Tray management system and tray inspection method

Abstract

The present invention can reduce the number of sensors for inspecting the top and bottom surfaces of a tray, and can inspect both the top and bottom surfaces of the tray. The tray management system includes: a tilter that tilts a tray in a top-bottom direction; a top / bottom direction inspection unit for discriminating the top / bottom direction of the tray; a top / bottom surface inspection unit that inspects the top / bottom surface of the tray; and a control unit that determines whether the tray is good or not, the top and bottom surface inspection unit inspects a first surface, which is either the top surface or the bottom surface of the tray, and after the tray is turned over by the turnover machine, inspects a second surface, which is the other surface of the first surface of the tray. And a determination unit that determines which one of the first surface and the second surface is the top surface or the bottom surface of the tray on the basis of the determination result obtained by the top-bottom direction inspection unit, and determines whether the tray is good on the basis of the determination result and the inspection result of the first surface and the inspection result of the second surface inspected by the top-bottom direction inspection unit.

Description

Technical Field

[0001] The invention relates to a pallet management system and a pallet inspection method. Background Art

[0002] Conventionally, systems for inspecting plate-shaped pallets used for transporting goods for defective parts are known. Patent Document 1 discloses a system that inspects various parts of a pallet for defects without manual intervention and classifies pallets with defective parts. Prior art literature Patent Literature

[0003] Patent Document 1: Japanese Patent No. 3597283 Summary of the Invention Problems to be solved by the invention

[0004] In Patent Document 1, sensor mechanisms for detecting pallet defects are disposed on both the top and bottom sides of the pallet, and these sensor mechanisms are used to inspect the top and bottom surfaces of the pallet. However, there is a demand to reduce the number of sensors used for top and bottom surface inspections.

[0005] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a pallet management system and a pallet inspection method that can reduce the number of sensors for inspecting the top and bottom surfaces of a pallet and can inspect both the top and bottom surfaces of the pallet. Solutions for solving problems

[0006] In order to achieve the above objectives, a pallet management system according to one embodiment of the present invention comprises: A turning machine that turns the top and bottom directions of the pallet carrying goods; A top and bottom direction inspection unit for determining the top and bottom directions of the tray; a top and bottom surface inspection unit for inspecting the top and bottom surfaces of the pallet; and The control unit determines whether the tray is good or not. The top and bottom surface inspection unit inspects a first surface, which is either the top surface or the bottom surface of the pallet, and after the pallet is turned over by the turning machine, the top and bottom surface inspection unit inspects a second surface, which is the other surface of the first surface of the pallet. In the control unit, determining which of the first surface and the second surface is the top surface of the tray or which is the bottom surface of the tray based on the top and bottom directions of the tray determined by the top and bottom direction inspection unit; Based on the determination result and the inspection results of the first surface and the second surface by the top and bottom surface inspection unit, a determination is made as to whether the pallet is good or not. Effects of the Invention

[0007] According to the present invention, the number of sensors for inspecting the top and bottom surfaces of a pallet can be reduced, and both the top and bottom surfaces of the pallet can be inspected.

[0008] Problems, configurations, and effects other than those described above will become clear from the specific embodiments described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a schematic block diagram showing an example of a pallet management system according to an embodiment of the present invention. Figure 2 It shows Figure 1 A perspective view of an example of the hardware configuration of a pallet management system is shown. Figure 3 This is a diagram showing an example of a state when top and bottom direction inspection and shape inspection are performed. Figure 4 This is a diagram showing an example of a state when top and bottom direction inspection and shape inspection are performed. Figure 5 This is a diagram showing the state after top and bottom direction inspection and shape inspection are performed. Figure 6 This is a diagram showing an example of a state when image inspection is performed. Figure 7 This is a diagram showing an example of a state in which a tray is lifted by a reverse machine. Figure 8 This is a diagram showing an example of a state in which a tray is rotated by a reversing machine. Figure 9 This is a diagram showing an example of a state in which a tray is rotated by a reversing machine. Figure 10 This is a diagram showing an example of a state where the rotation operation of the tray is completed and the tray has been reversed. Figure 11 This is a diagram showing an example of a state in which the inverted tray returns to a fixed position. Figure 12 This is a flowchart showing an example of the operation of the pallet management system. Figure 13 This is a flowchart showing an example of the operation of the pallet management system. DETAILED DESCRIPTION

[0010] Hereinafter, embodiments will be described with reference to the drawings.

[0011] Figure 1This is a schematic block diagram showing an example of a pallet management system 100 according to an embodiment of the present invention. Figure 2 It shows Figure 1 The illustrated perspective view is an example of the hardware configuration of the pallet management system 100 .

[0012] The pallet management system 100 is a system for inspecting both the top and bottom surfaces of a pallet 200 capable of carrying cargo. Furthermore, the pallet management system 100 is a system for unifying the top and bottom directions of the pallets 200 into predetermined predetermined top and bottom directions.

[0013] exist Figure 1 In the embodiment, the pallet management system 100 includes a control unit 110 , a top and bottom direction inspection unit 120 , a top and bottom surface inspection unit 130 , a reversing machine 140 , and a pallet conveying unit 150 .

