Conveying system

Abstract

The present invention provides a transport system capable of detecting abnormalities in the wrapping condition of a film. [Solution] The conveying system is a conveying system for conveying articles wrapped in film, and comprises a conveying conveyor that conveys the articles in a first direction, a sensor that detects the wrapping state of the film on an inspection surface that is perpendicular to the first direction of the article being conveyed in the first direction by the conveying conveyor and faces a horizontal direction, and an inspection device that inspects the wrapping state of the film on surfaces of the article other than the inspection surface.

Description

Technical Field

[0001] The present invention relates to a conveying system.

Background Art

[0002] In order to prevent damage to the outer surface of an article during transportation or the like, a packaging machine that wraps the outer surface of the article with a film is known (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a conveying system including a wrapping step of wrapping an article composed of a plurality of stacked products with a film and a conveying step of conveying the article wrapped with the film, for example, an article with an abnormal film wrapping state may flow into the conveying step due to film winding or the like. In this case, there is a risk of collapse of a plurality of articles in the conveying step. Further, if the outer surface of the article is exposed from the film, there is a risk of damage to the outer surface of the article during transportation or the like.

[0005] The present invention has been made in consideration of the above points, and one of the objects is to provide a conveying system capable of detecting that the film wrapping state is abnormal.

Means for Solving the Problems

[0006] The present invention includes the following configuration. [1] A transport system for transporting articles wrapped in film, comprising: a transport conveyor for transporting the articles in a first direction; a sensor for detecting the state of the film wrapping on an inspection surface of the articles being transported in the first direction by the transport conveyor, which is perpendicular to the first direction and faces horizontally; and an inspection device for inspecting the state of the film wrapping on surfaces of the articles other than the inspection surface. [2] The transport system according to [1], further comprising a guide member positioned outside in the second direction of the article being transported in the first direction by the transport conveyor, wherein the sensor detects sound generated when the guide member and the film come into contact or vibration of the guide member. [3] The transport system according to [1] or [2], further comprising a guide member positioned outside in the second direction of the article being transported in the first direction by the transport conveyor, wherein the sensor is attached to the guide member and detects the force with which the film presses against the sensor. [4] The transport system according to any one of [1] to [3], comprising a compressed air discharge unit that discharges compressed air from the outside in a second direction to the article being transported in the first direction by the transport conveyor, wherein the sensor detects a sound generated when the compressed air reaches the film. [5] The transport system according to any one of [1] to [3], comprising: a guide member positioned outside in the second direction of the article being transported in the first direction by the transport conveyor; and a compressed air discharge unit that discharges compressed air from outside in the second direction to the article being transported in the first direction by the transport conveyor, wherein the sensor detects sound generated when the guide member and the film come into contact, and sound generated when the compressed air reaches the film. [6] A transport system according to any one of [1] to [3], comprising: a guide member positioned outside in the second direction to the article being transported in the first direction by the transport conveyor; a compressed air discharge unit that discharges compressed air from outside in the second direction to the article being transported in the first direction by the transport conveyor; and a plurality of sensors, wherein the plurality of sensors include a first sensor that detects sound generated when the compressed air reaches the film, and a second sensor that detects vibration of the guide member generated when the guide member and the film come into contact. [7] A transport system according to any one of [1] to [6], comprising: an inspection area where the inspection device is located; a moving device that grips the inspection surface of an article being transported by the transport conveyor and moves the article to the inspection area; and a control unit capable of communicating with the sensor and the moving device, wherein the control unit determines the wrapping state of the film on the inspection surface based on the results detected by the sensor, and if it determines that the wrapping state of the film on the inspection surface is normal, moves the article to the inspection area using the moving device. [8] The control unit adjusts the portion of the inspection surface that the moving device grips based on the results detected by the sensor, the transport system according to [7]. [9] The transport system according to [7] or [8], wherein the transport device has a gripping portion for vacuum adsorption of the inspection surface.

[10] The transport system according to any one of [7] to [9], wherein the control unit has a storage unit that stores a learning model which has been trained to recognize the correspondence between a plurality of results previously detected by the sensor and the wrapping state of the film on the inspection surface, and the detection results detected by the sensor are input to the learning model to determine the wrapping state of the film on the inspection surface. [Effects of the Invention]

[0007] The present invention provides a transport system that can detect abnormalities in the wrapping state of a film. [Brief explanation of the drawing]

[0008] [Figure 1] This is a top view showing the transport system of the first embodiment. [Figure 2] This is a schematic block diagram showing the transport system of the first embodiment. [Figure 3] This is a side view showing an article according to the first embodiment. [Figure 4] This is a top view showing a part of the transport system of the first embodiment. [Figure 5] This is a perspective view showing the mobile device of the first embodiment. [Figure 6] This is a first side view showing the mobile device of the first embodiment. [Figure 7] This is a second side view showing the mobile device of the first embodiment. [Figure 8] This is a flowchart illustrating the method for transporting articles according to the first embodiment. [Figure 9] This is a top view showing a part of the transport system of the second embodiment. [Figure 10] This is a schematic block diagram showing the transport system of the second embodiment. [Figure 11] This is a top view showing a part of the transport system of the third embodiment. [Figure 12] This is a schematic block diagram showing the transport system of the third embodiment. [Modes for carrying out the invention]

[0009] The following describes an example of the transport system of the present invention, based on the drawings. Note that the dimensions and other details in the diagrams illustrated in the following description are examples only, and the present invention is not necessarily limited to them. It can be implemented with appropriate modifications without altering the essence of the invention. Furthermore, in the following drawings, the scale and number of components in each structure may differ from the actual structure in order to make the components easier to understand.

[0010] In each drawing, the first direction D1 is shown as appropriate. The first direction D1 is the direction in which the conveying conveyor conveys the article. In the following description, the side to which the arrow of the first direction D1 points (+D1 side) among the first directions D1 is referred to as the "downstream side", and the side opposite to the side to which the arrow of the first direction D1 points (-D1 side) among the first directions D1 is referred to as the "upstream side". In the following embodiments, the conveying conveyor conveys the article from the upstream side to the downstream side.

[0011] In each drawing, the second direction D2 is shown as appropriate. In the present embodiment, the second direction D2 is a direction that is orthogonal to the first direction D1 and faces the horizontal direction. In the following description, the side to which the arrow of the second direction D2 points (+D2 side) is referred to as the "front side". The side opposite to the side to which the arrow of the second direction D2 points (-D2 side) is referred to as the "back side". Also, in the following description, the side of the second direction D2 that is away from the article is referred to as the outside of the second direction D2, and the side of the second direction D2 that approaches the article is referred to as the inside of the second direction D2.

[0012] In each drawing, the third direction D3 is shown as appropriate. In the present embodiment, the third direction D3 is the vertical direction. The third direction D3 is orthogonal to each of the first direction D1 and the second direction D2. In the following description, the side to which the arrow of the third direction D3 points (+D3 side) is referred to as the "upper side". The side opposite to the side to which the arrow of the third direction D3 points (-D3 side) is referred to as the "lower side".

[0013] <First Embodiment> FIG. 1 is a top view showing the conveying system 10 of the present embodiment. FIG. 2 is a block diagram schematically showing the conveying system 10 of the present embodiment. FIG. 3 is a side view showing the article 50 of the present embodiment. FIG. 4 is a top view showing a part of the conveying system 10 of the present embodiment. The conveying system 10 of the present embodiment shown in FIG. 1 is an article 50 conveying system that conveys the article 50 wrapped by the film 54 and inspects the wrapping state of the film 54. The conveying system 10 of the present embodiment includes a conveying conveyor 11, a guide member 15, an inspection area 18, an inspection device 19, a sensor 20, a compressed air discharge unit 25, and a moving device 30. As shown in FIG. 2, the conveying system 10 of the present embodiment includes a control unit 40.

