Control system and control program

Abstract

A control system has a processor that acquires the size of a paper sheet of a stack of paper sheets, and before a counter counts the number of paper sheets of the stack of paper sheets, causes a plurality of pressing portions to move to each of two adjacent sides of the stack of paper sheets other than a side that touches the counter, based on the size of the paper sheet, and controls the plurality of pressing portions to press each of the two adjacent sides during counting by the counter.

Description

Technical Field

[0001] This invention relates to a control system and a control program. Background Technology

[0002] For example, Patent Document 1 describes a paper offset prevention device for the paper output section of a sheet-fed printer. This device is installed in the paper output section of the sheet-fed printer to prevent paper from shifting laterally relative to the transport direction of printed materials stacked on a lifting stacking platform. The paper offset prevention device includes a paper-pressing component that restricts the movement of the sides of the printed materials on the lifting stacking platform when it is in a descending position during the material handling operation.

[0003] Previous technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 5-139606 Summary of the Invention

[0006] The technical problem to be solved by the invention

[0007] Sometimes, a robotic arm (hereinafter referred to as "the arm") is used to move stacks of paper to a post-processing unit. In this case, because it is difficult to move the entire stack of paper at once, the arm is used to hold the stack after counting a certain number of sheets.

[0008] A disc counter is used to count the number of sheets in a stack of paper. The disc is rotated and slid between the sheets to count them one by one.

[0009] When counting papers at a certain speed, the paper can be stretched due to friction between the disc and the paper, potentially causing the stack to collapse. A simple solution to prevent this stretching is to surround the sides of the stack with a wall, excluding the side that touches the counter. However, surrounding the sides with a wall can sometimes hinder the arm's movement in holding the stack.

[0010] The present invention provides a control system and control program that can count the number of sheets in the stack of paper while pressing the stack of paper without hindering the arm's movement of holding the stack of paper.

[0011] means for solving technical problems

[0012] (1) The control system of one aspect of the present invention includes a processor that performs the following processing: obtaining the size of a stack of paper, i.e., the size of the paper in the stack of paper, and before counting the number of sheets of paper in the stack of paper using a counter, moving a plurality of pressing parts to each of two adjacent sides of a plurality of sides of the stack of paper, excluding the side that touches the counter, according to the size of the paper, and controlling the plurality of pressing parts to press each of the two adjacent sides during the counting of the counter.

[0013] (2) In the control system of (1), the processor can further obtain at least one of the thickness of the paper stack and the paper type, and can change the position of the side of the plurality of pressing parts pressed according to the thickness of the paper and the paper type.

[0014] (3) In the control system of (2), the distance between the pressing part and the counter when the paper stack is the first paper can be shorter than the distance between the pressing part and the counter when the paper stack is the second paper with a thickness greater than the first paper.

[0015] (4) In any of the control systems in (1) to (3), the processor may further control other pressing parts, different from the plurality of pressing parts, to press the upper surface of the stack of paper during the counting of the counter.

[0016] (5) In the control system of (4), the processor can further obtain at least one of the thickness of the paper stack and the paper type, and can change the position of the upper surface of the other pressing part based on the thickness of the paper and at least one of the paper type.

[0017] (6) In the control system of (5), the distance between the other pressing part and the counter when the paper in the paper stack is the first paper can be shorter than the distance between the other pressing part and the counter when the paper in the paper stack is the second paper with a thickness greater than the first paper.

[0018] (7) In any of the control systems in (1) to (6), at least one of the plurality of pressing parts can press the side of the pressing part that is closest to the counter.

[0019] (8) In any of the control systems in (1) to (7), there may also be a learning completed model, which is generated by machine learning on the learning data. The learning data uses attribute information including paper size, number of sheets, paper type and thickness as explanatory variables and the position of the side of the multiple pressing parts as the target variable. The processor can input attribute information related to the paper stack into the learning completed model and obtain the position of the side of the multiple pressing parts from the learning completed model.

[0020] (9) In any of the control systems in (1) to (8), the plurality of pressing parts may be a plurality of arms capable of holding the stack of paper, and the processor may control the plurality of arms to hold the preset number of paper after pressing the two adjacent sides with the plurality of arms while counting the preset number of paper with the counter.

[0021] (10) In the control system of (9), the processor may, after counting all the sheets of paper in the stack of paper using the counter, move the counter away from the position of touching the counter so as not to become an obstacle when placing a new stack of paper.

[0022] (11) In the control system of (9) or (10), the counter may be a disk-rotating counter in which the disk rotates in the direction along the edge of the stack of paper, and the processor may change the side of the plurality of arms pressing according to the rotation direction of the disk.

[0023] (12) In the control system of (11), any one of the multiple arms can press the side that is to the right of the counter when the disk is rotating to the right, and can press the side that is to the left of the counter when the disk is rotating to the left.

[0024] (13) The control program of another aspect of the present invention causes the computer to perform the following process: obtain the size of the stack of paper, i.e. the size of the paper in the stack of paper, and before counting the number of sheets of paper in the stack of paper using a counter, based on the size of the paper, move a plurality of pressing parts to each of two adjacent sides of a plurality of sides of the stack of paper, excluding the side that touches the counter, and control the plurality of pressing parts to press each of the two adjacent sides during the counting of the counter.

[0025] Invention Effects

[0026] According to (1) and (13), it is possible to count the number of sheets of paper in the stack while pressing the stack of paper without hindering the arm's action of holding the stack of paper.

[0027] According to (2), compared with the case where the same position on the side is pressed regardless of the thickness and type of paper, the paper is less likely to be stretched during the counting process of the counter.

[0028] According to (3), compared to the case where the distance between the pressing part and the counter is set to be the same regardless of the thickness of the paper, it is possible to prevent the paper from being stretched during the counting period of the counter.