[0014] The control unit 110 is electrically connected to the modules of the top and bottom direction inspection unit 120 , the top and bottom surface inspection unit 130 , the inverting machine 140 , and the tray conveying unit 150 , and controls the operations of these modules.

[0015] The control unit 110 includes an integrated PC (Personal Computer) 111 and a control panel 112 .

[0016] The integrated PC 111 is a computer that functions as a PLC (Programmable Logic Controller). The control panel 112 is a device that stores various electrical devices for controlling and operating each module.

[0017] The top-bottom direction inspection unit 120 determines the top-bottom direction of the tray 200. The top-bottom direction inspection unit 120 includes a side imaging unit 121.

[0018] like Figure 2 As shown, the side imaging unit 121 is provided at a position facing the side of the pallet 200 and is an area camera that captures the side of the pallet 200. The side imaging unit 121 captures the mark 201 attached to the side of the pallet 200. The top-bottom direction inspection unit 120 determines the top-bottom direction of the pallet 200 based on the direction of the mark 201 captured by the side imaging unit 121.

[0019] The top and bottom surface inspection unit 130 includes a top and bottom surface state detection unit 130A. The top and bottom surface state detection unit 130A acquires state data indicating the state of the top and bottom surfaces of the tray 200 by sensing the top and bottom surfaces of the tray 200.

[0020] The top and bottom surface state detection unit 130A includes a top and bottom surface shape detection unit 131 and a top and bottom surface imaging unit 132. The top and bottom surface shape detection unit 131 is a laser shape sensor, such as Figure 2 As shown, it is located above the tray 200. In addition, the top and bottom surface shooting unit 132 is an area camera, such as Figure 2 As shown, it is provided above the tray 200 .

[0021] The top and bottom surface inspection unit 130 acquires, as status data, shape data detected by the top and bottom surface shape detection unit 131 and image data captured by the top and bottom surface imaging unit 132. The top and bottom surface inspection unit 130 inspects the top and bottom surfaces of the tray 200 based on the acquired status data.

[0022] The turning machine 140 turns the top and bottom directions of the tray 200. Figure 2 As shown, the reversing machine 140 includes a pair of support parts 141 and a pair of rotating parts 142 .

[0023] The pair of support parts 141 supports the tray 200 arranged at a predetermined position in the inverting machine 140. The predetermined position is referred to as a "fixed position". Figure 2 In the embodiment, the tray 200 is arranged at a fixed position.

[0024] The supporting parts 141 are provided in pairs on both sides of the tray 200 to support the tray 200 from both sides. Figure 2 As shown, each support portion 141 includes a shaft portion 141A and an arm portion 141B.

[0025] The shaft portion 141A is a cylindrical shaft, and is rotated by receiving power from the rotating portion 142 .

[0026] The arm portion 141B is provided to face the side surface of the tray 200. The arm portion 141B is fixed to the shaft portion 141A and rotates around the shaft portion 141A.

[0027] The rotating portion 142 includes a motor portion 142A, a vertical guide portion 142B, and a lifting mechanism (not shown).

[0028] The motor unit 142A is housed in a housing and is a stepping motor that rotates at a predetermined angle.

[0029] The output shaft of motor 142A is integrated with shaft 141A, transmitting rotational power to shaft 141A. Shaft 141A then transmits the rotational power from rotating unit 142 to arm 141B, causing arm 141B to rotate about shaft 141A.

[0030] The lifting mechanism is housed in the housing, and moves the motor portion 142A in the up-down direction along the vertical guide portion 142B.

[0031] The tray conveying unit 150 is composed of a plurality of driving rollers and a plurality of driven rollers. The tray conveying unit 150 conveys the tray 200 to the inspection position of each module by rotating the driving rollers.

[0032] Each module of the top and bottom direction inspection unit 120, the top and bottom surface inspection unit 130, the inverting device 140, and the tray conveying unit 150 includes a storage device and a processing unit for executing software. Therefore, through the cooperation of hardware and software, these modules can operate autonomously.

[0033] Furthermore, the modules of the top-bottom direction inspection unit 120, the top-bottom surface inspection unit 130, the invertor 140, and the tray conveyor 150 operate in coordination with each other, receiving operation instructions from the control unit 110. Furthermore, the modules of the top-bottom direction inspection unit 120, the top-bottom surface inspection unit 130, the invertor 140, and the tray conveyor 150 output operation results, inspection results, and determination results, along with an operation completion notification, to the control unit 110. Based on these various results, the control unit 110 determines whether the tray 200 is defective.

[0034] Hereinafter, detailed operations of the pallet management system 100 will be described.

[0035] Figure 3 and Figure 4 This is a diagram showing an example of a state when top and bottom direction inspection and shape inspection are performed.

[0036] First, the pallet 200 to be inspected is placed on the end side of the pallet conveyor 150. The pallet conveyor 150 then conveys the pallet 200 in the forward direction. In the following description, the direction in which the pallet 200 approaches the fixed position is referred to as the "forward direction." Furthermore, the direction in which the pallet 200 moves away from the fixed position is referred to as the "reverse direction."

[0037] When the front end of the tray 200 reaches the detection position of the top and bottom surface shape detection unit 131, that is, directly below the top and bottom surface shape detection unit 131, the top and bottom surface inspection unit 130 activates the top and bottom surface shape detection unit 131 to start detecting the shape of the first surface of the tray 200.