[0014] As shown in FIG. 1, the conveying conveyor 11 is a conveying device that conveys the article 50 in the first direction D1. In the present embodiment, the conveying conveyor 11 is a belt conveyor that conveys the article 50 wrapped by the film 54 from the upstream side (-D1 side) to the downstream side (+D1 side). The conveying conveyor 11 may be another conveying device such as a roller conveyor. A wrapping area (not shown) is provided on the upstream side of the conveying conveyor 11. A wrapping machine (not shown) is arranged in the wrapping area. The wrapping machine is a device that wraps the entire outer surface of the article 50 with the film 54. Although not shown, a packing area (not shown) is provided on the downstream side of the conveying conveyor 11. In the packing area, a plurality of articles 50 are housed in a packing box (not shown) such as a cardboard box. The plurality of articles 50 housed in the packing box are transported to the sales store of the article 50 by a vehicle, a train, etc. The conveying conveyor 11 has a side frame 12 and a conveying belt 13.

[0015] The side frame 12 is a part of the frame of the conveying conveyor 11. The side frame 12 extends along the first direction D1. In the present embodiment, the conveying conveyor 11 has two side frames 12. Each side frame 12 is arranged at an interval in the second direction D2 with the conveying belt 13 interposed therebetween. The side frames 12 face each other in the second direction D2. Although not shown, the upper end of the side frame 12 is located above the conveying belt 13. Thereby, the side frame 12 faces the article 50 conveyed by the conveying belt 13 in the second direction D2.

[0016] The conveying belt 13 conveys the article 50 to the downstream side (+D1 side). The conveying belt 13 is wound around each of a plurality of pulleys (not shown), and is driven in the first direction D1 by each pulley. Thereby, the article 50 placed on the conveying belt 13 is conveyed to the downstream side.

[0017] The guide member 15 is plate-shaped and extends in a direction perpendicular to the second direction D2. In this embodiment, the guide member 15 includes two guide members 15a and 15b. One guide member 15a is attached to the side of the side frame 12 located on the front side (+D2 side) facing the back side (-D2 side). The other guide member 15b is attached to the side of the side frame 12 located on the back side facing the front side. In this embodiment, the guide members 15a and 15b are spaced apart and facing each other in the second direction D2. The guide members 15a and 15b may be positioned offset from each other in the first direction D1. Articles 50 being transported downstream (+D1 side) pass between the guide members 15a and 15b. The guide member 15 is positioned outside the second direction D2 relative to the articles 50 being transported in the first direction D1 by the conveyor belt 11. The distance between each guide member 15a, 15b in the second direction D2 is slightly larger than the dimension in the second direction D2 of the article 50 to which the film 54 is wrapped. As a result, when the wrapping of the film 54 is normal, the film 54 does not come into contact with each guide member 15a, 15b.

[0018] In this embodiment, article 50 is substantially rectangular in shape. As shown in Figure 3, in this embodiment, article 50 is composed of a plurality of products 51. In this embodiment, article 50 is composed of 10 products 51. The number of products 51 constituting article 50 may be 9 or less, or 11 or more. Article 50 may be composed of only one product 51. Product 51 has a substantially rectangular container 52 and contents (not shown) contained inside the container 52. The contents are not particularly limited. In this embodiment, products 51 are stacked on top of each of 5 products 51 arranged in a line in the second direction D2.

[0019] Article 50 has an inspection surface 55, a third surface 56a, a fourth surface 56b, and a fifth surface 57a. As shown in Figure 1, article 50 also has a sixth surface 57b. Each of the inspection surface 55, the third surface 56a, the fourth surface 56b, the fifth surface 57a, and the sixth surface 57b is an outer surface of article 50. Each of the third surface 56a, the fourth surface 56b, the fifth surface 57a, and the sixth surface 57b is a surface of article 50 other than the inspection surface 55.

[0020] As shown in Figure 1, the inspection surface 55 is the outer surface of the article 50 facing the second direction D2 when the article 50 is being transported in the first direction D1 by the conveyor belt 11. The inspection surface 55 includes a first inspection surface 55a and a second inspection surface 55b. The first inspection surface 55a is the surface facing the front side (+D2 side). The second inspection surface 55b is the surface facing the back side (-D2 side). When the article 50 is being transported in the first direction D1 by the conveyor belt 11, the first inspection surface 55a faces one guide member 15a in the second direction D2, and the second inspection surface 55b faces the other guide member 15b in the second direction D2.

[0021] The third surface 56a is the surface that faces upward when the article 50 is being transported in the first direction D1 by the conveyor belt 11. Although not shown in the illustration, the fourth surface 56b is the surface that faces downward when the article 50 is being transported in the first direction D1 by the conveyor belt 11. The fifth surface 57a is the surface that faces downstream (+D1 side) when the article 50 is being transported in the first direction D1 by the conveyor belt 11. The sixth surface 57b is the surface that faces upstream (-D1 side) when the article 50 is being transported in the first direction D1 by the conveyor belt 11.

[0022] As shown in Figure 2, the film 54 covers the entire outer surface of the article 50. Thus, the film 54 wraps the entire outer surface of the article 50. The film 54 prevents damage to the outer surface of the article 50 during transportation. Furthermore, the film 54 prevents the multiple products 51 from collapsing during transportation of the article 50 by the conveyor belt 11 and during the transportation of the article 50. In this embodiment, the film 54 is made of resin. Polyethylene, polypropylene, and polyvinyl alcohol can be used as materials for the film 54. The film 54 preferably has a certain degree of flexibility, and its thickness is preferably 5 μm or more and 30 μm or less.

[0023] In this embodiment, "wrapping state" means the state of the film 54 covering the article 50. In this embodiment, "abnormal wrapping state" includes states where part of the film 54 is peeling up, or where there are holes in part of the film 54, and means that the article 50 is not properly wrapped by the film 54. In this embodiment, "normal wrapping state" includes states where part of the film 54 is not peeling up, or where there are no holes in the film 54, and means that the article 50 is properly wrapped by the film 54.

[0024] As shown in Figure 1, the inspection area 18 is located near the conveyor belt 11. In this embodiment, the inspection area 18 is located downstream of the guide member 15 (+D1 side) and before the conveyor belt 11 (+D2 side). An inspection device 19 is placed in the inspection area 18.

[0025] The inspection device 19 inspects the wrapping state of the film 54. More specifically, it inspects the wrapping state of the film 54 on each of the third surface 56a, fourth surface 56b, fifth surface 57a, and sixth surface 57b, i.e., on surfaces of the article 50 other than the inspection surface 55. In this embodiment, the inspection device 19 inspects the wrapping state of the film 54 by imaging the film 54. In this embodiment, the inspection device 19 is an imaging device such as a digital camera or a digital video camera. As shown in Figure 2, the inspection device 19 can communicate with the control unit 40. The inspection device 19 may communicate with the control unit 40 via wired communication means such as a cable, or via wireless communication means such as a wireless LAN. The inspection device 19 converts images of surfaces of the article 50 other than the inspection surface 55 into electrical signals and transmits them to the control unit 40 as image signals Si. The procedure for inspecting the wrapping state of the film 54 by the inspection device 19 will be described in detail later.

[0026] The compressed air discharge unit 25 shown in Figure 4 discharges compressed air 25a. The compressed air discharge unit 25 is connected to a compressor (not shown). In this embodiment, the compressed air discharge unit 25 is an air gun that discharges compressed air 25a supplied from the compressor from its tip. The timing of the discharge of compressed air 25a is adjustable. In this embodiment, the compressed air discharge unit 25 is attached to the side frame 12 located on the front side (+D2 side). The compressed air discharge unit 25 may also be attached to the side frame 12 located on the rear side (-D2 side). Alternatively, the compressed air discharge unit 25 may not be attached to the side frame 12. When the conveying system 10 has two compressed air discharge units 25, it is preferable that one compressed air discharge unit 25 is attached to the side frame 12 located on the front side, and the other compressed air discharge unit 25 is attached to the side frame 12 located on the rear side.

[0027] The compressed air discharge unit 25 is positioned outside the second direction D2 relative to the articles 50 being transported in the first direction D1 by the conveyor belt 11. The tip of the compressed air discharge unit 25 is oriented in a direction inclined upstream (-D1 side) relative to the inside of the second direction D2. The tip of the compressed air discharge unit 25 may also be oriented inward in the second direction D2. As a result, the compressed air discharge unit 25 discharges compressed air 25a from outside the second direction D2 relative to the articles 50 being transported in the first direction D1 by the conveyor belt 11. In this embodiment, the pressure of the compressed air 25a is preferably 0.1 MPa or more and 0.5 MPa or less.

