Control system and control program

Abstract

This control system comprises a processor that: acquires a sheet size of sheet in a sheet bundle; before counting the number of sheets of the sheet bundle by using a counter, causes each of a plurality of pressing parts to move according to the sheet size to each of two adjacent side surfaces among the plurality of side surfaces of the sheet bundle excluding the side surfaces to which the counter is applied; and performs control so that each of the plurality of pressing parts press each of the two adjacent side surfaces while the counter is counting.

Description

Control system and control program

[0001] The present disclosure relates to a control system and a control program.

[0002] For example, Patent Document 1 describes a paper flow prevention device for a sheet-fed printing press discharge section that is provided in the discharge section of the sheet-fed printing press and prevents paper from flowing sideways in the transport direction of books stacked on a lifting pile. This paper flow prevention device is provided with a paper pressing member that regulates the side of books on the lifting pile that are in a lowered position during a board setting operation.

[0003] Japanese Patent Application Publication No. 5-139606

[0004] When transporting a stack of paper to a post-processing device, a robot arm (hereinafter referred to as "arm") may be used. In this case, since it is difficult to transport the entire stack of paper at once, a certain number of sheets are counted before being gripped by the arm.

[0005] A disk-type counter is used to count the number of sheets in a stack of paper, and the disk is rotated and slid between the sheets to count each sheet.

[0006] When counting paper at a certain speed, friction between the disk and the paper can pull the paper, causing the stack to collapse. A simple solution to prevent the paper from being pulled is to surround the sides of the stack of paper except for the side that the counter touches with a wall. However, surrounding the sides with a wall can interfere with the arm's gripping of the stack of paper.

[0007] The present disclosure relates to providing a control system and a control program that can count the number of sheets in a paper stack while holding the paper stack without interfering with the operation of an arm gripping the paper stack.

[0008] (1) A control system according to one aspect of the present disclosure includes a processor, which acquires the size of the paper in a paper stack, which is a stack of paper, and before counting the number of sheets in the paper stack using a counter, moves each of a plurality of pressing units to two adjacent sides of the paper stack, excluding the side on which the counter is placed, according to the size of the paper, and controls each of the plurality of pressing units to press each of the two adjacent sides while the counter is counting.

[0009] (2) In the control system of (1), the processor may further acquire at least one of the thickness and type of paper of the paper stack, and may change the position of the side surface pressed by each of the multiple pressing sections depending on at least one of the thickness and type of paper.

[0010] (3) In the control system of (2), the distance between the pressing portion and the counter when the paper in the paper stack is a first paper may be shorter than the distance between the pressing portion and the counter when the paper is a second paper that is thicker than the first paper.

[0011] (4) In the control system of any one of (1) to (3), the processor may further control a pressure member other than the plurality of pressure members to press the top surface of the stack of paper while the counter is counting.

[0012] (5) In the control system of (4), the processor may further acquire at least one of the thickness and type of paper of the paper stack, and may change the position of the upper surface pressed by the other pressing unit depending on at least one of the thickness and type of paper of the paper.

[0013] (6) In the control system of (5), the distance between the other pressing portion and the counter when the paper in the paper stack is a first paper may be shorter than the distance between the other pressing portion and the counter when the paper is a second paper that is thicker than the first paper.

[0014] (7) In the control system of any one of (1) to (6), at least one of the plurality of pressing units may press a position on a side surface where the distance between the pressing unit and the counter is shortest.

[0015] (8) In any one of the control systems (1) to (7), the control system may further include a trained model generated by machine learning learning data in which attribute information including the size, number of sheets, paper type, and thickness of the paper is used as an explanatory variable, and the position of the side pressed by each of the multiple pressing units is used as a target variable, and the processor may input attribute information about the paper in the paper stack into the trained model, and may obtain the position of the side pressed by each of the multiple pressing units from the trained model.

[0016] (9) In the control system according to any one of (1) to (8), the plurality of holding portions may be a plurality of arms capable of gripping the sheets of paper in the stack of sheets, and the processor may control the plurality of arms to hold the two adjacent sides with the plurality of arms, count a predetermined number of sheets of paper with the counter, and then grip the predetermined number of sheets of paper.

[0017] (10) In the control system of (9), after the processor has counted all the sheets of paper in the stack of paper using the counter, the processor may move the counter away from the position where it is resting so as not to interfere with the setting of a new stack of paper.