[0038] Here, the surface to be detected at this stage is referred to as the first surface. The first surface is either the top surface or the bottom surface, and is the surface facing upward and facing the top and bottom surface shape detection unit 131 at this stage.

[0039] The top and bottom surface shape detection unit 131 detects the shape of the first surface of the tray 200 at the detection position by irradiating the tray 200 with a linear laser beam and receiving the reflected light. The top and bottom surface shape detection unit 131 detects the two-dimensional surface shape at the detection position, which is obtained by associating the widthwise coordinate values ​​of the tray 200 with the heightwise coordinate values, as the shape data of the first surface of the tray 200.

[0040] As the tray conveyor 150 continues to convey the tray 200 in the forward direction, the detection position on the first surface of the tray 200 moves relatively. Therefore, the top and bottom surface inspection unit 130 can obtain shape data of the entire area of ​​the first surface of the tray 200 by cooperating with the tray conveyor 150.

[0041] In addition, Figure 3 In the process, the top-bottom direction inspection unit 120 operates the side imaging unit 121 to start imaging the side surface of the tray 200 .

[0042] The tray conveying unit 150 continues to convey the tray 200 in the positive direction. Figure 3 The status of Figure 4 The status shown becomes Figure 5 The status shown.

[0043] In from this Figure 4 Status Figure 5 During the state transition, the side imaging unit 121 captures an image of the mark 201 attached to the side surface of the tray 200 .

[0044] The top-bottom direction inspection unit 120 determines the top-bottom orientation of the pallet 200 based on the orientation of the mark 201 captured by the side imaging unit 121. In this example, the top-bottom direction inspection unit 120 determines that the pallet 200 is reversed by determining the top-bottom orientation of the "A" attached to the mark 201. Therefore, the top-bottom direction inspection unit 120 determines that the first surface currently being inspected is the bottom surface of the pallet 200. Furthermore, if the second surface is the opposite side of the first surface, the top-bottom direction inspection unit 120 determines that the second surface is the top surface of the pallet 200. The top-bottom direction inspection unit 120 outputs the determination result to the control unit 110.

[0045] Figure 5 : is a diagram showing the state after top and bottom direction inspection and shape inspection. Figure 5 1 and 2 are diagrams showing a state in which the tray 200 is conveyed to a fixed position.

[0046] exist Figure 5In this state, the top and bottom surface inspection unit 130 detects shape data for the entire first surface, that is, the bottom surface of the tray 200. Furthermore, the top and bottom direction inspection unit 120 captures the entire side surface of the tray 200 and obtains the top and bottom direction determination result of the tray 200.

[0047] Figure 6 : is a diagram showing an example of a state when image inspection is performed. Figure 6 In the embodiment, the top and bottom surface imaging unit 132 images the tray 200 located directly below according to the operation instruction from the top and bottom surface inspection unit 130. Thus, the top and bottom surface inspection unit 130 acquires image data on the first surface of the tray 200.

[0048] Figure 7 1 and 2 are diagrams showing an example of a state in which the tray 200 is lifted by the inverting machine 140 .

[0049] When the imaging of the first surface by the top and bottom surface imaging unit 132 is completed, the pair of support units 141 of the reverser 140 supports the tray 200 arranged at the fixed position from both side surfaces.

[0050] Here, an actuator and a rod are provided at both ends of each arm 141B. When each actuator is operated, the rod is inserted into a horizontal hole formed in the side surface of the tray 200. Thus, the tray 200 is supported by the support portion 141.

[0051] It should be noted that the method of supporting the tray 200 is not limited to this, and a method in which the pair of arms 141B sandwiches and grips the tray 200 from both sides may also be used.

[0052] Thereafter, the lifting mechanism moves the motor portion 142A upward along the vertical guide portion 142B, thereby causing the tray 200 supported by the support portion 141 to move upward.

[0053] Figure 8 and Figure 9 1 is a diagram showing an example of a state in which the tray 200 is rotated by the inverting machine 140. Figure 10 1 and 2 are diagrams showing an example of a state in which the rotation operation of the tray 200 is completed and the tray 200 is reversed.

[0054] The rotating unit 142 rotates the corresponding support unit 141 by using each motor unit 142A. In response to this, the tray 200 supported by the pair of support units 141 is reversed.

[0055] Figure 11 1 and 2 are diagrams showing an example of a state in which the inverted tray 200 returns to a fixed position.

[0056] After the tray 200 is reversed, the reversing device 140 moves the pair of support parts 141 downward to return the tray 200 to the fixed position.

[0057] After that, the top and bottom surface inspection unit 130 inspects the second surface which is the other side of the first surface. The top and bottom surface inspection unit 130 operates the top and bottom surface imaging unit 132 to image the second surface. Figure 6 Perform the same actions as described for checking the first side.

[0058] After acquiring the image data of the second surface, the tray conveyor 150 conveys the tray 200 in the reverse direction to the detection position of the top and bottom surface shape detection unit 131. Then, the top and bottom surface inspection unit 130 activates the top and bottom surface shape detection unit 131 to acquire the shape data of the second surface.