[0029] According to (4), compared to pressing only the side of the paper stack, it is possible to prevent the paper from being stretched during the counting process of the counter.

[0030] According to (5), compared with the case where the same position on the top surface is pressed regardless of the thickness and type of paper, the paper is less likely to be stretched during the counting process of the counter.

[0031] According to (6), compared to the case where the distance between other pressing parts and the counter is set to be the same regardless of the thickness of the paper, it is possible to prevent the paper from being stretched during the counting period of the counter.

[0032] According to (7), compared with the case where the distance between the pressing part and the counter is not set to the shortest distance, the paper is less likely to be stretched during the counting period of the counter.

[0033] According to (8), the paper is less likely to be stretched during the period when the learned model is being used and the counter is counting.

[0034] According to (9), multiple arms can be used to press the sides of the paper stack, and the same multiple arms can be used to hold a preset number of sheets of paper.

[0035] According to (10), the counter will not be an obstacle when placing a new stack of paper.

[0036] According to (11), compared with the case where the same side is pressed regardless of the direction of rotation of the disc, the paper is less likely to be stretched during the counting period of the counter.

[0037] According to (12), compared with the case where the same side is pressed regardless of whether the disk rotates to the right or left, the paper is less likely to be stretched during the counting period of the counter. Attached Figure Description

[0038] Figure 1 This is a diagram illustrating an example of the state of a control system for processing stacks of paper when viewed from an oblique angle.

[0039] Figure 2 This is a diagram showing an example of the state of a control system as observed from the top surface.

[0040] Figure 3 This is a diagram showing an example of a gripper mounted on the front end of an arm.

[0041] Figure 4 This is a diagram illustrating an example of the main structure of a counter.

[0042] Figure 5 This is a block diagram illustrating an example of the main structural components of the electrical system in a control device constructed using a computer.

[0043] Figure 6 This is a block diagram illustrating an example of the functional structure of a control device.

[0044] Figure 7 This is a diagram representing an example of a data table.

[0045] Figure 8 This is a diagram representing an example of a model that has been learned.

[0046] Figure 9 This is a flowchart illustrating an example of a paper handling process based on a control procedure implemented in this way.

[0047] Figure 10 This is a perspective view schematically illustrating an example of pressing down on two adjacent sides of a stack of papers using a gripper located at the front end of the arm.

[0048] Figure 11A This is a top view schematically illustrating an example of pressing down on two adjacent sides of a stack of papers using a gripper located at the front end of the arm.

[0049] Figure 11B This is a top view schematically illustrating an example of pressing down on two adjacent sides of a stack of papers using a gripper located at the front end of the arm.

[0050] Figure 12 This is a top view schematically illustrating another example of pressing down on two adjacent sides of a stack of papers using a gripper located at the front end of the arm.

[0051] Figure 13 This is an example of a situation where a gripper's claws are used to hold a stack of papers.

[0052] Figure 14 This is a diagram illustrating an example of using a clamp to hold a stack of papers.

[0053] Figure 15 This is a top view schematically illustrating an example of how a counter is pushed back when a new stack of paper is placed. Detailed Implementation

[0054] Hereinafter, embodiments of the invention will be described with reference to the accompanying drawings. Furthermore, the same reference numerals are used throughout the drawings for the same constituent elements and processes, and repeated descriptions are omitted.

[0055] <System Architecture>

[0056] Figure 1 This is a diagram illustrating an example of the state of the control system 1 that processes the stack of paper 14 when viewed from an oblique angle. Figure 2 This is a diagram showing an example of the state of the control system 1 as viewed from the top surface. The control system 1 includes an arm 2 that holds an object using a gripper 8 mounted at the front end, a counter 4 that counts the number of sheets of paper 14A in the stack of paper 14, and a control device 10 that controls the arm 2 and the counter 4.

[0057] A loading table 3 is provided within the working range of arm 2, and a stack of papers 14 is loaded onto the loading table 3. The shape of the paper 14A processed by control system 1 is not limited; for example, the paper 14A is cut into rectangular pieces. The stack of papers 14 consists of multiple sheets of paper 14A. In this case, to facilitate loading the stack of papers 14, the loading surface of the loading table 3 is also rectangular. The stack of papers 14 is, for example, a stack of printed paper 14A, loaded onto the loading table 3 with the printed side of the paper 14A facing upwards.

[0058] The control device 10 controls the counter 4 and the arm 2. The counter 4 counts the number of sheets 14A of the paper stack 14 loaded on the loading table 3. The clamp 8 holds the counted number of sheets 14A and the arm 2 moves them to, for example, the paper straightener 5.

[0059] Counter 4 is a device for counting the number of sheets of paper 14A in the paper stack 14. Counter 4 has a disc drive mechanism 43 and a disc 44 at the front end of a wrist 42 extending horizontally from the upper part of the support platform 41. The position of counter 4 is not particularly limited, as long as it allows for counting the number of sheets of paper 14A in the paper stack 14. (This will be discussed later.) Figure 4 The main structure of counter 4 is shown in the figure.

[0060] For example, a paper straightener 5 refers to a device that arranges the stack of paper 14 by aligning the outlines of each sheet of paper 14A before performing post-processing steps such as collating and binding.

[0061] A support column 7 is mounted on the platform 16 on which the arm 2 is mounted, and a 3D sensor 6 is mounted on the front end of the support column 7. The platform 16 can be positioned, for example, around the loading table 3. The position of the platform 16 is not particularly limited as long as it is a position where the paper handling process performed by the arm 2 can be carried out. In addition, the arm 2 can move freely around the loading table 3.