[0018] (11) In the control system of (9) or (10), the counter may be a disk rotation type counter in which a disk rotates in a direction along the edge of the paper in the paper stack, and the processor may change the side that each of the multiple arms presses depending on the direction of rotation of the disk.

[0019] (12) In the control system of (11), one of the multiple arms may press the side of the stack of paper to the right of the counter when viewed from above when the rotation direction of the disk is clockwise, and may press the side of the stack of paper to the left of the counter when viewed from above when the rotation direction of the disk is counterclockwise.

[0020] (13) A control program according to another aspect of the present disclosure causes a computer to execute a process of acquiring the size of the paper in a paper stack, which is a stack of paper, and before counting the number of sheets in the paper stack using a counter, moving each of a plurality of pressing units to each of two adjacent sides of the paper stack excluding the side on which the counter is placed, based on the size of the paper, and controlling each of the plurality of pressing units to press each of the two adjacent sides while the counter is counting.

[0021] According to (1) and (13), the number of sheets in the paper stack can be counted while holding down the paper stack without interfering with the operation of the arm to grip the paper stack.

[0022] According to (2), compared to when the same position on the side of the paper is pressed regardless of the thickness and type of paper, the paper is less likely to be pulled while the counter is counting.

[0023] According to (3), compared to when the distance between the pressing portion and the counter is the same regardless of the thickness of the paper, the paper is less likely to be pulled while the counter is counting.

[0024] According to (4), compared to when only the sides of the stack of sheets are pressed, the sheets are less likely to be pulled while the counter is counting.

[0025] According to (5), compared to when the same position on the top surface is pressed regardless of the thickness and type of paper, the paper is less likely to be pulled while the counter is counting.

[0026] According to (6), compared to when the distance between the counter and another pressing portion is the same regardless of the thickness of the paper, the paper is less likely to be pulled while the counter is counting.

[0027] According to (7), compared to when the distance between the pressing portion and the counter is not the shortest distance, the paper is less likely to be pulled while the counter is counting.

[0028] According to (8), the trained model can be used to make it difficult for the paper to be pulled while the counter is counting.

[0029] According to (9), the sides of the stack of sheets can be pressed using a plurality of arms, and a predetermined number of sheets can be gripped using the same plurality of arms.

[0030] According to (10), the counter does not get in the way when setting a new stack of paper.

[0031] According to (11), the paper is less likely to be pulled while the counter is counting, compared to when the same side is pressed regardless of the direction of rotation of the disk.

[0032] According to (12), the paper is less likely to be pulled while the counter is counting, compared to when the same side is pressed regardless of whether the disk is rotating clockwise or counterclockwise.

[0033] 1 is a diagram showing an example of a control system that handles a stack of paper sheets as seen from an angle; FIG. 2 is a diagram showing an example of a control system as seen from above; FIG. 3 is a diagram showing an example of a gripper attached to the tip of an arm; FIG. 4 is a diagram showing an example of a main configuration of a counter; FIG. 5 is a block diagram showing an example of a main configuration of an electrical system in a control device configured using a computer; FIG. 6 is a block diagram showing an example of a functional configuration of the control device; FIG. 7 is a diagram showing an example of a data table; FIG. 8 is a diagram showing an example of a trained model; and FIG. 9 is a flowchart showing an example of a flow of a paper conveying process by a control program according to an embodiment. 10 is a diagram showing an example of a paper stack being gripped by a gripper, and FIG. 11 is a top view showing an example of a state in which the counter is retracted when a new paper stack is set.

[0034] Hereinafter, the disclosed embodiments will be described with reference to the drawings. Note that the same components and processes are denoted by the same reference numerals throughout the drawings, and redundant description will be omitted.

[0035] <System Configuration> Fig. 1 is a diagram showing an example of a control system 1 that handles a stack of paper sheets 14, as viewed obliquely. Fig. 2 is a diagram showing an example of a top view of the control system 1. The control system 1 includes an arm 2 that grips an object with a gripper 8 attached to the tip thereof, a counter 4 that counts the number of paper sheets 14A in the stack of paper sheets 14, and a control device 10 that controls the arm 2 and the counter 4.