[0059] The top and bottom surface shape detection unit 131 becomes Figure 5 、 Figure 4 、 Figure 3 The tray 200 is transported in each order to obtain the shape data of the second surface of the tray 200. It should be noted that the tray 200 can also be temporarily returned to Figure 3 After the position shown, the tray 200 is conveyed in the forward direction in the same manner as in the first surface, and the shape data of the second surface is acquired.

[0060] The control unit 110 determines whether the pallet 200 is good or not based on the inspection results of the first surface and the second surface by the top and bottom surface inspection unit 130. At this time, the control unit 110 determines whether the pallet 200 is good or not based on the determination result of the top and bottom direction inspection unit 120, having determined whether one of the first surface and the second surface is the top surface or the bottom surface.

[0061] Figure 12 and Figure 13 It shows Figure 1 Flowchart showing an example of the operation of the pallet management system 100.

[0062] In step S101 , the tray conveying unit 150 conveys the tray 200 in the forward direction to the inspection position of the top and bottom surface shape detecting unit 131 .

[0063] In step S102 , the top and bottom surface inspection unit 130 activates the top and bottom surface shape detection unit 131 to start detection of shape data of the first surface of the tray 200 .

[0064] In step S103 , the tray conveyor 150 conveys the tray 200 in the forward direction to the inspection position of the side imaging unit 121 . Then, in step S104 , the top-bottom direction inspection unit 120 operates the side imaging unit 121 to image the mark 201 attached to the side of the tray 200 .

[0065] In step S105, the top-bottom orientation detection unit 120 analyzes the image data captured by the side imaging unit 121. The top-bottom orientation detection unit 120 determines the top-bottom orientation of the tray 200 by performing pattern recognition based on the image data capturing the marker 201. The pattern recognition process may utilize a learned model obtained through deep learning or a pattern matching technique.

[0066] The top-bottom direction inspection unit 120 outputs the determination result of the top-bottom direction of the tray 200 to the control unit 110 .

[0067] When the top and bottom surface inspection unit 130 detects the shape data up to the end of the tray 200, the top and bottom surface shape detection unit 131 stops in step S106. This completes the detection of the shape data of the first surface of the tray 200.

[0068] In step S107 , the top and bottom surface inspection unit 130 analyzes the detected shape data. The top and bottom surface inspection unit 130 performs pattern recognition processing based on the shape data of the first surface of the tray 200 to derive an index value related to the shape data of the first surface.

[0069] Here, the "index value" refers to a value obtained by calculating the similarity between the measured data and reference data, such as data obtained from unused pallets or design data of pallet 200, and then converting the result into a score. Furthermore, the pattern recognition process in step S107 can use a method that utilizes a learned model obtained through deep learning or pattern matching technology. The top and bottom surface inspection unit 130 outputs the derived index value as an inspection result to the control unit 110.

[0070] In parallel with the shape data analysis process in step S107, in step S108, the tray conveyor 150 conveys the tray 200 to a fixed position. Note that the tray conveyor 150 may wait until the process in step S107 is completed before proceeding to step S108 as the next process.

[0071] In step S109, the top and bottom surface inspection unit 130 activates the top and bottom surface imaging unit 132 to image the pallet 200 disposed in a fixed position and obtain image data of the first surface.

[0072] The top and bottom surface inspection unit 130 performs pattern recognition based on the captured image data of the first surface to derive an index value related to the image data of the first surface. This pattern recognition process can utilize a learned model obtained through deep learning or pattern matching technology. The top and bottom surface inspection unit 130 outputs the derived index value as an inspection result to the control unit 110.

[0073] In parallel with the analysis process of the image data related to the first surface, in step S111, the inverting machine 140 inverts the tray 200. Note that the inverting machine 140 may wait until the process of step S110 is completed before proceeding to step S111 as the next process.

[0074] In step S112, the top and bottom surface inspection unit 130 activates the top and bottom surface imaging unit 132 to capture the image of the inverted tray 200, which is positioned in a fixed position, and obtain image data of the second surface. Then, in step S113, the top and bottom surface inspection unit 130 performs pattern recognition analysis based on the captured image data of the second surface.

[0075] The process of step S113 is performed in the same manner as for the first surface. The top and bottom surface inspection unit 130 derives an index value related to the image data of the second surface and outputs the derived index value to the control unit 110 as an inspection result.

[0076] In parallel with the analysis of the image data related to the second surface, in step S114, the tray conveyor 150 conveys the tray 200 to the inspection position of the top and bottom surface shape detection unit 131. It should be noted that the tray conveyor 150 may wait until the processing of step S113 is completed before proceeding to step S114 as the next step.

[0077] Next, in steps S115 and S116 , the top and bottom surface inspection unit 130 operates the top and bottom surface shape detection unit 131 to detect shape data on the second surface.

[0078] In step S117, the top and bottom surface inspection unit 130 performs pattern recognition analysis based on the acquired shape data of the second surface. This analysis is performed using the same method as for the first surface. The top and bottom surface inspection unit 130 derives an index value related to the shape data of the second surface and outputs the derived index value as the inspection result to the control unit 110.

[0079] In step S118 , the control unit 110 determines whether the tray 200 is defective based on the top and bottom direction determination result output by the top and bottom direction inspection unit 120 and the first and second surface inspection results output by the top and bottom surface inspection unit 130 .