[0028] Sensor 20 detects the wrapping state of the film 54. More specifically, sensor 20 detects the wrapping state of the film 54 on the inspection surface 55 of an article 50 being transported in a first direction D1 by the conveyor belt 11. Sensor 20 is located near the guide members 15. In this embodiment, sensor 20 is located near one of the guide members 15a. Sensor 20 may also be located near the other guide member 15b. In this embodiment, sensor 20 is located between one of the guide members 15a and the compressed air discharge unit 25. In this embodiment, sensor 20 is a microphone that detects sound. As sensor 20, for example, a microphone MI-1235 equipped with a preamplifier MI-3111 manufactured by Ono Sokki Co., Ltd. can be used. As shown in Figure 2, sensor 20 can communicate with the control unit 40. Sensor 20 may communicate with the control unit 40 via wired communication means such as a cable, or via wireless communication means such as a wireless LAN. The sensor 20 converts the detected sound into an electrical signal, which is a detection signal Sd, and transmits it to the control unit 40.

[0029] Figure 5 is a perspective view showing the mobile device 30 of this embodiment. Figure 6 is a first side view showing the mobile device 30 of this embodiment. Figure 7 is a second side view showing the mobile device 30 of this embodiment. As shown in Figure 1, the mobile device 30 is mounted on a mobile device mounting base 16. In this embodiment, the mobile device mounting base 16 is positioned in front of the conveyor belt 11 (+D2 side) and upstream of the inspection area 18 (-D1 side). The mobile device 30 grips the article 50 being transported by the conveyor belt 11 and moves the article 50 to the inspection area 18. As shown in Figure 2, the mobile device 30 can communicate with the control unit 40. The mobile device 30 may communicate with the control unit 40 via wired communication means such as a cable, or via wireless communication means such as a wireless LAN. As shown in Figure 1, the mobile device 30 has a main body 31, an arm 32, and a gripping part 33.

[0030] The main body 31 is attached to the mobile device mounting base 16. The main body 31 is columnar in shape and extends in the third direction D3. The arm 32 is connected to the main body 31. The arm 32 is movable around the main body 31 in the first direction D1, the second direction D2, and the third direction D3. The arm 32 is also rotatable around the axis extending in the first direction D1, the axis extending in the second direction D2, and the axis extending in the third direction D3.

[0031] The gripping portion 33 grips the article 50. The gripping portion 33 is attached to the tip of the arm portion 32. The movable range 30a of the gripping portion 33, as viewed from above, is the area enclosed by the dashed line in Figure 1. As shown in Figure 5, the gripping portion 33 grips the inspection surface 55 of the article 50. As shown in Figure 6, the gripping portion 33 has a housing 34 and suction portions 35a and 35c. As viewed from the first direction D1, the housing 34 is roughly U-shaped with an opening on the lower side. The housing 34 has a first portion 34a, a second portion 34c, and a third portion 34e.

[0032] The first part 34a is rod-shaped and extends in the second direction D2. The first part 34a is attached to the tip of the arm part 32. The dimension of the first part 34a in the second direction D2 is greater than the dimension of the article 50 in the second direction D2. The second part 34c is rod-shaped and extends downward from the front (+D2 side) end of the first part 34a. When the gripping part 33 grips the article 50, the second part 34c faces the first inspection surface 55a in the second direction D2. The third part 34e is rod-shaped and extends downward from the rear (-D2 side) end of the first part 34a. When the gripping part 33 grips the article 50, the third part 34e faces the second inspection surface 55b in the second direction D2.

[0033] The suction part 35a is attached to the back side (-D2 side) of the second part 34c. The suction part 35a is rotatable about a rotation axis J2 extending in the second direction D2. The suction part 35c is attached to the front side (+D2 side) of the third part 34e. The suction part 35c is rotatable about a rotation axis J2. Each suction part 35a, 35c is connected to a vacuum pump (not shown). As a result, the suction part 35a vacuum-suctions the first inspection surface 55a of the article 50, and the suction part 35c vacuum-suctions the second inspection surface 55b. In this way, the gripping part 33 grips the article 50 by vacuum-suctioning the inspection surface 55. In other words, the moving device 30 grips the inspection surface 55 of the article 50 being transported by the conveyor belt 11. In this embodiment, the rotation axis J2 is a virtual axis.

[0034] As described above, each suction part 35a, 35c is rotatable about a rotation axis J2 extending in the second direction D2. Therefore, by rotating each suction part 35a, 35c, the gripping part 33 can rotate the article 50 about the rotation axis J2, as shown in Figures 6 and 7. As a result, the moving device 30 can change the face of the article 50 facing downstream (+D1 side) from the fifth face 57a to the third face 56a, as shown in Figure 7, as shown in Figure 6. Although not shown in the illustration, in this embodiment, the moving device 30 can change the face of the article 50 facing downstream in the order of the fifth face 57a, the third face 56a, the sixth face 57b, and the fourth face 56b. In other words, the moving device 30 can change the orientation of the outer surface of the article 50 other than the inspection surface 55.

[0035] As shown in Figure 2, the control unit 40 can communicate with the inspection device 19, the sensor 20, and the moving device 30. In this embodiment, the control unit 40 is a computer that controls the operation of each part of the transport system 10. The control unit 40 has a control program installed that performs the control of the operation of each part. At least part of the functions of each component of the control unit 40 are realized, for example, by a processor such as a CPU (Central Processing Unit) executing a control program, i.e., software, stored in a memory unit (not shown).

[0036] Furthermore, at least some of the functions of each component of the control unit 40 may be realized by hardware including circuit sections such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit), or they may be realized through the cooperation of software and hardware.

[0037] The control unit 40 has a storage unit 41. In this embodiment, the storage unit 41 can be a storage medium such as RAM, ROM, HDD (hard disk drive), or flash memory. The storage unit 41 stores a learning model 42 that has been trained to learn the correspondence between a plurality of detection results previously detected by the sensor 20, i.e., the detection signal Sd, and the wrapping state of the film 54 on the inspection surface 55. The storage unit 41 also stores a learning model 43 that has been trained to learn the correspondence between a plurality of detection results previously detected by the inspection device 19 and the wrapping state of the film 54 on surfaces other than the inspection surface 55. As a result, the control unit 40 determines the wrapping state of the film 54 on the inspection surface 55 by inputting the detection signal Sd transmitted from the sensor 20 to the learning model 42. The control unit 40 also determines the wrapping state of the film 54 on surfaces other than the inspection surface 55 by inputting the image signal Si transmitted from the inspection device 19 to the learning model 43.

[0038] Figure 8 is a flowchart showing the method for transporting the article 50 in this embodiment. Next, the method for transporting the article 50 in this embodiment will be described. As shown in Figure 8, the method for transporting the article 50 in this embodiment includes a wrapping step P01 in which the article 50 is wrapped with a film 54, a transport step P02 in which the article 50 is transported downstream (+D1 side) by a transport conveyor 11 while the wrapping state of the film 54 is inspected, and a packing step P03 in which a plurality of articles 50 are placed in a packing box. In this specification, unless otherwise specified, "workers, etc." includes workers and equipment, etc. that perform each step of the method for transporting the article 50. The work in each step may be performed by workers alone, by equipment alone, or by workers and equipment together.

[0039] In wrapping process P01, the article 50 is wrapped with film 54. In wrapping process P01, the worker first stacks the product 51 on top of each of the five products 51 arranged in a line in the second direction D2, as shown in Figure 3, in a wrapping area (not shown) located upstream (-D1 side) of the conveyor belt 11. This constitutes the article 50. Next, a packaging machine (not shown) wraps the entire outer surface of the article 50 with film 54. Once the entire outer surface of the article 50 is wrapped with film 54, wrapping process P01 is completed.

[0040] In the transport process P02, the article 50 is transported downstream (to the +D1 side) by the transport conveyor 11 while the wrapping condition of the film 54 is inspected. As shown in Figure 8, the transport process P02 includes the first inspection process P021, the first judgment process P022, the second inspection process P023, and the second judgment process P024. As shown in Figure 1, in the transport process P02, first, the worker places the article 50 wrapped with the film 54 on the transport belt 13 of the transport conveyor 11 and transports the article 50 downstream.