[0036] A loading tray 3 is installed within the working range of the arm 2, and a stack of sheets 14 is loaded on the loading tray 3. There are no restrictions on the shape of the sheets 14A handled by the control system 1, but as an example, the sheets 14A are cut sheets that have been cut into a rectangle. The stack of sheets 14 is made up of a plurality of sheets 14A. In this case, to make it easier to load the stack of sheets 14, the loading surface of the loading tray 3 is also rectangular. The stack of sheets 14 is, for example, a stack of sheets 14A after printing has been performed, and is loaded on the loading tray 3 with the printed side of the sheets 14A facing up.

[0037] The control device 10 controls the counter 4 and the arm 2, so that the counter 4 counts a predetermined number of sheets 14A in the stack of sheets 14 loaded on the loading tray 3, and the counted number of sheets 14A are gripped by the gripper 8 and moved by the arm 2 to, for example, the jogger 5.

[0038] Counter 4 is a device that counts the number of sheets 14A in the paper stack 14. Counter 4 has a disk drive mechanism 43 and a disk 44 at the tip of an arm 42 that extends horizontally from the top of a support base 41. The installation location of counter 4 is not particularly limited as long as it is a location where the number of sheets 14A in the paper stack 14 can be counted. The main configuration of counter 4 is shown in Figure 4, which will be described later.

[0039] The jogger 5 is a device that aligns the stack of sheets 14 so that the contours of the sheets 14A are aligned before post-processing steps using the sheets 14A, such as collating and binding, are performed.

[0040] A support post 7 is attached to a base 16 to which the arm 2 is attached, and a 3D sensor 6 is attached to the tip of the support post 7. The base 16 can be installed, for example, around the loading platform 3. The installation location of the base 16 is not particularly limited as long as it is a place where the arm 2 can carry out the paper transport process. In addition, the arm 2 can move freely around the loading platform 3.

[0041] The 3D sensor 6 is an example of a three-dimensional sensor that measures the position in three-dimensional space of the paper stack 14 loaded on the loading tray 3. The position of the paper stack 14 in three-dimensional space is represented by coordinate values ​​of three-dimensional coordinates set in the three-dimensional space (hereinafter referred to as "three-dimensional coordinate values").

[0042] In the control system 1, a predetermined position in three-dimensional space is set as the origin of the three-dimensional coordinate system. As an example, in this embodiment, one of the vertices on the loading surface of the loading tray 3 is set as the origin of the three-dimensional coordinate system. In this case, the long side direction of the loading tray 3 when viewed from a position opposite the loading surface of the loading tray 3 is set as the X-axis, the short side direction of the loading tray 3 is set as the Y-axis, and the vertical direction is set as the Z-axis. The loading surface of the loading tray 3 does not necessarily have to be arranged horizontally along the floor; for example, it may be arranged at an angle to the floor so that the arm 2 can easily grasp the paper stack 14. In this embodiment, the loading surface of the loading tray 3 is arranged horizontally along the floor.

[0043] The 3D sensor 6 detects three-dimensional coordinate values ​​at each point on the paper stack 14 by measuring the distance to each point on the paper stack 14. Note that detecting three-dimensional coordinate values ​​at each point on the paper stack 14 also means detecting the shape of the paper stack 14. The 3D sensor 6 may be any of a variety of sensors capable of measuring the distance to an object, such as a LiDAR (Light Detection and Ranging), a TOF (Time-of-Flight) sensor, or a stereo camera.

[0044] In the example of FIG. 1 , the 3D sensor 6 is attached to the support 7. The 3D sensor 6 may be located, for example, above the printed surface of the paper 14A of the paper stack 14, i.e., above the paper stack 14, in a position where the entire paper stack 14 can be viewed from the Z-axis direction and where the relative position with respect to the paper stack 14 does not change. As an example, the 3D sensor 6 may be attached to the ceiling of a room in which the arm 2 is installed. The 3D sensor 6 may also be attached to 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 the 3D sensor 6 is moved to a position where the entire paper stack 14 can be seen, and the three-dimensional coordinate values ​​of the paper stack 14 are detected.

[0045] 1 and 2 show an example of a control system 1 having two arms 2, but there is no restriction on the number of arms 2. The number of arms 2 in the control system 1 may be any number, and may be three or more. However, as the number of arms 2 increases, the cost of the control system 1 increases and the control becomes more complex, so it is preferable that the number of arms 2 is two.

[0046] 3 is a diagram showing an example of the gripper 8 attached to the tip of the arm 2. The gripper 8 includes, for example, two claws 9 that grip an object under control of the control device 10.