[0080] Here, the inspection results for the first surface include index values ​​related to the shape data and image data of the first surface, that is, index values ​​related to the status data of the first surface. Furthermore, the inspection results for the second surface include index values ​​related to the shape data and image data of the second surface, that is, index values ​​related to the status data of the second surface. Hereinafter, index values ​​related to the status data will be referred to as simply index values.

[0081] The control unit 110 determines whether the pallet 200 is good or not according to the rule base. An example of the determination process based on the rule base in this embodiment will be described below.

[0082] For example, if a pallet 200 has a minor defect, the bottom surface may be judged as normal, but the top surface, which is easily visible, may be judged as defective. Therefore, in this embodiment, even if the top and bottom surfaces have the same degree of defect, the judgment results may differ.

[0083] The control unit 110 stores a top surface threshold and a bottom surface threshold. The top surface threshold is a threshold used for comparison with the index value of the top surface of the tray 200. The bottom surface threshold is a threshold used for comparison with the index value of the bottom surface of the tray 200. Different values ​​are set so that the top surface is evaluated more strictly than the bottom surface.

[0084] Based on the top-bottom direction determination result, the control unit 110 determines whether the index value of the first surface is the index value of the top surface or the bottom surface of the tray 200. Similarly, the control unit 110 determines whether the index value of the second surface is the index value of the top surface or the bottom surface of the tray 200.

[0085] The control unit 110 compares the index value of the surface determined as the top surface with the top surface threshold. As in the above example, if the first surface is the bottom surface and the second surface is the top surface, the index value of the second surface is compared with the top surface threshold.

[0086] Furthermore, the control unit 110 compares the index value of the surface determined as the bottom surface with the bottom surface threshold value. Here, the index value of the first surface is compared with the bottom surface threshold value.

[0087] In step S121, if the comparison results show that both the top and bottom surfaces are good, the control unit 110 determines that the product is good. On the other hand, if either the top or bottom surface has a defective portion outside the allowable range, the control unit 110 determines that the product is poor. This determination result is notified to the operator.

[0088] In step S125 , the tray 200 determined to be defective is removed from the conveyance line by the tray conveying unit 150 .

[0089] On the other hand, for the tray 200 determined to be good, the processing from step S122 onward is performed to unify the top-bottom direction of the tray 200 to a predetermined top-bottom direction.

[0090] In step S122, the control unit 110 refers to the determination result of the top-bottom orientation detection unit 120 to determine whether it is necessary to reverse the tray 200 in its current state. If it is determined that reversal is not necessary, that is, if the top-bottom orientation of the tray 200 in its current state is the specified top-bottom orientation, the control unit 110 advances the process to step S126.

[0091] On the other hand, if it is determined in step S122 that reversal is necessary, that is, if the top-bottom direction of the tray 200 is currently opposite to the predetermined top-bottom direction, the control unit 110 advances the process to step S123 .

[0092] In step S123 , the tray conveying unit 150 conveys the tray 200 to a fixed position. Then, in step S124 , the inverting machine 140 inverts the top and bottom directions of the tray 200 .

[0093] Upon receiving the notification of the completion of the inversion from the inverting machine 140, the control unit 110 proceeds to step S126. In step S126, the control unit 110 controls the tray conveyor 150 to convey the tray 200 to the next process module. Here, the tray 200 is conveyed to a cleaning unit with a cleaning function, a maintenance unit with a polishing function, or the like.

[0094] After step S125 or step S126, the control unit 110 ends Figure 12 and Figure 13 It should be noted that, when it is necessary to continue processing on another tray 200 , the control unit 110 returns the process to step S101 and performs the same processing as above on the other tray 200 .

[0095] The pallet management system 100 in this embodiment includes a turning machine 140 and a top and bottom surface inspection unit 130. The turning machine 140 turns a pallet 200, which can carry cargo, upside down. The top and bottom surface inspection unit 130 inspects a first surface, which is either the top or bottom surface of the pallet 200. After the pallet 200 is turned over by the turning machine 140, the second surface inspection unit 130 inspects the other surface of the pallet 200.

[0096] Therefore, by providing sensors on either the top or bottom sides, it is possible to inspect both the top and bottom surfaces of the tray 200. Therefore, the number of sensors for inspecting the top and bottom surfaces can be reduced, and both the top and bottom surfaces of the tray 200 can be inspected.

[0097] Furthermore, in the pallet management system 100, the top-bottom orientation inspection unit 120 determines the top-bottom orientation of the pallet 200. Based on the determined top-bottom orientation of the pallet 200, the control unit 110 determines which of the first and second surfaces is the top or bottom of the pallet 200. The control unit 110 then determines whether the pallet 200 is defective based on the determination, the inspection results of the first and second surfaces, and the inspection results of the second surfaces. Thus, the pallet 200 can be inspected after the top and bottom surfaces of the pallet 200 have been determined.

[0098] Furthermore, the top and bottom surface inspection unit 130 inspects the first and second surfaces based on the status data indicating the status of the first and second surfaces detected by the top and bottom surface status detection unit 130A.

[0099] Furthermore, the top and bottom surface state detection unit 130A detects shape data indicating the surface shapes of the first and second surfaces as state data. Therefore, quantitative inspection can be performed based on the detection of the concavo-convex shapes of the top and bottom surfaces of the tray 200.