[0062] The 3D sensor 6 is an example of a three-dimensional sensor that measures the position of the stack of paper 14 loaded on the loading platform 3 in three-dimensional space. The position of the stack of paper 14 in three-dimensional space is represented by coordinate values ​​of three-dimensional coordinates set in three-dimensional space (hereinafter referred to as "three-dimensional coordinate values").

[0063] In control system 1, a pre-set position in three-dimensional space is set as the origin of the three-dimensional coordinate system. As an example, in this embodiment, any vertex on the loading surface of the loading platform 3 is set as the origin of the three-dimensional coordinate system. In this case, the long side direction of the loading platform 3, viewed from a position opposite to its loading surface, is set as the X-axis, the short side direction as the Y-axis, and the vertical direction as the Z-axis. The loading surface of the loading platform 3 does not need to be horizontally aligned with the floor; for example, it can be angled relative to the floor to facilitate the arm 2's grip on the paper stack 14. In this embodiment, the loading surface of the loading platform 3 is horizontally aligned with the floor.

[0064] The 3D sensor 6 detects the three-dimensional coordinates of various locations on the paper stack 14 by measuring the distances to these locations. Furthermore, detecting the three-dimensional coordinates of these locations also helps in determining the shape of the paper stack 14. The 3D sensor 6 may employ various sensors capable of measuring distances to objects, such as LiDAR (Light Detection and Ranging), TOF (Time-of-Flight) sensors, and stereo cameras.

[0065] exist Figure 1 In this example, the 3D sensor 6 is mounted on the support column 7. The position of the 3D sensor 6 can be, for example, any position on the printed surface of paper 14A of the paper stack 14, i.e., on the paper stack 14 itself, where the overall position of the paper stack 14 can be observed from the Z-axis direction and its relative position to the paper stack 14 remains unchanged. As an example, the 3D sensor 6 can also be mounted on the ceiling of the room where the arm 2 is located. Alternatively, the 3D sensor 6 can be mounted on the arm 2. In this case, to detect the three-dimensional coordinate values ​​of the paper stack 14, the 3D sensor 6 is moved along the shape of the paper stack 14, or moved to a position where the entire paper stack 14 can be seen, to detect the three-dimensional coordinate values ​​of the paper stack 14.

[0066] exist Figure 1 and Figure 2An example of a control system 1 with two arms 2 is shown, but the number of arms 2 is not limited. The control system 1 can have multiple arms 2, or even more than three. However, as the number of arms 2 increases, the cost of the control system 1 increases, and the control becomes more complex; therefore, two arms 2 are preferred.

[0067] <Structure of the clamp>

[0068] Figure 3 This diagram shows an example of a gripper 8 mounted on the front end of arm 2. The gripper 8 includes, for example, two claws 9 that grip an object according to control from control device 10.

[0069] One of the two claws 9, claw 9A, is a circular claw 9 with its front end machined into a round shape. To facilitate holding a predetermined number of sheets 14A of the paper stack 14, an elastomer, such as rubber, is installed on the contact surface of claw 9A, for example, with the predetermined number of sheets 14A. The other claw 9B, to facilitate supporting the predetermined number of sheets 14A from below, has a flat, scraper-shaped contact surface with the predetermined number of sheets 14A. Because claw 9B is scraper-shaped, it is easier to insert into the gaps between sheets 14A than claw 9A. Furthermore, an elastomer is also installed on the contact surface of claw 9B with the predetermined number of sheets 14A. Hereinafter, claws 9A and 9B will be referred to as "claw 9" without distinction.

[0070] <Structure of the Counter>

[0071] Figure 4 This diagram illustrates an example of the main structure of counter 4. As described above, a disk 44 is provided on counter 4.

[0072] The counter 4 is, for example, a disk-rotating counter in which the disk 44 rotates in the direction along the edge of the paper 14A of the paper stack 14. The counter 4 can count the paper 14A one by one by rotating the disk 44 relative to the side 14S of the paper stack 14 and sliding it between the paper 14A.

[0073] <Structure of the Control Device>

[0074] Figure 5 This is a block diagram illustrating an example of the main structural components of the electrical system in a control device 10 constructed using a computer.

[0075] like Figure 5As shown, the control device 10 includes a CPU (Central Processing Unit) 21, a ROM (Read Only Memory) 22, a RAM (Random Access Memory) 23, an input / output interface (I / O) 24, a storage unit 25, a communication unit 26, and a connection unit 27.

[0076] CPU 21, ROM 22, RAM 23, and I / O 24 are connected via a bus. Various functional units, including a storage unit 25, a communication unit 26, and a connection unit 27, are connected to I / O 24. These functional units can communicate with CPU 21 via I / O 24.

[0077] The control unit comprises CPU 21, ROM 22, RAM 23, and I / O 24. The control unit can be configured as a sub-control unit controlling a portion of the operation of the control device 10, or as part of a main control unit controlling the overall operation of the control device 10. Part or all of the blocks of the control unit may utilize integrated circuits such as LSI (Large Scale Integration) or IC (Integrated Circuit) chipsets. Each block may use a separate circuit, or a circuit integrating part or all of it. The blocks may be integrated as a single unit, or some blocks may be separated. Furthermore, within each of the blocks, a portion may be separated. The integration of the control unit is not limited to LSI; dedicated circuits or general-purpose processors may also be used.

[0078] The storage unit 25 may be, for example, an HDD (Hard Disk Drive), an SSD (Solid State Drive), or flash memory. The control program 25A of this embodiment is stored in the storage unit 25. Alternatively, the control program 25A may also be stored in the ROM 22.

[0079] The control program 25A may also be pre-installed in the control device 10, for example. The control program 25A can also be implemented by storing it in a non-volatile storage medium, or by distributing it via a network and appropriately installing it in the control device 10. Furthermore, examples of non-volatile storage media include CD-ROM (Compact Disc Read Only Memory), optical disks, HDDs, DVD-ROMs (Digital Versatile Disc Read Only Memory), flash memory, memory cards, etc.