[0047] One of the two claws 9, claw 9A, is a circular claw 9 with a circular tip. To facilitate gripping a predetermined number of sheets 14A of a stack of paper-sheets 14, an elastic material, such as rubber, is attached to the contact surface of claw 9A with the predetermined number of sheets 14A. To facilitate supporting the predetermined number of sheets 14A from below, the other of the two claws 9, claw 9B, has a flat, spatula-like contact surface with the predetermined number of sheets 14A. Because claw 9B has a spatula-like shape, it is easier to insert, for example, between sheets 14A than claw 9A. An elastic material is also attached to the contact surface of claw 9B with the predetermined number of sheets 14A. Hereinafter, when there is no need to distinguish between claw 9A and claw 9B, they will be referred to as "claw 9."

[0048] <Structure of Counter> Fig. 4 is a diagram showing an example of the configuration of the main parts of the counter 4. As described above, the counter 4 is provided with the disk 44.

[0049] Counter 4 is, for example, a disk rotation type counter in which disk 44 rotates in a direction along the side of sheets 14A of paper stack 14. Counter 4 can count sheets 14A one by one by sliding disk 44 between sheets 14A while rotating it relative to side surface 14S of paper stack 14.

[0050] <Configuration of the Control Device> FIG. 5 is a block diagram showing an example of the configuration of the main parts of an electrical system in the control device 10 configured using a computer.

[0051] As shown in FIG. 5 , 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.

[0052] The CPU 21, ROM 22, RAM 23, and I / O 24 are connected to each other via a bus. Functional units including a storage unit 25, a communication unit 26, and a connection unit 27 are connected to the I / O 24. These functional units can communicate with the CPU 21 via the I / O 24.

[0053] The control unit is configured with the CPU 21, ROM 22, RAM 23, and I / O 24. The control unit may be configured as a sub-control unit that controls part of the operation of the control device 10, or may be configured as part of the main control unit that controls the overall operation of the control device 10. For example, an integrated circuit such as an LSI (Large Scale Integration) or an IC (Integrated Circuit) chip set is used for part or all of the blocks of the control unit. Individual circuits may be used for each of the above blocks, or a circuit in which some or all of the blocks are integrated may be used. The above blocks may be provided integrally, or some of the blocks may be provided separately. Furthermore, parts of each of the above blocks may be provided separately. The integration of the control unit is not limited to an LSI, and a dedicated circuit or a general-purpose processor may also be used.

[0054] The storage unit 25 may be, for example, a hard disk drive (HDD), a solid state drive (SSD), or a flash memory. A control program 25A according to this embodiment is stored in the storage unit 25. The control program 25A may be stored in the ROM 22.

[0055] The control program 25A may be pre-installed in the control device 10, for example. The control program 25A may be realized by storing it in a non-volatile storage medium or distributing it via a network and installing it appropriately in the control device 10. Note that examples of non-volatile storage media include CD-ROMs (Compact Disc Read Only Memory), magneto-optical disks, HDDs, DVD-ROMs (Digital Versatile Disc Read Only Memory), flash memories, memory cards, etc.

[0056] The communication unit 26 is connected to a network such as the Internet, a local area network (LAN), or a wide area network (WAN), and is capable of communicating with a print management device, which is a higher-level device, via the network.

[0057] The connection unit 27 is connected to each of the 3D sensor 6, the arm 2, and the counter 4, and connects each of these 3D sensor 6, the arm 2, and the counter 4 to the CPU 21 so that they can communicate with each other.

[0058] However, as described above, when counting the paper sheets 14A at a certain speed, friction between the disk 44 and the paper sheets 14A may pull the paper sheets 14A, causing the stack of paper sheets 14 to collapse. A simple measure to prevent the paper sheets 14A from being pulled is to surround the sides 14S other than the side 14S that contacts the counter 4 with a wall. However, surrounding the side 14S with a wall may interfere with the operation of the arm 2 to grip the paper sheet stack 14.

[0059] For this reason, the control device 10 according to the present embodiment acquires the size of the sheets 14A in the sheet stack 14 before using the counter 4 to count the number of sheets 14A in the sheet stack 14. The control device 10 then moves each of the multiple pressing units to each of two adjacent sides 14S of the sheet stack 14, excluding the side 14S against which the counter 4 abuts, in accordance with the size of the sheets 14A, and controls each of the multiple pressing units to press each of the two adjacent sides 14S while the counter 4 is counting. Note that, in the present embodiment, a case is shown in which an arm 2 is used as an example of a pressing unit, but this is not limited to the arm 2, and for example, a pressing unit separate from the arm 2 may be provided.