[0041] In the first inspection step P021, the control unit 40 determines the wrapping state of the film 54 on the inspection surface 55 based on the result detected by the sensor 20, i.e., the detection signal Sd. In the first inspection step P021 of this embodiment, the sensor 20 detects the sound generated when the guide member 15a and the film 54 come into contact, and the sound generated when the compressed air 25a discharged by the compressed air discharge unit 25 reaches the film 54.

[0042] As shown in Figure 4, for example, if the film 54 on the first inspection surface 55a is curled towards the front (+D2 side), forming a curled portion 54c that protrudes towards the front, the article 50 is transported downstream (+D1 side) while the curled portion 54c contacts the guide member 15a. As a result, a contact sound is generated between the guide member 15a and the curled portion 54c. The sensor 20 detects the sound generated when the guide member 15a and the curled portion 54c come into contact. The sensor 20 also detects the sound generated when compressed air 25a reaches the curled portion 54c. The sound generated when compressed air 25a reaches the curled portion 54c and the sound generated when compressed air 25a reaches the part of the film 54 that is in a normal wrapping state are different from each other. The sensor 20 converts sounds, including the contact sound between the guide member 15a and the curled portion 54c, and the sound generated when compressed air 25a reaches the curled portion 54c, into electrical signals and transmits them to the control unit 40 as a detection signal Sd, as shown in Figure 2.

[0043] As shown in Figure 4, when the film 54 on the second inspection surface 55b is curled towards the back (-D2 side), forming a curled portion 54d that protrudes towards the back, the article 50 is transported downstream (+D1 side) while the curled portion 54d contacts the guide member 15b. Therefore, the sensor 20 detects the sound generated when the guide member 15b and the curled portion 54d come into contact. In this case, the sensor 20 transmits a detection signal Sd, which includes the sound of contact between the guide member 15b and the curled portion 54d, to the control unit 40. When the sensor 20 transmits the detection signal Sd to the control unit 40, the first inspection step P021 is completed.

[0044] In the first determination step P022, the control unit 40 determines the wrapping state of the film 54 on the inspection surface 55 based on the detection signal Sd, i.e., the result detected by the sensor 20. As described above, the control unit 40 determines the wrapping state of the film 54 on the inspection surface 55 by inputting the detection signal Sd transmitted from the sensor 20 to the learning model 42. More specifically, the control unit 40 performs a discrete Fourier transform on the detection signal Sd and determines the wrapping state of the film 54 on the inspection surface 55 based on the sound intensity in the frequency range of the contact sound between the curled portions 54c, 54d and the guide members 15a, 15b, and the sound intensity in the frequency range of the sound generated when compressed air 25a reaches the curled portions 54c.

[0045] If the control unit 40 determines that the wrapping state of the film 54 on the inspection surface 55 is abnormal, the control unit 40 transmits a standby signal St to the moving device 30, as shown in Figure 2. Upon receiving the standby signal St, the moving device 30 does not move the item 50 whose wrapping state of the film 54 on the inspection surface 55 is determined to be abnormal to the inspection area 18. The worker then discharges the item 50 out of the transport system 10, retrieves it, moves it to the wrapping area, and re-wraps the item 50 with the film 54 (P01). More specifically, after the item 50 is discharged out of the transport system 10 via a discharge line (not shown), the worker retrieves the item 50 and moves it to the wrapping area. Next, the worker removes the film 54 with the abnormal wrapping state from the item 50 and then re-wraps it. The item 50, which has been re-wrapped with the film 54, is returned to the transport process P02. This prevents the item 50 with an abnormal wrapping state of the film 54 on the inspection surface 55 from being transported to the packaging area. Therefore, when the conveyor belt 11 transports the goods 50 to the packaging area, and during the transport of the goods 50, it is possible to prevent the multiple products 51 from collapsing. In addition, it is possible to prevent damage to the outer surface of the goods 50 during the transport of the goods 50.

[0046] Furthermore, if the control unit 40 determines that the wrapping state of the film 54 on the inspection surface 55 is abnormal based on the sound of contact between the curled portions 54c, 54d and the guide members 15a, 15b before the compressed air discharge unit 25 starts discharging compressed air 25a, the compressed air discharge unit 25 does not need to discharge compressed air 25a. This reduces the power consumed by the compressed air discharge unit 25, thereby contributing to energy savings in the conveying system 10.

[0047] Furthermore, in order to suppress the overlap between the frequency range of the contact sound between the curled portions 54c, 54d and the guide members 15a, 15b and the frequency range of the sound generated when the compressed air 25a reaches the curled portion 54c, the material of the guide member 15 can be appropriately selected from materials such as metal and resin. The material of the guide member 15 is preferably SUS316L, SUS304, and MC nylon (MC901, MC501CDR2, MC703HL).

[0048] Furthermore, the conveying system 10 does not necessarily have to have either the guide member 15 or the compressed air discharge unit 25. If the conveying system 10 does not have the compressed air discharge unit 25, the control unit 40 determines the wrapping state of the film 54 on the inspection surface 55 by the sound produced when the curled portions 54c, 54d and the guide members 15a, 15b come into contact. If the conveying system 10 does not have the guide member 15, the control unit 40 determines the wrapping state of the film 54 on the inspection surface 55 by the sound produced when the compressed air 25a reaches the curled portion 54c.

[0049] As shown in Figure 4, if the film 54 on the first inspection surface 55a is curled downstream (+D1 side), forming a curled portion 54e protruding downstream, the curled portion 54e does not come into contact with the guide member 15. Therefore, no contact noise is generated between the guide member 15 and the curled portion 54e. In contrast, in this embodiment, the compressed air discharge unit 25 may discharge compressed air 25a onto the fifth surface 57a of the article 50 being conveyed in the first direction D1. As a result, the sensor 20 can detect the sound generated when the compressed air 25a reaches the curled portion 54e, and the control unit 40 can more favorably determine that the wrapping state of the film 54 on the inspection surface 55 is abnormal.

[0050] If there is a hole in the film 54 on the first inspection surface 55a, the compressed air 25a reaches the product 51 storage box 52 (see Figure 3) through the hole. As a result, the sensor 20 can detect the sound generated when the compressed air 25a reaches the storage box 52. The sound generated when the compressed air 25a reaches the storage box 52 and the sound generated when the compressed air 25a reaches the part of the film 54 that is in a normal wrapping state are different from each other. As a result, the control unit 40 can determine that there is a hole in the film 54 on the inspection surface 55. Therefore, the control unit 40 can more favorably determine that the wrapping state of the film 54 on the inspection surface 55 is abnormal.

[0051] In the second inspection step P023, the inspection device 19 inspects the wrapping state of the film 54 on surfaces other than the inspection surface 55 for the article 50 in which the control unit 40 has determined that the wrapping state of the film 54 on the inspection surface 55 is normal (determined to be not abnormal). First, as shown in Figure 1, the control unit 40 moves the article 50 in which the wrapping state of the film 54 on the inspection surface 55 has been determined to be normal to the inspection area 18 using the moving device 30. More specifically, as shown in Figure 2, the control unit 40 transmits a first moving signal Sm1 to the moving device 30. When the moving device 30 receives the first moving signal Sm1, it grips the inspection surface 55 of the article 50 with the gripping part 33, as shown in Figure 5. Next, as shown in Figure 1, the moving device 30 moves the article 50 upstream (-D1 side) of the inspection device 19 located in the inspection area 18. At this time, the article 50 faces the inspection device 19 in the first direction D1. When the moving device 30 moves the item 50 to a position facing the inspection device 19 in the first direction D1, it transmits a movement completion signal Sfm to the control unit 40, as shown in Figure 2.

[0052] In this embodiment, since the peeling of the film 54 on the inspection surface 55 is minor, if the wrapping state of the film 54 on the inspection surface 55 is not determined to be abnormal in the first determination step P022, the control unit 40 adjusts the portion of the inspection surface 55 that the gripping portion 33 of the moving device 30 grips, based on the detection signal Sd, which is the result detected by the sensor 20. As a result, the gripping portion 33 can grip a portion of the film 54 that is different from the portion that is slightly peeled. Therefore, the gripping portion 33 can grip the article 50 and prevent the peeling of the film 54 from expanding.