[0080] The communication unit 26 connects to networks such as the Internet, LAN (Local Area Network), and WAN (Wide Area Network), enabling communication with the print management device, which is the superior device, via the network.

[0081] The connecting part 27 is connected to the 3D sensor 6, arm 2 and counter 4 respectively, and each of these 3D sensor 6, arm 2 and counter 4 is connected to the CPU 21 to enable communication.

[0082] However, as mentioned above, when counting the paper 14A at a certain speed, the paper 14A is stretched due to friction between the disc 44 and the paper 14A, and the stack of paper 14 may collapse. As a simple countermeasure to prevent the paper 14A from being stretched, consider surrounding the sides 14S of the counter 4 other than the sides 14S. However, when surrounding the sides 14S with a wall, it sometimes becomes an obstacle to the movement of the arm 2 holding the stack of paper 14.

[0083] Therefore, in this embodiment, the control device 10 obtains the size of the paper 14A in the paper stack 14 before using the counter 4 to count the number of sheets of paper 14A in the paper stack 14. Then, based on the size of the paper 14A, the control device 10 moves the plurality of pressing parts to each of two adjacent sides 14S of the plurality of sides 14S of the paper stack 14, excluding the side 14S that touches the counter 4. During the counting of the counter 4, the control device 10 controls the plurality of pressing parts to press each of the two adjacent sides 14S. Furthermore, in this embodiment, as an example of a pressing part, the case where arm 2 is used is shown, but it is not limited to arm 2. For example, a pressing part different from arm 2 may also be provided.

[0084] In this embodiment, the CPU 21 of the control device 10 writes the control program 25A stored in the storage unit 25 into the RAM 23 and executes it, as... Figure 6 Each of the shown parts plays its role.

[0085] Figure 6 This is a block diagram illustrating an example of the functional structure of the control device 10. In this embodiment, the CPU 21 of the control device 10 functions as an attribute acquisition unit 21A, a position detection unit 21B, a side-specification unit 21C, a counter control unit 21D, and an arm control unit 21E.

[0086] The attribute acquisition unit 21A acquires attribute information related to the paper stack 14. The attribute information includes the size, number of sheets, paper type, and thickness of the paper 14A. Size refers to the dimensions of the paper 14A, such as A4, A3, B5, B4, etc., as specified in ISO (International Organization for Standardization) 216. Number of sheets refers to the number of sheets of paper 14A held by the gripper 8 at one time, such as 50 sheets, 100 sheets, 150 sheets, 200 sheets, etc. Paper type refers to the type of paper 14A, such as plain paper, premium paper, coated paper, etc. Thickness refers to the thickness of the paper 14A, such as weight or basis weight. Attribute information can be acquired, for example, from the print management device (as a higher-level device) via user input, or from the encoding information assigned to any sheet of paper 14A in the paper stack 14. The encoding information can be, for example, a QR (Quick Response) code or a barcode. Additionally, the size of the paper 14A can also be acquired, for example, from the 3D sensor 6.

[0087] The position detection unit 21B uses a 3D sensor 6 to detect the three-dimensional coordinates representing the position and shape of the paper stack 14.

[0088] The side-specific part 21C uses the three-dimensional coordinate values ​​detected by the position detection part 21B to determine the position of the side 14S of the specific paper stack 14. The side 14S of the paper stack 14 refers to the surface of the cuboid-shaped paper stack 14 that intersects with the printing surface of each paper 14A.

[0089] The counter control unit 21D controls the operation of the counter 4. The counter control unit 21D causes the disk 44 to rotate while sliding between the papers 14A, and controls the counter 4 to count the preset number of papers 14A one by one in the stack of papers 14. In addition, the "preset number of papers" is specified by the aforementioned attribute information.

[0090] The arm control unit 21E controls the movement of the arm 2. Before the counter 4 counts the number of sheets of paper 14A in the paper stack 14, the arm control unit 21E moves the multiple arms 2 to each of the multiple sides 14S of the paper stack 14, excluding the side 14S that touches the counter 4, according to the size of the paper 14A. Then, while the counter 4 is counting, the arm control unit 21E controls the multiple arms 2 to press each of the two adjacent sides 14S.

[0091] Figure 7This is a diagram illustrating an example of data table 251. Data table 251 is stored, for example, in the storage unit 25. Data table 251 is a table that determines the correspondence between the attribute information of paper 14A and the positions of the sides 14S pressed by the plurality of arms 2. Based on the attribute information of paper 14A obtained by the attribute acquisition unit 21A, the arm control unit 21E refers to data table 251 to obtain the positions of the sides 14S pressed by the plurality of arms 2.

[0092] Figure 8 This diagram illustrates an example of the learned model 252. The learned model 252 can also be stored in the storage unit 25 instead of the data table 251. The learned model 252 is a learned model generated by machine learning on learning data, where the learning data uses attribute information including the size, number of sheets, paper type, and thickness of the paper 14A as descriptive variables, and the positions of the sides 14S pressed by the multiple arms 2 as target variables. A neural network can be used in the learned model 252, for example, but other learning models can also be used.

[0093] In this case, the arm control unit 21E inputs the attribute information related to the paper 14A of the paper stack 14 into the learned model 252, and obtains the positions of the sides 14S pressed by the multiple arms 2 respectively from the learned model 252.