[0060] The CPU 21 of the control device 10 according to this embodiment writes a control program 25A stored in the storage unit 25 into the RAM 23 and executes the program, thereby functioning as each unit shown in FIG.

[0061] 6 is a block diagram showing an example of the functional configuration of the control device 10. The CPU 21 of the control device 10 according to this embodiment functions as an attribute acquisition unit 21A, a position detection unit 21B, a side surface identification unit 21C, a counter control unit 21D, and an arm control unit 21E.

[0062] 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 sheets 14A. The size is the size of the paper sheets 14A and is expressed, for example, as A4, A3, B5, B4, etc. in the International Organization for Standardization (ISO) 216. The number of sheets is the number of paper sheets 14A that the gripper 8 grips at one time and is expressed, for example, as 50 sheets, 100 sheets, 150 sheets, 200 sheets, etc. The paper type is the type of paper sheets 14A and is expressed, for example, as plain paper, high-quality paper, coated paper, etc. The thickness is the thickness of the paper sheets 14A and is expressed, for example, as basis weight or grammage. The attribute information may be obtained, for example, from a print management device, which is a higher-level device, by user input, or from code information attached to any one of the sheets 14A in the paper stack 14. The code information may be, for example, a QR (Quick Response: registered trademark) code or a barcode. The size of the sheet 14A may also be obtained, for example, from the 3D sensor 6.

[0063] The position detection unit 21B uses the 3D sensor 6 to detect three-dimensional coordinate values ​​that represent the position and shape of the paper stack 14 .

[0064] The side surface identification unit 21C uses the three-dimensional coordinate values ​​detected by the position detection unit 21B to identify the location of the side surface 14S of the paper-sheet stack 14. The side surface 14S of the paper-sheet stack 14 refers to a surface of the rectangular parallelepiped paper-sheet stack 14 that intersects with the printed surface of each paper sheet 14A.

[0065] Counter control unit 21D controls the operation of counter 4. Counter control unit 21D controls counter 4 so that disk 44 is rotated and slid between sheets of paper 14A, and counts a predetermined number of sheets of paper 14A in stack of sheets of paper 14 one by one. The "predetermined number" is specified by the attribute information.

[0066] The arm control unit 21E controls the operation of the arm 2. Before using the counter 4 to count the number of sheets 14A in the stack of sheets 14, the arm control unit 21E moves each of the multiple arms 2 to two adjacent sides 14S of the stack of sheets 14, excluding the side 14S against which the counter 4 abuts, in accordance with the size of the sheets 14A. Then, while the counter 4 is counting, the arm control unit 21E controls each of the multiple arms 2 to press against one of the two adjacent sides 14S.

[0067] 7 is a diagram showing an example of the data table 251. For example, the data table 251 is stored in the storage unit 25. The data table 251 defines the correspondence between the attribute information of the paper 14A and the positions of the side surface 14S pressed by the multiple arms 2. The arm control unit 21E refers to the data table 251 based on the attribute information of the paper 14A acquired by the attribute acquisition unit 21A, and acquires the positions of the side surface 14S pressed by the multiple arms 2.

[0068] 8 is a diagram showing an example of the trained model 252. The memory unit 25 may store the trained model 252 instead of the data table 251. The trained model 252 is a trained model generated by machine learning of training data in which attribute information including the size, number of sheets, paper type, and thickness of the paper 14A is used as an explanatory variable, and the position of the side surface 14S pressed by each of the multiple arms 2 is used as a target variable. For example, a neural network is used as the trained model 252, but other training models may also be used.

[0069] In this case, the arm control unit 21E inputs attribute information about the paper 14A of the paper stack 14 into the trained model 252, and obtains from the trained model 252 the positions of the side surfaces 14S pressed by each of the multiple arms 2.

[0070] Furthermore, the arm control unit 21E controls the multiple arms 2 to grip the predetermined number of sheets of paper 14A after the counter 4 counts a predetermined number of sheets of paper 14A while pressing two adjacent side surfaces 14S with the multiple arms 2. Here, depending on the installation location of the counter 4, it may interfere with the gripping operation of the arm 2. In this case, the counter control unit 21D may retract the counter 4 (i.e., the disk 44) from the side surface 14S against which it is abutting so as not to interfere with the gripping operation of the multiple arms 2 after the counter 4 counts the predetermined number of sheets of paper 14A.