[0053] When the control unit 40 receives the movement completion signal Sfm, it transmits an inspection start signal Ssi to the inspection device 19. When the inspection device 19 receives the inspection start signal Ssi, it images the wrapping state of the film 54 on the surfaces of the article 50 other than the inspection surface 55. As described above, the gripping unit 33 can rotate the article 50 around the rotation axis J2. This allows the surfaces of the article 50 facing downstream (+D1 side) to be changed in the order of the fifth surface 57a, the third surface 56a, the sixth surface 57b, and the fourth surface 56b (see Figures 6 and 7). Therefore, the inspection device 19 can image the wrapping state of the film 54 on the fifth surface 57a, the third surface 56a, the sixth surface 57b, and the fourth surface 56b, i.e., the surfaces of the article 50 other than the inspection surface 55. The inspection device 19 converts the captured image into an electrical signal and transmits it to the control unit 40 as an image signal Si, as shown in Figure 2. When the inspection device 19 transmits an image signal Si to the control unit 40, the second inspection step P023 is completed.

[0054] In the second decision step P024, the control unit 40 determines the wrapping state of the film 54 on surfaces other than the inspection surface 55 based on the image signal Si. The control unit 40 determines the wrapping state of the film 54 on surfaces other than the inspection surface 55 by inputting the image signal Si transmitted from the inspection device 19 to the learning model 43.

[0055] If the control unit 40 determines that the wrapping state of the film 54 on a surface other than the inspection surface 55 is abnormal, the worker moves the article 50 to the wrapping area and re-wraps the article 50 with the film 54 (P01). At this time, the worker removes the film 54 with the abnormal wrapping state from the article 50 before re-wrapping it. The article 50 that has been re-wrapped with the film 54 is returned to the transport process P02. This prevents the transport of articles 50 with abnormal wrapping state of the film 54 on surfaces other than the inspection surface 55 to the packaging area. Also, as described above, in the first inspection process P021, it is possible to prevent the transport of articles 50 with abnormal wrapping state of the film 54 on the inspection surface 55 to the packaging area. As a result, in this embodiment, it is possible to prevent the transport of articles 50 with abnormal wrapping state of the film 54 on all outer surfaces to the packaging area. Therefore, during transport of the goods 50 to the packaging area by the conveyor belt 11, and during the transportation of the goods 50, the collapse of multiple products 51 is suppressed. In addition, damage to the outer surface of the goods 50 during transportation is suppressed.

[0056] If the control unit 40 determines that the wrapping state of the film 54 on the inspection surface 55 is normal, the moving device 30 returns the article 50 to the conveyor belt 11. When the moving device 30 returns the article 50 to the conveyor belt 11, the second determination step P024 ends. The article 50 that has been returned to the conveyor belt 11 is transported by the conveyor belt 11 to a packaging area (not shown).

[0057] In the packaging process P03, the articles 50 are placed in a packaging box. Workers place the articles 50, which have been transported to the packaging area by the conveyor belt 11, into the packaging box. In this embodiment, the packaging box is, for example, a corrugated cardboard box. Once the articles 50 are placed in the packaging box, the packaging process P03 is completed. As described above, the articles 50 placed in the packaging box are transported by car, train, etc., to the retailer of the articles 50. As described above, the wrapping condition of the film 54 of the articles 50 transported to the packaging area is normal. Therefore, damage to the outer surface of the articles 50 and collapse of multiple products 51 during transport can be more effectively suppressed. Note that the packaging box may contain one article 50 or multiple articles 50.

[0058] According to this embodiment, the transport system 10 is a transport system for transporting articles 50 wrapped with a film 54, and includes a transport conveyor 11 that transports the articles 50 in a first direction D1, a sensor 20 that detects the state of the film 54 on an inspection surface 55 facing a second direction D2 of the article 50 being transported in the first direction D1 by the transport conveyor 11, and an inspection device 19 that inspects the state of the film 54 on surfaces of the article 50 other than the inspection surface 55. Therefore, the sensor 20 and the inspection device 19 can inspect the state of the film 54 on all surfaces of the article 50, making it possible to suitably detect if the state of the film 54 is abnormal. As a result, articles 50 with abnormal film 54 wrapping can be quickly removed from the transport conveyor 11. Therefore, even if the article 50 is composed of multiple products 51, it is possible to suppress the collapse of the multiple products 51 on the transport conveyor 11. Consequently, it is possible to suppress the transport system 10 from stopping.

[0059] Furthermore, in this embodiment, it is possible to prevent articles with abnormal wrapping conditions on the film 54 from flowing out to the packaging process P03. As a result, when transporting the articles 50, it is possible to prevent the outer surface of the articles 50 from being exposed from the film 54, and thus, as described above, it is possible to prevent damage to the outer surface of the articles 50. In addition, since it is possible to prevent damage to the outer surface of the articles 50, it is possible to prevent the contents stored inside the storage box 52 from being exposed to the outside.

[0060] Furthermore, compared to a case where the method of transporting the article 50 includes an inspection step in which an image of the inspection surface 55 is captured in a step later than the first inspection step P021, and the wrapping state of the film 54 on the inspection surface 55 is inspected based on the image, in this embodiment, inspection for peeling of the film 54 on the inspection surface 55 is unnecessary in the inspection step. Therefore, it is easier to reduce the inspection man-hours required to inspect the wrapping state of the film 54 on the inspection surface 55 in the inspection step.

[0061] According to this embodiment, the transport system 10 includes a guide member 15 positioned outside the second direction D2 of the article 50 being transported in the first direction D1 by the transport conveyor 11, and the sensor 20 detects the sound generated when the guide member 15 and the film 54 come into contact. Therefore, since a microphone can be used as the sensor 20, it is easier to miniaturize the sensor 20 compared to a case where the sensor 20 is an imaging device that captures an image of the inspection surface 55. Thus, even if there are constraints on the installation area of ​​the sensor 20, the degree of freedom in where the sensor 20 is placed can be increased.

[0062] According to this embodiment, since a microphone can be used as the sensor 20, it is easier to suppress an increase in the manufacturing cost of the sensor 20 compared to the case where the sensor 20 is an imaging device that captures an image of the inspection surface 55. Therefore, it is easier to suppress an increase in the manufacturing cost of the transport system 10.

[0063] According to this embodiment, the transport system 10 includes a compressed air discharge unit 25 that discharges compressed air 25a from the outside in a second direction D2 to an article 50 being transported in a first direction D1 by a transport conveyor 11, and the sensor 20 detects the sound generated when the compressed air 25a reaches the film 54. Therefore, the wrapping state of the film 54 can be detected without the film 54 coming into contact with an object. As a result, damage to the film 54 is easily suppressed when inspecting the wrapping state of the film 54. This suppresses the exposure of the outer surface of the article 50 from the film 54. Therefore, damage to the outer surface of the article 50 can be more effectively suppressed during transport.

[0064] According to this embodiment, the transport system 10 includes a guide member 15 positioned outside the second direction D2 of the article 50 being transported in the first direction D1 by the transport conveyor 11, and a compressed air discharge unit 25 that discharges compressed air 25a from outside the second direction D2 to the article 50 being transported in the first direction D1 by the transport conveyor 11. The sensor 20 detects the sound generated when the guide member 15 and the film 54 come into contact, and the sound generated when the compressed air 25a reaches the film 54. Therefore, in this embodiment, one sensor 20 can detect both the sound generated when the guide member 15 and the film 54 come into contact, and the sound generated when the compressed air 25a reaches the film 54. This reduces the number of components that make up the transport system 10 compared to a case where the transport system 10 separately includes a sensor to detect the sound generated when the guide member 15 and the film 54 come into contact, and a sensor to detect the sound generated when the compressed air 25a reaches the film 54. Therefore, the configuration of the transport system 10 can be simplified, and the increase in the manufacturing cost of the transport system 10 can be suppressed.

[0065] According to this embodiment, the transport system 10 includes an inspection area 18 where an inspection device 19 is located, a moving device 30 that grips the inspection surface 55 of an article 50 being transported by a transport conveyor 11 and moves the article 50 to the inspection area 18, and a control unit 40 that can communicate with the sensor 20 and the moving device 30, respectively. The control unit 40 determines the wrapping state of the film 54 on the inspection surface 55 based on the detection signal Sd, which is the result detected by the sensor 20, and if it determines that the wrapping state of the film 54 on the inspection surface 55 is normal, it moves the article 50 to the inspection area 18 using the moving device 30. Therefore, in the first determination step P022, only articles 50 whose wrapping state of the film 54 on the inspection surface 55 is determined to be normal can be moved to the inspection area 18 by the moving device 30. Furthermore, in the first determination step P022, articles 50 whose wrapping state of the film 54 on the inspection surface 55 is determined to be abnormal can be prevented from being moved to the inspection area 18 by the moving device 30. These measures minimize the power consumed to operate the mobile device 30. Therefore, energy conservation of the transport system 10 can be more effectively achieved.

