] The control mechanism 118 of the unsealing device 110 controls the cutting device 130 based on the cutting path set in step S130 and the thickness estimated in step S140 (step S150 ).

[0214] The object B is cut along the cutting path, thereby unsealing the object B (step S160 ).

[0215] When a plurality of objects B of the same shape are opened, the three-dimensional shape of the object B may be measured when the first object B is opened, and the measurement of the three-dimensional shape of the second and subsequent objects B may be omitted.

[0216] Furthermore, when unsealing a plurality of objects B of the same shape, information on the thickness of the (n-1) objects B may be used to estimate the thickness of the n-th object B. Furthermore, information on the relationship between the estimated thickness of the (n-1) objects B and the force and depth when the object B is actually cut by the cutter may be used to control the force and depth when the object B is cut by the cutter of the cutting device 130 during the cutting process of the n-th object B.

[0217] Through the above, the unsealing device 110 can control the cutting device 130 so that the tip of the cutter at the front end of the cutting device 130 cuts the object B at a depth that is exactly the same as the thickness of the object B. In this way, the unsealing of the object B can be automated without damaging the contents contained in the object B.

[0218] (Variation Example)

[0219] Next, modified examples will be described.

[0220] In the above-mentioned embodiment, the position of the cutting edge of the cutter is controlled based on the thickness estimated by the estimation mechanism 116. However, instead of the estimated thickness of the object B, a mechanism for detecting whether the cutting edge of the cutter has penetrated the object B may be provided. By feedback-controlling the cutting device 130 in such a manner as to keep the cutting edge of the cutter just penetrating the object B, the depth of the cutting edge of the cutter is adjusted in accordance with the thickness of the object B while the object B is cut.

[0221] Fig.32 1 is a flowchart showing an example of a process procedure when the unsealing system 100 is used to unseale the object B in the modification. As shown in the figure, the process before the cutting path is set is the same as that in the above-mentioned embodiment.

[0222] In the modified example, once the cutting path is set, the control mechanism 118 of the unsealing device 110 controls the cutting device 130 so that the object B is cut along the cutting path with the cutter (step S145 ).

[0223] By means of feedback control, the object B can be opened while the blade tip of the cutter is kept at a position that just penetrates the object B (step S160).

[0224] In addition, the cutter itself has a mechanism for detecting whether the blade tip has penetrated the object B. While maintaining the position where the blade tip just penetrates the object B, the cutting device 130 is not controlled by feedback control. The object B can be opened without damaging the contained object by simply controlling the cutting of the object B along the cutting path.

[0225] As described above, by opening the object B using the present opening system 100 , the box opening can be automated without damaging the stored items inside the box.

[0226] <Other embodiments>

[0227] The present invention is not limited to the above-mentioned specific examples.

[0228] For example, in the cutter system 1 of the second embodiment, the irradiation of light from the irradiation device 71 is stopped when the irradiation switch 61 is turned off, but alternatively, the irradiation of light from the irradiation device 71 may be automatically stopped after the irradiation device 71 emits light based on the on operation of the irradiation switch 61. As an example, the control unit 50 automatically stops the irradiation of light from the irradiation device 71 when the second sensor 70 detects that the front end of the blade 30 contacts the object D. Thus, the user can save time for turning off the irradiation switch 61, thereby improving operability.

[0229] For example, the cutter system 1 of the sixth embodiment is configured so that two types of objects can be selected in the object selection switch 168 , but may be configured so that three or more types of objects can be selected in the object selection switch 168 .

[0230] The cutter system 1 of the sixth embodiment has a structure in which a user can select a cutting object by the object selection switch 168, but alternatively, it may also have a structure for automatically identifying the cutting object. For example, a stress sensor capable of detecting the stress acting on the blade 30 is provided in the cutter system 1. The target position learning unit 56 automatically identifies the type of the learning object that the blade 30 contacts based on the stress detected by the stress sensor. For example, if a map representing the relationship between the time change of the stress acting on the blade 30 and the type of the object is prepared in advance through experiments, the target position learning unit 56 can automatically identify the type of the learning object based on the stress detected by the stress sensor based on the map. The target position learning unit 56 stores the identified type of the learning object and the set target displacement position in the memory 54 in association with each other during the learning process. When driving the actuator 40, the drive control unit 57 determines the type of the cutting object based on the stress of the blade 30 detected by the stress sensor, and displaces the blade 30 to the target displacement position after reading the target displacement position corresponding to the determined type from the memory 54. According to this structure, the type of the object can be automatically identified and the object can be cut. In addition, other sensors such as pressure sensors can be used instead of stress sensors.