[0071] In addition, the counter control unit 21D may be configured to count all the sheets of paper in the paper stack 14 using the counter 4, and then move the counter 4 (i.e., the disk 44) away from the position where it is placed so as not to interfere with setting a new paper stack.

[0072] <Operation of Control System> Next, the operation of the control system 1 that presses the side surface 14S of the paper stack 14 using the arm 2 while the counter 4 is counting will be described.

[0073] FIG. 9 is a flowchart showing an example of the flow of the paper transport process by the control program 25A according to this embodiment.

[0074] When the CPU 21 of the control device 10 receives an instruction to execute the paper transport process from the user, the CPU 21 executes the paper transport process by reading the control program 25A from the storage unit 25 or the ROM 22. It is assumed that the stack of paper sheets 14 is loaded on the loading tray 3.

[0075] First, in step S101, the CPU 21 acquires attribute information of the paper sheet 14 A. As described above, the attribute information of the paper sheet 14 A is acquired, for example, from a print management device, which is a higher-level device.

[0076] In step S102, the CPU 21 uses the 3D sensor 6 to acquire three-dimensional coordinate values ​​of the paper stack 14 made up of a plurality of paper sheets 14A.

[0077] In step S103, the CPU 21 identifies the location of the side surface 14S of the paper stack 14 based on the three-dimensional coordinate values ​​acquired in step S102.

[0078] In step S104, based on the attribute information acquired in step S101, the CPU 21 moves each of the multiple arms 2 to each of two adjacent side surfaces 14S of the paper stack 14, excluding the side surface 14S against which the counter 4 is to contact. The positions of the two adjacent side surfaces 14S are identified using, for example, the data table 251 shown in FIG. 7 or the trained model 252 shown in FIG. 8 described above.

[0079] In step S105, the CPU 21 controls each of the plurality of arms 2 to press each of two adjacent side surfaces 14S.

[0080] 10 to 12, a specific description will be given of a configuration in which two adjacent side surfaces 14S are pressed by a plurality of arms 2. Note that in Figs. 10 to 12, only the main parts of each component are shown in a simplified manner.

[0081] Fig. 10 is a perspective view that schematically shows an example of how two adjacent side surfaces 14S of a paper-sheet stack 14 are pressed down using a gripper 8 provided at the tip of the arm 2. The example in Fig. 10 shows how each of two adjacent side surfaces 14S of the paper-sheet stack 14 is pressed down by the back surfaces of the claws 9B of the gripper 8. Note that, hereinafter, the top surface of the paper-sheet stack 14 will be referred to as "top surface 14U."

[0082] 11A and 11B are top views schematically illustrating an example of how two adjacent side surfaces 14S of a stack of paper-sheets 14 are held down using a gripper 8 provided at the tip of an arm 2. The examples of Fig. 11A and 11B show the stack of paper-sheets 14 as viewed from above. The arrow on the disk 44 indicates the direction of rotation.

[0083] Here, the arm control unit 21E changes the side surface 14S that each of the plurality of grippers 8 presses, depending on the rotation direction of the disk 44. Specifically, when the rotation direction of the disk 44 is clockwise, one of the plurality of grippers 8 presses the side surface 14S to the right of the disk 44 when the stack of paper-sheets 14 is viewed from above, as shown in FIG. 11A. When the rotation direction of the disk 44 is counterclockwise, one of the plurality of grippers 8 presses the side surface 14S to the left of the disk 44 when the stack of paper-sheets 14 is viewed from above, as shown in FIG. 11B. In other words, when the rotation direction of the disk 44 is clockwise, the paper sheet 14A is pulled to the right, so the gripper 8 presses the side surface 14S to the right of the disk 44, and when the rotation direction of the disk 44 is counterclockwise, the paper sheet 14A is pulled to the left, so the gripper 8 presses the side surface 14S to the left of the disk 44.