[0100] Furthermore, the top and bottom surface state detection unit 130A acquires image data obtained by capturing the first surface and the second surface as state data, thereby enabling inspection of the top and bottom surfaces of the tray 200 based on the image data.

[0101] Furthermore, the inverting device 140 rotates the support portion 141 supporting the tray 200 via the rotating portion 142, thereby inverting the tray 200. Therefore, the tray 200 can be inverted using a simple mechanical structure. It should be noted that the inverting device 140 inverts the tray 200, but is not limited to rotating the tray 200 180 degrees; the tray 200 can also be rotated by any desired angle.

[0102] Furthermore, the support portion 141 supports the tray 200, which is positioned at a predetermined fixed position. The rotating portion 142 moves the support portion 141 upward while supporting the tray 200, and then rotates the support portion 141. The rotating portion 142 then moves the support portion 141 downward, returning the tray 200 to its fixed position. This allows the tray 200 to be flipped in mid-air without any obstructions.

[0103] Furthermore, the support parts 141 are provided in pairs on both sides of the tray 200. Therefore, the tray 200 can be stably supported.

[0104] Furthermore, the top-bottom direction inspection unit 120 images the mark 201 attached to the side of the tray 200 and determines the top-bottom direction of the tray 200 based on the direction of the mark 201. Therefore, the top-bottom direction of the tray 200 can be determined by a simple method.

[0105] Furthermore, the control unit 110 determines whether to reverse the tray 200 based on the determined top-bottom orientation of the tray 200 so that the tray 200 is in a predetermined top-bottom orientation. If it is determined that reversal is necessary, the control unit 110 controls the reversing device 140 to reverse the tray 200. This allows the manual alignment of the tray 200's top-bottom orientation, which was previously performed manually by an operator, to be performed mechanically.

[0106] Furthermore, the top-bottom orientation inspection unit 120 determines the top-bottom orientation of the pallet 200 by performing pattern recognition based on image data obtained by photographing the markings 201 attached to the side surfaces of the pallet 200. The top-bottom surface inspection unit 130 then performs pattern recognition based on the status data of the first and second surfaces of the pallet 200, thereby deriving an index value representing the status of the first surface and an index value representing the status of the second surface as inspection results. The control unit 110 then determines the quality of the pallet 200 based on the determined top-bottom orientation of the pallet 200 and the derived index values ​​for the first and second surfaces, according to a rule base. This allows for a more quantitative determination of the quality of the pallet 200.

[0107] Furthermore, the control unit 110 maintains different threshold values ​​for each of the top surface threshold value and the bottom surface threshold value. The control unit 110 then compares the index value of the surface, of the first and second surfaces, identified as the top surface of the pallet 200 with the top surface threshold value. Furthermore, the control unit 110 compares the index value of the surface, of the first and second surfaces, identified as the bottom surface of the pallet 200 with the bottom surface threshold value. Based on the results of each comparison, the control unit 110 determines whether the pallet 200 is good or not. Thus, it is possible to determine whether the pallet 200 is good or not for each of the bottom and top surfaces of the pallet 200.

[0108] Furthermore, a pallet inspection method using the method in this embodiment can be provided.

[0109] It should be noted that the process of unifying the top and bottom directions can also be configured to turn over multiple trays 200 together before or after inspection. For example, before inspection, all trays 200 can be turned in the opposite direction to the specified top and bottom direction. In this way, after inspection, all trays 200 can be turned in the specified top and bottom direction.

[0110] Furthermore, the vertical movement of the rotating unit 142 may be used to adjust the distance between the top and bottom surface imaging unit 132 and the tray 200 when inspecting top and bottom images. The thickness of the tray 200 varies depending on the model and type. Therefore, when the top and bottom surface imaging unit 132 captures images of the top and bottom surfaces, the thickness of the tray 200 may cause focus errors. Therefore, by making the distance between the top and bottom surface imaging unit 132 and the tray 200 adjustable, focus can be maintained.

[0111] In this embodiment, there is only one side imaging unit 121, which is provided only at a position facing one side surface of the tray 200. Alternatively, the side imaging unit 121 may be provided at positions facing both sides of the tray 200.

[0112] Hereinafter, various aspects of the present disclosure are summarized and described as supplementary notes.