[0094] Furthermore, after the arm control unit 21E uses multiple arms 2 to press two adjacent sides 14S while counting a preset number of sheets of paper 14A using a counter 4, it controls the multiple arms 2 to hold the preset number of sheets of paper 14A. Here, depending on the setting position of the counter 4, it may sometimes become an obstacle to the holding action of the arm 2. In this case, the counter control unit 21D may also, after counting the preset number of sheets of paper 14A using the counter 4, move the counter 4 (i.e., the disc 44) away from the side 14S that touches the counter 4 (i.e., the disc 44) so ​​as not to become an obstacle to the holding action of the multiple arms 2.

[0095] In addition, the counter control unit 21D can also move the counter 4 (i.e., the disk 44) away from the position of touching the counter 4 (i.e., the disk 44) after the counter 4 has counted all the sheets of paper in the paper stack 14, so as not to become an obstacle when placing a new stack of paper.

[0096] <The Role of Control Systems>

[0097] Next, the function of the control system 1, which uses arm 2 to press the side 14S of the paper stack 14 during the counting period of counter 4, will be explained.

[0098] Figure 9 This is a flowchart illustrating an example of the paper handling process based on the control program 25A of this embodiment.

[0099] When the CPU 21 of the control device 10 receives an execution instruction for paper handling from the user, it reads the control program 25A from the storage unit 25 or the ROM 22 and executes the paper handling process. In addition, a stack of paper 14 is loaded on the loading table 3.

[0100] First, in step S101, CPU21 acquires the attribute information of paper 14A. As described above, the attribute information of paper 14A is acquired, for example, from a print management device that is a higher-level device.

[0101] In step S102, CPU21 uses 3D sensor 6 to acquire the three-dimensional coordinate values ​​of the paper stack 14 composed of multiple sheets of paper 14A.

[0102] In step S103, the CPU21 determines the position of the side 14S of the specific stack of papers 14 based on the three-dimensional coordinate values ​​obtained in step S102.

[0103] In step S104, based on the attribute information obtained in step S101, the CPU 21 moves the multiple arms 2 to each of two adjacent sides 14S of the multiple sides 14S of the paper stack 14, excluding the side 14S of the touch counter 4. The positions of the two adjacent sides 14S are, for example, using the positions described above. Figure 7 The data table shown is 251 or Figure 8 The learning completed model 252 shown is specific.

[0104] In step S105, CPU21 controls multiple arms 2 to press each of two adjacent sides 14S respectively.

[0105] Reference Figures 10-12 The method of pressing two adjacent sides 14S with multiple arms 2 is explained in detail. Furthermore, in Figures 10-12 The text only simplifies the representation of the main components of each element.

[0106] Figure 10 This is a perspective view schematically illustrating an example of pressing down on two adjacent sides 14S of the paper stack 14 using a gripper 8 located at the front end of arm 2. Figure 10 In the example shown, the back of the claw 9B of the gripper 8 is used to press each of the two adjacent sides 14S of the paper stack 14. Furthermore, the upper surface of the paper stack 14 will be referred to as "upper surface 14U" below.

[0107] Figure 11A and Figure 11B This is a top view schematically illustrating an example of pressing down on two adjacent sides 14S of the paper stack 14 using a gripper 8 located at the front end of arm 2. Figure 11Aand Figure 11B In the example, the state of the stack of papers 14 as viewed from above is shown. Additionally, the arrow on disk 44 indicates the direction of rotation.

[0108] Here, the arm control unit 21E changes the side 14S pressed by the multiple grippers 8 according to the rotation direction of the disc 44. Specifically, when any one of the multiple grippers 8 is rotating clockwise, such as... Figure 11A As shown, press the side 14S, which is to the right of the disc 44 when viewing the stack of papers 14 from above. When the disc 44 rotates to the left, as... Figure 11B As shown, any one of the multiple grippers 8 presses the side 14S that is to the left of the disk 44 when viewed from above on the stack of paper 14. That is, when the disk 44 rotates to the right, the paper 14A is stretched to the right, so the side 14S that is to the right of the disk 44 is pressed; when the disk 44 rotates to the left, the paper 14A is stretched to the left, so the side 14S that is to the left of the disk 44 is pressed.

[0109] Furthermore, the arm control unit 21E can also change the position of the sides 14S pressed by the multiple grippers 8 according to at least one of the thickness and paper type of the paper 14A in the paper stack 14, based on the thickness and paper type of the paper 14A. Specifically, when the paper 14A in the paper stack 14 is the first paper 14A, the distance Ls between the center of the gripper 8 and the rotation center of the disk 44 is shorter than the distance Ls between the center of the gripper 8 and the rotation center of the disk 44 when the paper 14A in the paper stack 14 is the second paper 14A. The thickness of the second paper 14A is greater (thicker) than the thickness of the first paper 14A. In addition, the distance Ls is an example of the distance between the arm 2 and the counter 4. Furthermore, the paper types of the first paper 14A and the second paper 14A can also be different. The first paper 14A is, for example, ordinary paper or high-quality paper, and the second paper 14A is, for example, coated paper or thick paper. In addition, the first paper 14A and the second paper 14A can also be different in both thickness and paper type.

[0110] The thinner the paper 14A, the easier it is to be stretched by the rotation of the disk 44, thus it is desirable to shorten the distance Ls. In addition, when the paper 14A is ordinary paper or high-quality paper, it is easy to be stretched by the rotation of the disk 44, thus it is desirable to shorten the distance Ls.

[0111] Additionally, at least one of the multiple grippers 8 can press the side 14S where the distance between the center of the gripper 8 and the rotation center of the disk 44 is shortest. By pressing the side 14S where the distance between Ls is shortest, compared to the case where the distance between Ls is not the shortest, the paper 14A can be made less susceptible to stretching by the rotation of the disk 44.

[0112] Figure 12 This is a top view schematically illustrating another example of pressing down on two adjacent sides 14S of the paper stack 14 using a gripper 8 located at the front end of arm 2. Figure 12 In the example, the state of the stack of papers 14 as viewed from above is shown.