[0231] In addition, it is possible to implement in various other forms without departing from the scope of the present invention. Therefore, the above-mentioned embodiments are only examples in all aspects, rather than limiting interpretations. For example, the above-mentioned processing steps can be arbitrarily changed in order or executed in parallel within the scope that the processing content does not produce contradictions.

Claims

1. A cutter system comprising: A blade for cutting an object; A force applying mechanism, used for applying force to the blade; a second sensor for detecting a condition of a front end portion of the blade; as well as A control unit controls the urging mechanism based on information detected by the second sensor.

2. The cutter system of claim 1, wherein: The cutter system further comprises: a first sensor for detecting a user's operation; The control unit controls the urging mechanism based on information detected by the first sensor and the second sensor.

3. The cutter system of claim 1, wherein: The second sensor includes any one of a laser sensor, a light sensor, and an image processing unit.

4. The cutter system of claim 1, wherein: When the control unit determines that the front end of the blade is located inside or in front of the object to be cut based on the information detected by the second sensor, the control unit controls the urging mechanism to urge the blade toward the outside of the cutter system.

5. The cutter system of claim 4, wherein: The control unit controls the urging mechanism to stop urging the blade when it is determined based on the information detected by the second sensor that the tip of the blade is located at a portion that just penetrates the object to be cut.

6. The cutter system of claim 5, wherein: When the control unit determines that the tip of the blade is located beyond the cutting object based on the information detected by the second sensor, the control unit controls the urging mechanism to urge the blade inward of the cutter system.

7. The cutter system of claim 2, wherein: The first sensor comprises a switch or a pressure sensor, The control unit controls whether to drive the urging mechanism based on information detected by the first sensor.

8. The cutter system of claim 1, wherein: The cutter system further comprises: An irradiation portion irradiates a portion of the object cut by the blade.

9. The cutter system of claim 1, wherein: The cutter system comprises: a housing that accommodates the blade and the force applying mechanism and has an opening at the bottom; and A pressing portion, which is provided in a manner to close the opening of the housing and has a hole through which the blade can pass; The housing and the pressing portion are formed of a transparent material.

10. The cutter system of claim 1, wherein: The cutter system comprises: a housing that accommodates the blade and the force applying mechanism and has an opening at the bottom; and A pressing portion, which is provided in a manner to close the opening of the housing and has a hole through which the blade can pass; The pressing portion is formed of a material having sliding properties with respect to the object.

11. The cutter system of claim 1 , wherein: The cutter system comprises: a housing that accommodates the blade and the force applying mechanism and has an opening at the bottom; and A pressing portion, which is provided in a manner to close the opening of the housing and has a hole through which the blade can pass; The pressing portion is provided with a roller.

12. A cutter system comprising: A blade for cutting an object; A force applying portion, which applies a force to the blade to displace the blade; a detection unit configured to detect a state of the blade relative to the object; a control unit that controls the force applying unit based on the state of the blade detected by the detection unit; as well as A selection portion capable of selecting between electric drive and manual operation of the blade; The control unit controls the urging unit when the electric drive is selected in the selection unit, and does not control the urging unit when the manual operation is selected in the selection unit.

13. The cutter system of claim 12, wherein: The cutter system further comprises: A storage unit storing a plurality of setting values ​​of the force of the force applying unit corresponding to the plurality of objects respectively; The control unit reads any one of a plurality of setting values ​​of the biasing force, and controls the biasing unit based on the read setting value of the biasing force.

14. The cutter system of claim 13, wherein: The cutter system further comprises: an object selection unit capable of selecting and cutting any one of the plurality of objects; The control unit obtains selection information of the object selected by the object selection unit, reads a setting value of the acting force corresponding to the obtained selection information of the object from the storage unit, and controls the force applying unit based on the read setting value of the acting force.