[0113] (Note 1) A pallet management system, comprising: A turning machine that turns the top and bottom directions of the pallet carrying goods; A top and bottom direction inspection unit for determining the top and bottom directions of the tray; a top and bottom surface inspection unit for inspecting the top and bottom surfaces of the pallet; and The control unit determines whether the tray is good or not. The top and bottom surface inspection unit inspects a first surface, which is either the top surface or the bottom surface of the pallet, and after the pallet is turned over by the turning machine, the top and bottom surface inspection unit inspects a second surface, which is the other surface of the first surface of the pallet. In the control unit, determining which of the first surface and the second surface is the top surface of the tray or which is the bottom surface of the tray based on the top and bottom directions of the tray determined by the top and bottom direction inspection unit; Based on the determination result and the inspection results of the first surface and the second surface by the top and bottom surface inspection unit, a determination is made as to whether the pallet is good or not. (Note 2) The pallet management system according to Supplementary Note 1, wherein: The top and bottom surface inspection unit includes a top and bottom surface state detection unit, and inspects the first and second surfaces based on state data indicating states of the first and second surfaces detected by the top and bottom surface state detection unit. (Note 3) The pallet management system according to Supplementary Note 2, wherein: The top and bottom surface state detection unit includes a top and bottom surface shape detection unit that detects shape data indicating the surface shapes of the first surface and the second surface as the state data. (Note 4) The pallet management system according to Supplement 2 or Supplement 3, wherein: The top and bottom surface state detection unit includes a top and bottom surface imaging unit, and acquires image data obtained by imaging the first surface and the second surface as the state data. (Note 5) The pallet management system according to any one of Supplementary Notes 1 to 4, wherein: The turning machine has: a support portion that supports the tray; and a rotating portion for rotating the supporting portion; The rotating portion rotates the supporting portion supporting the tray, thereby reversing the tray. (Note 6) The pallet management system according to Supplementary Note 5, wherein: The support portion supports the tray arranged at a predetermined fixed position. The rotating portion moves the support portion supporting the tray upward, rotates the support portion, and then moves the support portion downward to return the tray to the fixed position. (Note 7) The pallet management system according to Supplement 5 or Supplement 6, wherein: The supporting parts are provided in pairs on both sides of the tray. (Note 8) The pallet management system according to any one of Supplementary Notes 1 to 7, wherein: There are markings on the side of the pallet. The top-bottom direction inspection unit includes a side imaging unit that images the side surface of the pallet, and determines the top-bottom direction of the pallet based on the direction of the mark imaged by the side imaging unit. (Note 9) The pallet management system according to any one of Supplementary Notes 1 to 8, wherein: The control unit determines whether to reverse the tray so that the tray has a predetermined top-bottom orientation based on the top-bottom orientation of the tray determined by the top-bottom orientation detection unit. When it is determined that reversal is necessary, the control unit causes the reversing device to reverse the tray. (Note 10) The pallet management system according to Supplementary Note 2, wherein: The top-bottom direction inspection unit determines the top-bottom direction of the pallet by performing pattern recognition processing based on image data obtained by photographing a mark attached to the side of the pallet. The top and bottom surface inspection unit performs pattern recognition processing based on the state data of the first surface and the second surface of the pallet, thereby deriving an index value representing the state of the first surface and an index value representing the state of the second surface as the inspection result. The control unit determines whether the pallet is good or not according to a rule base based on the top and bottom directions of the pallet determined by the top and bottom direction inspection unit and the index values ​​of the first and second surfaces derived by the top and bottom surface inspection unit. (Note 11) The pallet management system according to Supplementary Note 10, wherein: The control unit maintains a top threshold and a bottom threshold, The top surface threshold is a threshold for comparison with an index value indicating the state of the top surface of the pallet. The bottom surface threshold is a threshold for comparison with an index value indicating the state of the bottom surface of the tray, and is a threshold value having a value different from the top surface threshold. In the control unit, comparing the index value of the surface of the first surface and the second surface determined to be the top surface of the tray with the top surface threshold value, comparing the index value of the surface determined to be the bottom surface of the tray between the first surface and the second surface with the bottom surface threshold value, Based on the results of the comparisons, a determination is made as to whether the tray is good or not. (Note 12) A pallet inspection method, wherein: Identify the top and bottom directions of pallets that can carry goods. performing an inspection of a first surface, which is either the top surface or the bottom surface of the pallet, Use a turning machine to turn the top and bottom directions of the tray over, After the pallet is turned over by the turning machine, a second surface of the pallet, which is the other side of the first surface, is inspected. Based on the determined top-bottom direction of the tray, determining which of the first surface and the second surface is the top surface of the tray or which is the bottom surface of the tray, Based on the determined result, the inspection result of the first surface, and the inspection result of the second surface, a determination is made as to whether the pallet is good or not. (Note 13) A pallet inspection method, wherein: Acquire image data obtained by photographing a mark attached to the side of a pallet capable of carrying goods, and perform pattern recognition processing based on the image data to determine the top and bottom directions of the pallet. acquiring state data indicating the state of a first surface, which is either the top surface or the bottom surface of the tray, and performing pattern recognition processing based on the state data to derive an index value indicating the state of the first surface; Acquiring state data of a second surface of the tray, which is the other side of the first surface, detected after the tray is turned over by a turning machine, performing pattern recognition processing based on the state data, thereby deriving an index value representing the state of the second surface, Based on the determined top and bottom directions of the pallet, the derived index value of the first surface, and the derived index value of the second surface, a determination is made as to whether the pallet is good or not according to a rule base. Description of Reference Numerals

[0114] 100: Pallet management system; 110: Control unit; 111: Integrated PC; 112: Control panel; 120: Top and bottom direction inspection unit; 121: Side shooting unit; 130: Top and bottom surface inspection unit; 130A: Top and bottom surface status detection unit; 131: Top and bottom surface shape detection unit; 132: Top and bottom surface shooting unit; 140: Turning machine; 141: Support unit; 141A: Shaft unit; 141B: Arm unit; 142: Rotating unit; 142A: Motor unit; 142B: Vertical guide unit; 150: Pallet conveying unit; 200: Pallet; 201: Marking.