[0113] like Figure 12 As shown, the arm control unit 21E can also control the pressing part 17 (hereinafter referred to as "upper surface pressing part 17"), which is different from the multiple grippers 8, to press the upper surface 14U of the paper stack 14 during the counting period of the counter 4. In addition, the upper surface pressing part 17 is not limited to one, but can also be multiple. By pressing the upper surface 14U in addition to pressing the adjacent side 14S of the paper stack 14, compared with the case of only pressing the adjacent side 14S of the paper stack 14, the paper 14A can be less likely to be stretched by the rotation of the disk 44.

[0114] Furthermore, the arm control unit 21E can also change the position of the upper surface 14U pressed by the upper surface pressing unit 17 based on at least one of the thickness and paper type of the paper 14A in the paper stack 14, provided that at least one of the paper 14A in the paper stack 14 is known. Specifically, when the paper 14A in the paper stack 14 is the first paper 14A, the distance Lu between the center of the upper surface pressing unit 17 and the rotation center of the disk 44 is shorter than when the paper 14A in the paper stack 14 is the second paper 14A. As mentioned above, the thickness of the second paper 14A is greater than the thickness of the first paper 14A. In addition, the distance Lu is an example of the distance between the upper surface pressing unit 17 and the counter 4. Furthermore, the paper types of the first paper 14A and the second paper 14A can also be different. The first paper 14A is, for example, ordinary paper or high-quality paper, and the second paper 14A is, for example, coated paper or thick paper. In addition, the first paper 14A and the second paper 14A can also be different in both thickness and paper type.

[0115] The thinner the paper 14A, the easier it is to be stretched by the rotation of the disk 44, thus it is desirable to shorten the distance Lu. In addition, when the paper 14A is ordinary paper or high-quality paper, it is easy to be stretched by the rotation of the disk 44, thus it is desirable to shorten the distance Lu.

[0116] Next, in step S106, CPU21 uses counter 4 to count the preset number of sheets 14A in the paper stack 14. As an example of the counting by counter 4, as described above... Figure 11A As shown, the operation is performed by pressing each of two adjacent sides 14S with multiple arms 2 respectively, or as an example, as described above. Figure 12As shown, the operation is performed with multiple arms 2 pressing each of two adjacent sides 14S respectively, and the upper surface pressing part 17 pressing the upper surface 14U.

[0117] In step S107, CPU21 determines whether the preset number of sheets has been counted by counter 4. If CPU21 determines that the preset number of sheets has been counted by counter 4 (positive determination), it proceeds to step S108. If CPU21 determines that the preset number of sheets has not been counted by counter 4 (negative determination), it returns to step S106 and repeats the process.

[0118] In step S108, CPU21 controls gripper 8 to hold the number of sheets of paper 14A counted in step S107 and transport them to paper setter 5. Here, the counted number of sheets of paper 14A is referred to as "paper stack 14B".

[0119] Figure 13 This diagram illustrates an example of a situation where the gripper 9 of the clamp 8 will hold the stack of papers 14B. Additionally, Figure 14 This is a diagram illustrating an example of using a clamp 8 to hold a stack of paper 14B.

[0120] like Figure 13 As shown, after one arm 2 holds the stack of paper 14B, the arm control unit 21E controls arm 2 to lift the stack of paper 14B. With the distance between the claws 9A and 9B of the other arm 2 greater than the thickness of the stack of paper 14B, the arm control unit 21E controls the other arm 2 so that the claw 9B moves below the claw 9A, inserting the claw 9B of the other arm 2 into the gap between the stack of paper 14B and the remaining paper 14A. In this state, the arm control unit 21E moves the claws 9A and 9B of the other arm 2 along the contour of the stack of paper 14B, as shown... Figure 14 As shown, control arm 2, so that another arm 2 holds the corner of the stack of papers 14B that is diagonally opposite to the location held by one arm 2.

[0121] In step S109, CPU21 determines whether all paper 14A of paper stack 14 has been moved. If CPU21 determines that all paper 14A of paper stack 14 has been moved (positive determination), it proceeds to step S110. If CPU21 determines that not all paper 14A of paper stack 14 has been moved (negative determination), it returns to step S104 and repeats the process.

[0122] In step S110, after the CPU21 has counted all the sheets of paper in the paper stack 14 using the counter 4, it moves the counter 4 (i.e., the disk 44) away from the position of touching the counter 4 (i.e., the disk 44) so ​​as not to become an obstacle when placing a new paper stack. Here, the new paper stack is referred to as "new paper stack 14N".

[0123] Figure 15 This is a top view schematically illustrating an example of how counter 4 is retracted when a new stack of paper 14N is placed. (Example) Figure 15 As shown, depending on the setting position of counter 4, counter 4 sometimes becomes an obstacle when placing a new stack of paper 14N. Therefore, the disk 44 is retracted from the position of contacting the disk 44 so as not to become an obstacle when placing a new stack of paper 14N.

[0124] In step S111, CPU21 determines whether the end timer has arrived, for example, if no new paper stack 14N has arrived. If CPU21 determines that the end timer has not arrived (negative determination), it proceeds to step S112. If CPU21 determines that the end timer has arrived (positive determination), it terminates the paper handling process based on this control program 25A.

[0125] In step S112, when the CPU21 detects that a new stack of paper 14N has been placed in the specified position, it returns to step S101 and repeats the process.

[0126] Thus, according to this embodiment, the number of sheets in the paper stack can be counted while pressing down on two adjacent sides of the paper stack using multiple arms. Therefore, it is not necessary to surround the sides of the paper stack with walls, and the arm's gripping action is not hindered.