15. The cutter system of claim 14, wherein: The plurality of objects include cardboard and tape.

16. The cutter system of claim 12, wherein: The control unit controls the force applying unit to vibrate the blade.

17. The cutter system of claim 16, wherein: After the control unit starts controlling the urging unit and when the detection unit detects that the tip of the blade has come into contact with the object, the control unit controls the urging unit to vibrate the blade.

18. The cutter system of claim 12, wherein: The cutter system further comprises: A manual operation part can manually displace the blade.

19. A cutter system comprising: A blade for cutting an object; a driving unit that causes the blade to move toward the object; a detection unit configured to detect a state of the blade relative to the object; a target position learning unit that learns a target displacement position of the blade based on the position of the blade when the detection unit detects that the blade has penetrated the object; as well as A drive control unit controls the drive unit based on the target displacement position when displacing the blade toward the object.

20. The cutter system of claim 19, wherein: The cutter system further comprises: A learning operation unit that can be operated by the user; The target position learning unit learns the target displacement position based on the position of the blade when the detection unit detects that the blade has penetrated the object, after the drive unit is driven when the learning operation unit is operated by the user.

21. The cutter system of claim 20, wherein: The target position learning unit drives the driving unit when the user operates the learning operation unit in a state where the target displacement position has been learned, and relearns the target displacement position based on the position of the blade when the detection unit detects that the blade has penetrated the object.

22. The cutter system of claim 19, wherein: The target position learning unit is capable of learning a plurality of the target displacement positions.

23. The cutter system of claim 22, wherein: The cutter system further comprises: a selection unit, where a user can select and use any one of the plurality of target displacement positions; The drive control section controls the drive section based on the target displacement position of the blade selected in the selection section.

24. The cutter system of claim 19, wherein: The cutter system further comprises: The notification unit notifies a user when the target position learning unit completes learning of the target displacement position of the blade.

25. The cutter system of claim 19, wherein: The cutter system further comprises: The user can manually adjust the adjustment portion of the target displacement position of the blade.

26. The cutter system of claim 19, wherein: The cutter system further comprises: A driving operation unit that can be operated by a user, The drive control unit maintains the position of the blade at the target displacement position after the user operates the drive operation unit and drives the drive unit to displace the blade to the target displacement position.

27. An opening system comprising: An acquisition mechanism controls a scanner capable of measuring a three-dimensional shape to acquire a three-dimensional shape of an object containing a storage object; a setting mechanism for setting a path for cutting the object based on the acquired three-dimensional shape; an estimating mechanism for estimating the thickness of the object by performing a predetermined action on the object in at least one portion on the set path; as well as A control mechanism controls a cutting device based on the set path and the estimated thickness to open the object.

28. The unsealing system according to claim 27, wherein: The object is a paper box.

29. The unsealing system according to claim 28, wherein: The object is in the shape of a cuboid. The setting mechanism sets a path for cutting the object along the outer periphery of a rectangle constituting the upper surface of the object having a rectangular parallelepiped shape.

30. The unsealing system according to claim 29, wherein: The estimating mechanism estimates the thickness of the object at at least one of four corners of a rectangle constituting an upper surface of the object having a rectangular parallelepiped shape.

31. The unsealing system according to claim 30, wherein: The estimating mechanism estimates the thickness of the object based on the pressure of the object at the at least one corner.

32. The unsealing system according to claim 30, wherein: The estimating means estimates the thickness by causing the object to penetrate into the at least one corner.

33. A method for opening a package, wherein an information processing device executes: controlling a scanner capable of measuring a three-dimensional shape to obtain the three-dimensional shape of an object containing a storage object; Based on the obtained three-dimensional shape, setting a path for cutting the object; estimating the thickness of the object by performing a predetermined action on the object in at least one portion on the set path; as well as The object is opened by controlling a cutting device based on the set path and the estimated thickness.

34. A program causing a computer to execute: controlling a scanner capable of measuring a three-dimensional shape to obtain the three-dimensional shape of an object containing a storage object; Based on the obtained three-dimensional shape, setting a path for cutting the object; estimating the thickness of the object by performing a predetermined action on the object in at least one portion on the set path; as well as The object is opened by controlling a cutting device based on the set path and the estimated thickness.

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