[0066] According to this embodiment, the control unit 40 adjusts the portion of the inspection surface 55 that the moving device 30 grips based on the detection signal Sd, which is the result detected by the sensor 20. Therefore, as described above, the moving device 30 can grip a portion of the film 54 that is not slightly peeled, for example, in the first determination step P022, to the extent that the wrapping state is not judged to be abnormal. Thus, the gripping portion 33 gripping the article 50 can suppress the expansion of the peeling of the film 54.

[0067] According to this embodiment, the moving device 30 has a gripping part 33 that vacuum-suctions the inspection surface 55. Therefore, it is easier to suppress the excessive force applied to the film 54 when the gripping part 33 grips the inspection surface 55. Consequently, damage to the film 54 can be suppressed when the gripping part 33 grips the article 50.

[0068] According to this embodiment, the control unit 40 has a storage unit 41 that stores a learning model 42 that has been trained to learn the correspondence between a plurality of results previously detected by the sensor 20 and the wrapping state of the film 54 on the inspection surface 55. The control unit 40 inputs the detection results detected by the sensor 20 into the learning model 42 to determine the wrapping state of the film 54 on the inspection surface 55. Therefore, the control unit 40 can accurately determine the wrapping state of the film 54 on the inspection surface 55. Consequently, the control unit 40 can accurately determine that the wrapping state of the film 54 on the inspection surface 55 is abnormal.

[0069] <Second Embodiment> Figure 9 is a top view showing a part of the transport system 210 of this embodiment. Figure 10 is a schematic block diagram showing the transport system 210 of this embodiment. In this embodiment, the transport system 210 includes a plurality of sensors 220. In the following description, components that are the same as those in the first embodiment described above are denoted by the same reference numerals, and their descriptions are omitted.

[0070] As shown in Figure 9, the transport system 210 of this embodiment includes a transport conveyor 11, a guide member 15, an inspection area 18 (see Figure 1), an inspection device 19 (see Figure 1), a sensor 220, a compressed air discharge unit 25, and a moving device 30 (see Figure 1). As shown in Figure 10, the transport system 210 of this embodiment includes a control unit 240.

[0071] The sensor 220 detects the wrapping state of the film 54 on the inspection surface 55 of the article 50 being transported in the first direction D1 by the transport conveyor 11. In this embodiment, the transport system 210 includes a plurality of sensors 220. The plurality of sensors 220 include a first sensor 221 and a second sensor 222.

[0072] The first sensor 221 is positioned near the guide member 15. In this embodiment, the first sensor 221 is positioned near one of the guide members 15a. The first sensor 221 may also be positioned near the other guide member 15b. In this embodiment, the first sensor 221 is a microphone that detects sound. The first sensor 221 detects the sound generated when the compressed air 25a discharged by the compressed air discharge unit 25 reaches the film 54. The configuration of the first sensor 221 is the same as that of the sensor 20 in the first embodiment described above. As shown in Figure 10, the first sensor 221 can communicate with the control unit 240. The first sensor 221 may communicate with the control unit 240 via a wired communication means such as a cable, or via a wireless communication means such as a wireless LAN. The first sensor 221 converts the detected sound into a first detection signal Sd1, which is an electrical signal, and transmits it to the control unit 240.

[0073] As shown in Figure 9, the second sensor 222 is attached to the guide member 15. In this embodiment, the second sensor 222 is attached to one guide member 15a. The second sensor 222 may also be attached to the other guide member 15b. In this embodiment, the second sensor 222 is an acceleration sensor that detects vibrations of the guide member 15. As the second sensor 222, for example, an acceleration sensor M602D01 manufactured by PCB PIEZOTRONICS can be used. As shown in Figure 10, the second sensor 222 can communicate with the control unit 240. The second sensor 222 may communicate with the control unit 240 via a wired communication means such as a cable, or via a wireless communication means such as a wireless LAN. The second sensor 222 converts the detected vibration into a second detection signal Sd2, which is an electrical signal, and transmits it to the control unit 240.

[0074] In this embodiment, the control unit 240 can communicate with the inspection device 19, the multiple sensors 220, and the mobile device 30. The control unit 240 has a storage unit 241. The storage unit 241 stores a learning model 242 that has been trained by machine learning to recognize the correspondence between multiple detection results previously detected by the first sensor 221, namely the first detection signal Sd1, and the wrapping state of the film 54 on the inspection surface 55. The storage unit 241 also stores a learning model 243 that has been trained by machine learning to recognize the correspondence between multiple detection results previously detected by the second sensor 222, namely the second detection signal Sd2, and the wrapping state of the film 54 on the inspection surface 55. Furthermore, the storage unit 241 stores a learning model 43 that has been trained by machine learning to recognize the correspondence between multiple detection results previously detected by the inspection device 19 and the wrapping state of the film 54 on surfaces other than the inspection surface 55.

[0075] The control unit 240 determines the wrapping state of the film 54 on the inspection surface 55 by inputting a first detection signal Sd1 transmitted from the first sensor 221 to the learning model 242. The control unit 240 also determines the wrapping state of the film 54 on the inspection surface 55 by inputting a second detection signal Sd2 transmitted from the second sensor 222 to the learning model 243. Furthermore, the control unit 240 determines the wrapping state of the film 54 on surfaces other than the inspection surface 55 by inputting an image signal Si transmitted from the inspection device 19 to the learning model 43.

[0076] Next, the method for transporting the article 50 in this embodiment will be described. Although not shown in the illustration, the method for transporting the article 50 in this embodiment includes a wrapping step P01, a transport step P22, and a packaging step P03. The wrapping step P01 and the packaging step P03 in this embodiment are the same as the wrapping step P01 and the packaging step P03 in the first embodiment described above.

[0077] In the transport process P22, the article 50 is transported downstream (to the +D1 side) by the transport conveyor 11 while the wrapping state of the film 54 is inspected. In this embodiment, the transport process P22 includes a first inspection process P221, a first judgment process P222, a second inspection process P023, and a second judgment process P024. The second inspection process P023 and the second judgment process P024 in this embodiment are the same as the second inspection process P023 and the second judgment process P024 in the first embodiment described above. As shown in Figure 9, in the transport process P22, first, the worker places the article 50 wrapped with the film 54 on the transport belt 13 of the transport conveyor 11 and transports the article 50 downstream.

[0078] In the first inspection step P221, the control unit 240 determines the wrapping state of the film 54 on the inspection surface 55 based on the results detected by the sensor 220, namely the first detection signal Sd1 and the second detection signal Sd2, respectively. In the first inspection step P221 of this embodiment, the first sensor 221 detects the sound generated when the compressed air 25a discharged by the compressed air discharge unit 25 reaches the film 54. The second sensor 222 detects the vibration of the guide member 15 that occurs when the guide member 15 comes into contact with the film 54. The method by which the first sensor 221 detects the sound generated when the compressed air 25a reaches the film 54, and the method by which the control unit 40 determines the wrapping state of the film 54 on the inspection surface 55 based on the first detection signal Sd1, etc., are the same as in the first embodiment described above, so a description is omitted.

[0079] As shown in Figure 9, if a curled portion 54c is formed on the film 54 on the first inspection surface 55a, the article 50 is transported downstream (+D1 side) while the curled portion 54c contacts the guide member 15a. At this time, the guide member 15a vibrates due to contact with the curled portion 54c. Therefore, the second sensor 222 can detect the vibration of the guide member 15a that occurs when the guide member 15a and the curled portion 54c come into contact. The second sensor 222 converts the vibration of the guide member 15a, including the vibration of the guide member 15a that occurs when the guide member 15a and the curled portion 54c come into contact, into an electrical signal and transmits it to the control unit 240 as a second detection signal Sd2, as shown in Figure 10. When the sensor 220 transmits the first detection signal Sd1 and the second detection signal Sd2 to the control unit 240, the first inspection step P221 is completed.