[0127] The above describes one aspect of the control system 1 for processing paper using the embodiment. However, the disclosed control system 1 is only one example, and the control system 1 is not limited to the scope described in the embodiment. Various changes or modifications can be made to the embodiment without departing from the spirit of the invention, and the manner in which such changes or modifications are made is also included within the technical scope of the invention.

[0128] For example, modifications may be made without departing from the spirit of the invention. Figure 9 The diagram shows the internal processing sequence in the paper handling process.

[0129] In the above implementation method, as an example, the implementation is achieved through software processing. Figure 9 The paper handling process has been described. However, it is also possible to perform the same process as the paper handling process flowchart using hardware. In this case, compared to the case where paper handling is performed using software, a higher processing speed is achieved.

[0130] In the above embodiments, processor refers to processor in a broad sense, including general-purpose processors (such as CPU21) or special-purpose processors (such as GPU: Graphics Processing Unit, ASIC: Application Specific Integrated Circuit, FPGA: Field Programmable Gate Array, programmable logic devices, etc.).

[0131] Furthermore, the operation of the processor in the above-described embodiments may not be performed by a single processor, but rather through the cooperation of multiple processors located in physically separate positions. Additionally, the order of the processor's actions is not limited to the order described in the above embodiments and can be appropriately modified.

[0132] In the above embodiments, an example of storing the control program 25A in the storage unit 25 or ROM 22 has been described. However, the storage destination of the control program 25A is not limited to the storage unit 25 or ROM 22. The control program 25A of the present invention can also be provided in a manner that allows it to be stored in a storage medium readable by a computer.

[0133] For example, the control program 25A can be provided as an optical disc stored on a CD-ROM, DVD-ROM, or Blu-ray disc. Alternatively, the control program 25A can be provided as a portable semiconductor memory such as a USB (Universal Serial Bus) memory or a memory card. These CD-ROMs, DVD-ROMs, Blu-ray discs, USBs, and memory cards are examples of non-transitory storage media.

[0134] Furthermore, the control system 1 can also download the control program 25A from an external device connected to a communication line via a communication device, and store the downloaded control program 25A in the storage unit 25 or ROM 22 of the control device 10. In this case, the CPU 21 of the control device 10 reads the control program 25A downloaded from the external device from the storage unit 25 or ROM 22 and performs paper handling processing. This invention can be applied to programs and program products.

[0135] Regarding the above implementation methods, the following notes are disclosed.

[0136] (Postscript) ((1))

[0138] A control system, wherein, Equipped with a processor The processor performs the following processing: To obtain the stack of paper, you need to know the dimensions of the stack of paper. Before using a counter to count the number of sheets in the stack of paper, according to the size of the paper, multiple pressing points are moved to each of two adjacent sides of the stack of paper, excluding the side that touches the counter. During the counting process of the counter, the plurality of pressing parts are controlled to press each of the two adjacent sides respectively. ((2))

[0140] According to the control system described in ((1)), wherein, The processor further obtains at least one of the following: the thickness of the paper in the stack and the type of paper. Depending on at least one of the paper thickness and paper type, the positions of the sides pressed by the plurality of pressing parts are changed. ((3)))

[0142] According to the control system described in ((2)), wherein, The distance between the pressing part and the counter when the stack of paper consists of the first sheet is shorter than the distance between the pressing part and the counter when the stack of paper consists of the second sheet, which is thicker than the first sheet. ((4))

[0144] The control system according to any one of ((1)) to ((3)) is wherein, During the counting of the counter, the processor further controls other pressing parts, different from the plurality of pressing parts, to press the upper surface of the stack of papers. ((5))

[0146] According to the control system described in (4), wherein, The processor further obtains at least one of the following: the thickness of the paper in the stack and the type of paper. The position of the upper surface of the other pressing part is changed according to at least one of the paper thickness and paper type. (6))

[0148] According to the control system described in (5), The distance between the other pressing parts and the counter when the stack of paper consists of the first sheet is shorter than the distance between the other pressing parts and the counter when the stack of paper consists of the second sheet, which is thicker than the first sheet. ((7))

[0150] The control system according to any one of ((1)) to ((6)) is wherein, At least one of the plurality of pressing parts presses the side of the pressing part that is closest to the counter. ((8))

[0152] The control system according to any one of ((1)) to ((7)) is wherein, It also features a completed learning model, which is generated through machine learning on the learning data. The learning data uses attribute information including paper size, number of sheets, paper type, and thickness as explanatory variables, and the position of the sides pressed by the multiple pressing parts as target variables. The processor inputs attribute information related to the paper in the stack of paper into the learned model, and obtains the positions of the sides of the multiple pressing parts from the learned model. (9))

[0154] The control system according to any one of ((1))) to ((8))) wherein, The plurality of pressing parts are multiple arms capable of holding the stack of paper. After the processor presses down on the two adjacent sides using the multiple arms while counting a preset number of sheets of paper using the counter, it controls the multiple arms to hold the preset number of sheets of paper. ((10))

[0156] According to the control system described in (9), wherein, After the processor has counted all the sheets of paper in the stack using the counter, it moves the counter away from its position so as not to become an obstacle when placing a new stack of paper. ((11))

[0158] According to the control system described in (9) or (10), wherein, The counter is a disk-rotating counter in which the disk rotates along the edge of the stack of papers. The processor changes the side that the multiple arms press according to the rotation direction of the disk. ((12))

[0160] According to the control system described in ((11)), wherein, When the disk rotates to the right, any one of the multiple arms presses the side of the paper stack that is to the right of the counter when viewed from above; when the disk rotates to the left, it presses the side of the paper stack that is to the left of the counter when viewed from above. ((13))

[0162] A control program that causes a computer to perform the following processes: To obtain the stack of paper, you need to know the dimensions of the stack of paper. Before using a counter to count the number of sheets in the stack of paper, based on the size of the paper, multiple pressing points are moved to each of two adjacent sides of the stack of paper, excluding the side that touches the counter. During the counting process of the counter, the plurality of pressing parts are controlled to press each of the two adjacent sides respectively.