Claims

1. A pallet management system, comprising: A turning machine that turns the top and bottom directions of the pallet that can carry goods; A top and bottom direction inspection unit for determining the top and bottom directions of the tray; a top and bottom surface inspection unit for inspecting the top and bottom surfaces of the pallet; and The control unit determines whether the tray is good or not. The top and bottom surface inspection unit inspects a first surface that is either a top surface or a bottom surface of the pallet, and after the pallet is turned over by the turning machine, the top and bottom surface inspection unit inspects a second surface that is the other surface of the first surface of the pallet. In the control unit, determining which of the first surface and the second surface is the top surface of the tray or which is the bottom surface of the tray based on the top and bottom directions of the tray determined by the top and bottom direction inspection unit, Based on the determined result and the inspection result of the first surface and the inspection result of the second surface inspected by the top and bottom surface inspecting unit, it is determined whether the tray is good or not.

2. The pallet management system according to claim 1, wherein: The top and bottom surface inspection unit includes a top and bottom surface state detection unit, and inspects the first surface and the second surface based on state data indicating states of the first surface and the second surface detected by the top and bottom surface state detection unit.

3. The pallet management system according to claim 2, wherein: The top and bottom surface state detection unit includes a top and bottom surface shape detection unit that detects shape data indicating surface shapes of the first surface and the second surface as the state data.

4. The pallet management system according to claim 2, wherein: The top and bottom surface state detection unit includes a top and bottom surface imaging unit, and acquires image data obtained by imaging the first surface and the second surface as the state data.

5. The pallet management system according to claim 1, wherein: The turning machine has: a supporting portion that supports the tray; and a rotating part, causing the supporting part to rotate, The rotating portion rotates the supporting portion in a state of supporting the tray, thereby reversing the tray.

6. The pallet management system according to claim 5, wherein: The support portion supports the tray disposed at a predetermined fixed position. The rotating portion moves the supporting portion supporting the tray upward, rotates the supporting portion, and then moves the supporting portion downward to return the tray to the fixed position.

7. The pallet management system according to claim 5, wherein: The support parts are arranged in pairs on both sides of the tray.

8. The pallet management system according to claim 1, wherein: A marking is attached to the side of the pallet. The top-bottom direction inspection unit includes a side imaging unit that images the side surface of the pallet, and determines the top-bottom direction of the pallet based on the direction of the mark imaged by the side imaging unit.

9. The pallet management system according to claim 1, wherein: The control unit determines whether to reverse the tray so that the tray has a predetermined top-bottom direction based on the top-bottom direction of the tray determined by the top-bottom direction detection unit. When it is determined that reversal is necessary, the control unit causes the reversing device to reverse the tray.

10. The pallet management system according to claim 2, wherein: The top-bottom direction inspection unit determines the top-bottom direction of the tray by performing pattern recognition processing based on image data obtained by photographing a mark attached to the side of the tray. The top and bottom surface inspection unit performs pattern recognition processing based on the state data of the first surface and the second surface of the tray, thereby deriving an index value representing the state of the first surface and an index value representing the state of the second surface as the inspection result, The control unit determines whether the pallet is good or not according to a rule base based on the top and bottom directions of the pallet determined by the top and bottom direction inspection unit and the index values ​​of the first surface and the second surface derived by the top and bottom surface inspection unit.

11. The pallet management system according to claim 10, wherein: The control unit maintains a top surface threshold and a bottom surface threshold, The top surface threshold is a threshold for comparison with an index value indicating the state of the top surface of the tray. The bottom surface threshold is a threshold for comparison with an index value indicating the state of the bottom surface of the tray, and is a threshold value having a value different from the top surface threshold. In the control unit, comparing the index value of the surface of the first surface and the second surface determined to be the top surface of the tray with the top surface threshold value, comparing the index value of the surface of the first surface and the second surface determined to be the bottom surface of the tray with the bottom surface threshold value, Based on the results of each of the comparisons, a determination is made as to whether the tray is good or not.

12. A pallet inspection method, wherein: Determine the top and bottom directions of the pallet that can carry goods. performing an inspection of a first surface which is either a top surface or a bottom surface of the tray, The top and bottom directions of the tray are turned over by using a turning machine. After the pallet is turned over by the turning machine, a second surface of the pallet, which is the other side of the first surface, is inspected. Based on the determined top and bottom directions of the tray, determine which of the first surface and the second surface is the top surface of the tray or which is the bottom surface of the tray, Based on the determined result, the inspection result of the first surface, and the inspection result of the second surface, a determination is made as to whether the tray is good or not.

13. A pallet inspection method, wherein: Acquire image data obtained by photographing a mark attached to the side of a pallet capable of carrying goods, and perform pattern recognition processing based on the image data to thereby determine the top and bottom directions of the pallet, acquiring state data indicating the state of a first surface, which is either the top surface or the bottom surface of the tray, and performing pattern recognition processing based on the state data to thereby derive an index value indicating the state of the first surface; Acquire state data of a second surface, which is the other side of the first surface of the tray, detected after the tray is turned over by a turning machine, and perform pattern recognition processing based on the state data to derive an index value representing the state of the second surface, Based on the determined top and bottom directions of the pallet, the derived index value of the first surface, and the derived index value of the second surface, a determination is made as to whether the pallet is good or not according to a rule base.

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