[0080] In the first determination step P222, the control unit 240 determines the wrapping state of the film 54 on the inspection surface 55 based on the first detection signal Sd1 and the second detection signal Sd2. As described above, the control unit 240 determines the wrapping state of the film 54 on the inspection surface 55 by inputting the first detection signal Sd1 transmitted from the first sensor 221 to the learning model 242. Furthermore, the control unit 240 determines the wrapping state of the film 54 on the inspection surface 55 by inputting the second detection signal Sd2 transmitted from the second sensor 222 to the learning model 243.

[0081] If the control unit 240 determines that the wrapping state of the film 54 on the inspection surface 55 is abnormal, the control unit 240 transmits a standby signal St to the moving device 30, similar to the first embodiment described above. Upon receiving the standby signal St, the moving device 30 does not move the article 50 whose wrapping state of the film 54 on the inspection surface 55 is determined to be abnormal to the inspection area 18. The worker then discharges the article 50 from the transport system 10, retrieves it, moves it to the wrapping area, and re-wraps the article 50 with the film 54 (P01). The article 50, which has been re-wrapped with the film 54, is returned to the transport process P22. This prevents the article 50 with an abnormal wrapping state of the film 54 on the inspection surface 55 from being transported to the packaging area. Therefore, during transport by the transport conveyor 11 to the packaging area and during the transport of the article 50, it is possible to prevent the collapse of multiple products 51. In addition, it is possible to prevent damage to the outer surface of the article 50 during the transport of the article 50. Other operations of the method for transporting the article 50 in this embodiment are the same as other operations of the method for transporting the article 50 in the first embodiment described above. Other configurations of the transport system 210 in this embodiment are the same as other configurations of the transport system 10 in the first embodiment described above.

[0082] According to this embodiment, the transport system 210 includes a guide member 15 positioned outside the second direction D2 of the article 50 being transported in the first direction D1 by the transport conveyor 11, a compressed air discharge unit 25 that discharges compressed air 25a from outside the second direction D2 to the article 50 being transported in the first direction D1 by the transport conveyor 11, and a plurality of sensors 220. The plurality of sensors 220 include a first sensor 221 that detects sound generated when the compressed air 25a reaches the film 54, and a second sensor 222 that detects vibrations of the guide member 15 generated when the guide member 15 comes into contact with the film 54. Therefore, for example, a microphone can be used as the first sensor 221, and for example, an acceleration sensor can be used as the second sensor 222, making it easier to miniaturize each sensor 220 compared to the case where the sensor 220 is an imaging device that captures an image of the inspection surface 55. Therefore, even if there are constraints on the installation area of ​​the sensor 220, the degree of freedom in where the sensor 220 is placed can be increased.

[0083] Furthermore, in this embodiment, the sensor 220 and inspection device 19 can inspect the wrapping condition on all surfaces of the article 50, making it possible to suitably detect if the wrapping condition of the film 54 is abnormal. As a result, articles 50 with abnormal film wrapping conditions can be quickly removed from the conveyor belt 11, thereby preventing the collapse of multiple products 51 on the conveyor belt 11. In addition, it is possible to prevent articles with abnormal film wrapping conditions from flowing out to the packaging process P03. As a result, damage to the outer surface of the article 50 during transportation can be prevented.

[0084] <Third Embodiment> Figure 11 is a top view showing a part of the transport system 310 of this embodiment. Figure 12 is This is a schematic block diagram showing the transport system 310 of this embodiment. In this embodiment, the transport system 310 includes a plurality of sensors 320. In the following description, components that are the same as those in the second embodiment described above are denoted by the same reference numerals, and their descriptions are omitted.

[0085] As shown in Figure 11, the transport system 310 of this embodiment includes a transport conveyor 11, a guide member 15, an inspection area 18 (see Figure 1), an inspection device 19 (see Figure 1), a sensor 320, a compressed air discharge unit 25, and a moving device 30 (see Figure 1). As shown in Figure 12, the transport system 310 of this embodiment includes a control unit 340.

[0086] Sensor 320 detects the wrapping state of the film 54 on the inspection surface 55 of the article 50 being transported in the first direction D1 by the transport conveyor 11. In this embodiment, the transport system 310 includes a plurality of sensors 320. The plurality of sensors 320 include a first sensor 321 and a second sensor (sensor) 322.

[0087] The configuration of the first sensor 321 in this embodiment is the same as that of the first sensor 221 in the second embodiment described above. As shown in Figure 12, the first sensor 321 converts the detected sound into a first detection signal Sd1, which is an electrical signal, and transmits it to the control unit 340.

[0088] As shown in Figure 11, the second sensor 322 is attached to the guide member 15. In this embodiment, the second sensor 322 is attached to one of the guide members 15a. The second sensor 322 may also be attached to the other guide member 15b. In this embodiment, the second sensor 322 is a load transducer that detects the force with which the film 54 presses the second sensor 322. The tip of the second sensor 322 is located inward in the second direction D2 compared to one of the guide members 15a. The second sensor 322 detects the force with which the film 54 presses the tip of the second sensor 322 outward in the second direction D2. As shown in Figure 12, the second sensor 322 can communicate with the control unit 340. The second sensor 322 may communicate with the control unit 340 via a wired communication means such as a cable, or via a wireless communication means such as a wireless LAN. The second sensor 322 converts the detected force into a second detection signal Sd2, which is an electrical signal, and transmits it to the control unit 340.

[0089] In this embodiment, the control unit 340 can communicate with the inspection device 19, the multiple sensors 320, and the mobile device 30. The control unit 340 has a storage unit 341. The storage unit 341 stores a learning model 242 that has been trained by machine learning to recognize the correspondence between multiple detection results previously detected by the first sensor 321, namely the first detection signal Sd1, and the wrapping state of the film 54 on the inspection surface 55. The storage unit 341 also stores a learning model 343 that has been trained by machine learning to recognize the correspondence between multiple detection results previously detected by the second sensor 322, namely the second detection signal Sd2, and the wrapping state of the film 54 on the inspection surface 55. Furthermore, the storage unit 341 stores a learning model 43 that has been trained by machine learning to recognize the correspondence between multiple detection results previously detected by the inspection device 19 and the wrapping state of the film 54 on surfaces other than the inspection surface 55.

[0090] The control unit 340 determines the wrapping state of the film 54 on the inspection surface 55 by inputting the first detection signal Sd1 transmitted from the first sensor 321 to the learning model 242. The control unit 340 also determines the wrapping state of the film 54 on the inspection surface 55 by inputting the second detection signal Sd2 transmitted from the second sensor 322 to the learning model 343. Furthermore, the control unit 340 determines the wrapping state of the film 54 on surfaces other than the inspection surface 55 by inputting the image signal Si transmitted from the inspection device 19 to the learning model 43.

[0091] Next, the method for transporting the article 50 in this embodiment will be described. Although not shown in the illustration, the method for transporting the article 50 in this embodiment includes a wrapping step P01, a transport step P32, and a packaging step P03. The wrapping step P01 and the packaging step P03 in this embodiment are the same as the wrapping step P01 and the packaging step P03 in the first embodiment described above.

[0092] In the transport process P32, the article 50 is transported downstream (to the +D1 side) by the transport conveyor 11 while the wrapping state of the film 54 is inspected. In this embodiment, the transport process P32 includes a first inspection process P321, a first judgment process P322, a second inspection process P023, and a second judgment process P024. The second inspection process P023 and the second judgment process P024 in this embodiment are the same as the second inspection process P023 and the second judgment process P024 in the first embodiment described above. As shown in Figure 11, in the transport process P32, first, the worker places the article 50 wrapped with the film 54 on the transport belt 13 of the transport conveyor 11 and transports the article 50 downstream.

[0093] In the first inspection step P321, the control unit 340 determines the wrapping state of the film 54 on the inspection surface 55 based on the results detected by the sensor 320, namely the first detection signal Sd1 and the second detection signal Sd2, respectively. In the first inspection step P321 of this embodiment, the first sensor 321 detects the sound generated when the compressed air 25a discharged by the compressed air discharge unit 25 reaches the film 54. The second sensor 322 detects the force with which the film 54 presses against the second sensor 322. The method by which the first sensor 321 detects the sound generated when the compressed air 25a reaches the film 54, and the method by which the control unit 40 determines the wrapping state of the film 54 on the inspection surface 55 based on the first detection signal Sd1, etc., are the same as in the first embodiment described above, so a detailed explanation is omitted.