[0163] According to ((1)) and ((13)), it is possible to count the number of sheets of paper in the stack while pressing the stack of paper without hindering the arm's action of holding the stack of paper.

[0164] According to ((2)), compared with the case where the same position on the side is pressed regardless of the thickness and type of paper, it is possible to prevent the paper from being stretched during the counting period of the counter.

[0165] According to ((3)), compared to the case where the distance between the pressing part and the counter is set to be the same regardless of the thickness of the paper, it is possible to prevent the paper from being stretched during the counting period of the counter.

[0166] According to (4), compared to the case where only the side of the paper stack is pressed, it is possible to make the paper less likely to be stretched during the counting period of the counter.

[0167] According to (5), compared with the case where the same position on the top surface is pressed regardless of the thickness and type of paper, it is possible to prevent the paper from being stretched during the counting period of the counter.

[0168] According to (6), compared to the case where the distance between other pressing parts and the counter is set to be the same regardless of the thickness of the paper, it is possible to prevent the paper from being stretched during the counting period of the counter.

[0169] According to ((7)), compared with not setting the distance between the pressing part and the counter to the shortest distance, it is possible to prevent the paper from being stretched during the counting period of the counter.

[0170] According to (8), it is possible to make the paper less prone to stretching during the period when the learned model is being used and the counter is counting.

[0171] According to (9), it is possible to use multiple arms to press the sides of the paper stack and use the same multiple arms to hold a preset number of sheets of paper.

[0172] According to ((10)), the counter will not be an obstacle when placing a new stack of paper.

[0173] According to (11), compared with the case where the same side is pressed regardless of the direction of the disk's rotation, it is possible to prevent the paper from being stretched during the counting process of the counter.

[0174] According to (12), compared with the case where the same side is pressed regardless of whether the disk rotates to the right or left, it is possible to prevent the paper from being stretched during the counting period of the counter.

[0175] This application is based on Japanese patent application filed on May 24, 2024 (Japanese Patent Application No. 2024-085058).

Claims

1. A control system, wherein, Equipped with a processor The processor performs the following processing: To obtain the stack of paper, you need to know the dimensions of the stack of paper. Before using a counter to count the number of sheets in the stack of paper, according to the size of the paper, multiple pressing points are moved to each of two adjacent sides of the stack of paper, excluding the side that touches the counter. During the counting process of the counter, the plurality of pressing parts are controlled to press each of the two adjacent sides respectively.

2. The control system according to claim 1, wherein, The processor further obtains at least one of the following: the thickness of the paper in the stack and the type of paper. Depending on at least one of the paper thickness and paper type, the positions of the sides pressed by the plurality of pressing parts are changed.

3. The control system according to claim 2, wherein, The distance between the pressing part and the counter when the stack of paper consists of the first sheet is shorter than the distance between the pressing part and the counter when the stack of paper consists of the second sheet, which is thicker than the first sheet.

4. The control system according to any one of claims 1 to 3, wherein, During the counting of the counter, the processor further controls other pressing parts, different from the plurality of pressing parts, to press the upper surface of the stack of papers.

5. The control system according to claim 4, wherein, The processor further obtains at least one of the following: the thickness of the paper in the stack and the type of paper. The position of the upper surface of the other pressing part is changed according to at least one of the paper thickness and paper type.

6. The control system according to claim 5, wherein, The distance between the other pressing parts and the counter when the stack of paper consists of the first sheet is shorter than the distance between the other pressing parts and the counter when the stack of paper consists of the second sheet, which is thicker than the first sheet.

7. The control system according to any one of claims 1 to 6, wherein, At least one of the plurality of pressing parts presses the side of the pressing part that is closest to the counter.

8. The control system according to any one of claims 1 to 7, wherein, It also features a completed learning model, which is generated through machine learning on the learning data. The learning data uses attribute information including paper size, number of sheets, paper type, and thickness as explanatory variables, and the position of the sides pressed by the multiple pressing parts as target variables. The processor inputs attribute information related to the paper in the stack of paper into the learned model, and obtains the positions of the sides of the multiple pressing parts from the learned model.

9. The control system according to any one of claims 1 to 8, wherein, The plurality of pressing parts are multiple arms capable of holding the stack of paper. After the processor presses down on the two adjacent sides using the multiple arms while counting a preset number of sheets of paper using the counter, it controls the multiple arms to hold the preset number of sheets of paper.

10. The control system according to claim 9, wherein, After the processor has counted all the sheets of paper in the stack using the counter, it moves the counter away from its position so as not to become an obstacle when placing a new stack of paper.

11. The control system according to claim 9 or 10, wherein, The counter is a disk-rotating counter in which the disk rotates along the edge of the stack of papers. The processor changes the side that the multiple arms press according to the rotation direction of the disk.

12. The control system according to claim 11, wherein, When the disk rotates to the right, any one of the multiple arms presses the side of the paper stack that is to the right of the counter when viewed from above; when the disk rotates to the left, it presses the side of the paper stack that is to the left of the counter when viewed from above.

13. A control program for causing a computer to perform the following processes: To obtain the stack of paper, you need to know the dimensions of the stack of paper. Before using a counter to count the number of sheets in the stack of paper, according to the size of the paper, multiple pressing points are moved to each of two adjacent sides of the stack of paper, excluding the side that touches the counter. During the counting process of the counter, the plurality of pressing parts are controlled to press each of the two adjacent sides respectively.

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