[0094] As shown in Figure 11, if a curled portion 54c is formed on the film 54 on the first inspection surface 55a, the article 50 is transported downstream (+D1 side) while the curled portion 54c contacts the guide member 15a and the tip of the second sensor 322, respectively. This allows the second sensor 322 to detect the force with which the film 54 presses against the second sensor 322. Although not shown in the figure, if the wrapping state on the first inspection surface 55a is normal, the film 54 does not contact the second sensor 322, and therefore no force is applied to the second sensor 322 by the film 54. This allows the second sensor 322 to detect the wrapping state of the first inspection surface 55a. The second sensor 322 converts the force, including the force with which the film 54 presses against the second sensor 322, into an electrical signal and transmits it to the control unit 340 as a second detection signal Sd2, as shown in Figure 12. When the sensor 320 transmits the first detection signal Sd1 and the second detection signal Sd2 to the control unit 340, the first inspection step P321 is completed.

[0095] In the first determination step P322, the control unit 340 determines the wrapping state of the film 54 on the inspection surface 55 based on the first detection signal Sd1 and the second detection signal Sd2. As described above, the control unit 340 determines the wrapping state of the film 54 on the inspection surface 55 by inputting the first detection signal Sd1 transmitted from the first sensor 321 to the learning model 242. Furthermore, the control unit 340 determines the wrapping state of the film 54 on the inspection surface 55 by inputting the second detection signal Sd2 transmitted from the second sensor 322 to the learning model 343.

[0096] If the control unit 340 determines that the wrapping state of the film 54 on the inspection surface 55 is abnormal, the control unit 340 transmits a standby signal St to the moving device 30, similar to the first embodiment described above. Upon receiving the standby signal St, the moving device 30 does not move the article 50 whose wrapping state of the film 54 on the inspection surface 55 is determined to be abnormal to the inspection area 18. The worker then discharges the article 50 from the transport system 10, retrieves it, moves it to the wrapping area, and re-wraps the article 50 with the film 54 (P01). The article 50, which has been re-wrapped with the film 54, is returned to the transport process P32. This prevents the article 50 with an abnormal wrapping state of the film 54 on the inspection surface 55 from being transported to the packaging area. Therefore, during transport when the article 50 is transported to the packaging area by the transport conveyor 11, and during the transport of the article 50, it is possible to prevent the collapse of multiple products 51. In addition, it is possible to prevent damage to the outer surface of the article 50 during the transport of the article 50. Other operations of the method for transporting the article 50 in this embodiment are the same as other operations of the method for transporting the article 50 in the first embodiment described above. Other configurations of the transport system 310 in this embodiment are the same as other configurations of the transport system 10 in the first embodiment described above.

[0097] According to this embodiment, the transport system 310 includes a guide member 15 positioned outside the second direction D2 of the article 50 being transported in the first direction D1 by the transport conveyor 11, and the second sensor (sensor) 322 is attached to the guide member 15 and detects the force with which the film 54 presses against the second sensor 322. Since, for example, a load transducer can be used as the second sensor 322, it is easier to miniaturize the second sensor 322 compared to the case where the second sensor 322 is an imaging device that captures an image of the inspection surface 55. Therefore, even if there are constraints on the installation area of ​​the second sensor 322, the degree of freedom in where the second sensor 322 is placed can be increased.

[0098] Furthermore, in this embodiment, the sensor 320 and inspection device 19 can inspect the wrapping condition on all surfaces of the article 50, making it possible to suitably detect if the wrapping condition of the film 54 is abnormal. As a result, articles 50 with abnormal film wrapping conditions can be quickly removed from the conveyor belt 11, thereby suppressing the collapse of multiple products 51 on the conveyor belt 11. In addition, it is possible to prevent articles with abnormal film wrapping conditions from flowing out to the packaging process P03. As a result, damage to the outer surface of the article 50 during transportation can be suppressed.

[0099] Although preferred embodiments of the present invention have been described above with reference to the attached drawings, it goes without saying that the present invention is not limited to the above embodiments, and those skilled in the art can obtain the above-described effects based on the above embodiments. The shapes and combinations of each component shown in the above embodiments are examples, and can be modified in various ways based on design requirements, etc., without departing from the spirit of the present invention.

[0100] The transport system may be equipped with multiple sensors, with one sensor positioned near the front guide member and the other near the rear guide member. In this case, one sensor can accurately detect the wrapping state of the film on the first inspection surface, and the other sensor can accurately detect the wrapping state of the film on the second inspection surface. Therefore, the wrapping state of the film on the inspection surface can be detected with greater accuracy. [Explanation of Symbols]

[0101] 10, 210, 310…Conveying system, 11…Conveying conveyor, 15…Guide member, 18…Inspection area, 19…Inspection device, 20, 220, 320…Sensor, 25…Compressed air discharge unit, 25a…Compressed air, 30…Moving device, 33…Gripping unit, 40, 240, 340…Control unit, 41, 241, 341…Storage unit, 42, 43, 242, 243, 343…Learning model, 50…Item, 54…Film, 55…Inspection surface, 221, 321…First sensor, 222, 322…Second sensor, D1…First direction, D2…Second direction

Claims

1. A transport system for transporting articles wrapped in film, A conveyor that transports the aforementioned articles in a first direction, A sensor for detecting the wrapping state of the film on an inspection surface facing a second direction that is perpendicular to the first direction and horizontal to the first direction of the article being transported in the first direction by the conveyor belt, An inspection device for inspecting the wrapping state of the film on surfaces of the article other than the inspection surface, A transport system equipped with the following features.

2. The system includes a guide member positioned outside the second direction of the article being transported in the first direction by the conveyor, The transport system according to claim 1, wherein the sensor detects sound generated when the guide member and the film come into contact, or vibrations of the guide member.

3. The system includes a guide member positioned outside the second direction of the article being transported in the first direction by the conveyor, The transport system according to claim 1, wherein the sensor is attached to the guide member and detects the force with which the film presses against the sensor.

4. The system includes a compressed air discharge unit that discharges compressed air from the outside in the second direction to the article being transported in the first direction by the conveying conveyor, The transport system according to claim 1, wherein the sensor detects the sound generated when the compressed air reaches the film.

5. A guide member positioned outside the second direction of the article being transported in the first direction by the conveyor, A compressed air discharge unit discharges compressed air from the outside in the second direction to the article being transported in the first direction by the conveyor, Equipped with, The transport system according to claim 1, wherein the sensor detects sound generated when the guide member and the film come into contact, and sound generated when the compressed air reaches the film.

6. A guide member positioned outside the second direction of the article being transported in the first direction by the conveyor, A compressed air discharge unit discharges compressed air from the outside in the second direction to the article being transported in the first direction by the conveyor, Multiple sensors, Equipped with, The transport system according to claim 1, wherein the plurality of sensors include a first sensor for detecting sound generated when the compressed air reaches the film, and a second sensor for detecting vibration of the guide member generated when the guide member and the film come into contact.

7. The inspection area where the aforementioned inspection device is located, A moving device that grips the inspection surface of the article being transported by the conveyor and moves the article to the inspection area, A control unit capable of communicating with each of the aforementioned sensors and the aforementioned mobile device, Equipped with, The transport system according to any one of claims 1 to 6, wherein the control unit determines the wrapping state of the film on the inspection surface based on the results detected by the sensor, and if it determines that the wrapping state of the film on the inspection surface is normal, it moves the article to the inspection area using the moving device.

8. The transport system according to claim 7, wherein the control unit adjusts the portion of the inspection surface that is gripped by the moving device based on the results detected by the sensor.

9. The transport system according to claim 7, wherein the transport device has a gripping portion that vacuum-adsorbs the inspection surface.

10. The transport system according to claim 7, wherein the control unit has a storage unit that stores a learning model which has been trained to recognize the correspondence between a plurality of results previously detected by the sensor and the wrapping state of the film on the inspection surface, and the detection results detected by the sensor are input to the learning model to determine the wrapping state of the film on the inspection surface.

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