[0084] Furthermore, when the arm control unit 21E acquires at least one of the thickness and paper type of the sheets 14A in the paper-sheet stack 14, the arm control unit 21E may change the position of the side surface 14S pressed by each of the multiple grippers 8 depending on at least one of the thickness and paper type of the sheets 14A. Specifically, when the sheets 14A in the paper-sheet stack 14 are the first sheets 14A, the distance Ls between the center of the gripper 8 and the center of rotation of the disk 44 is shorter than the distance Ls between the center of the gripper 8 and the center of rotation of the disk 44 when the sheets 14A are the second sheets 14A. The thickness of the second sheets 14A is greater (thicker) than the thickness of the first sheets 14A. Note that the distance Ls is an example of the distance between the arm 2 and the counter 4. The first and second sheets 14A may be of different paper types. For example, the first sheet 14A may be plain paper or high-quality paper, and the second sheet 14A may be coated paper or thick paper. The first and second sheets 14A may be of different thicknesses and paper types.

[0085] It is desirable to shorten the distance Ls because the thinner the thickness of the paper 14A, the more easily the paper is pulled by the rotation of the disk 44. Also, if the paper 14A is plain paper or high-quality paper, it is desirable to shorten the distance Ls because it is more easily pulled by the rotation of the disk 44.

[0086] Furthermore, at least one of the grippers 8 may press the side surface 14S at a position where the distance Ls between the center of the gripper 8 and the rotation center of the disk 44 is shortest. By pressing the side surface 14S where the distance Ls is shortest, it becomes possible to make it more difficult for the paper 14A to be pulled by the rotation of the disk 44 compared to when the distance Ls is not the shortest.

[0087] 12 is a top view schematically illustrating another example of how two adjacent side surfaces 14S of a stack of paper-sheets 14 are pressed down using the gripper 8 provided at the tip of the arm 2. The example in FIG. 12 shows the stack of paper-sheets 14 as viewed from above.

[0088] 12, the arm control unit 21E may control a presser 17 (hereinafter referred to as the "upper surface presser 17") separate from the multiple grippers 8 to press the upper surface 14U of the paper-sheet stack 14 while the counter 4 is counting. The number of upper surface presser 17 is not limited to one, and multiple upper surface pressers 17 may be provided. By pressing the upper surface 14U in addition to the adjacent side surfaces 14S of the paper-sheet stack 14, it is possible to make the paper sheets 14A less likely to be pulled by the rotation of the disk 44 compared to when only the adjacent side surfaces 14S of the paper-sheet stack 14 are pressed.

[0089] Furthermore, when the arm control unit 21E acquires at least one of the thickness and paper type of the sheets 14A of the paper-sheet stack 14, the arm control unit 21E may change the position of the upper surface 14U pressed by the upper surface holding unit 17 depending on at least one of the thickness and paper type of the sheets 14A. Specifically, when the sheets 14A of the paper-sheet stack 14 are the first sheets 14A, the distance Lu between the center of the upper surface holding unit 17 and the center of rotation of the disk 44 is shorter than the distance Lu between the center of the upper surface holding unit 17 and the center of rotation of the disk 44 when the sheets 14A of the paper-sheet stack 14 are the second sheets 14A. As described above, the thickness of the second sheets 14A is greater (thicker) than the thickness of the first sheets 14A. Note that the distance Lu is an example of the distance between the upper surface holding unit 17 and the counter 4. The first sheets 14A and the second sheets 14A may be of different paper types. For example, the first sheets 14A may be plain paper or high-quality paper, and the second sheets 14A may be coated paper or thick paper. The first sheet 14A and the second sheet 14A may be different in both thickness and paper type.

[0090] It is desirable to shorten the distance Lu because the thinner the thickness of the paper 14A, the more easily the paper 14A is pulled by the rotation of the disk 44. Also, if the paper 14A is plain paper or high-quality paper, it is desirable to shorten the distance Lu because it is more easily pulled by the rotation of the disk 44.

[0091] Next, in step S106, the CPU 21 counts a predetermined number of sheets 14A in the stack of sheets 14 using the counter 4. The counting by the counter 4 is performed, for example, in a state in which each of the multiple arms 2 presses down on each of two adjacent side surfaces 14S as shown in Fig. 11A above, or, for example, in a state in which each of the multiple arms 2 presses down on each of two adjacent side surfaces 14S and the upper surface presser 17 presses down on the upper surface 14U as shown in Fig. 12 above.

[0092] In step S107, the CPU 21 determines whether or not a predetermined number of sheets has been counted by the counter 4. If the CPU 21 determines that the predetermined number of sheets has been counted by the counter 4 (if the determination is affirmative), the process proceeds to step S108. If the CPU 21 determines that the predetermined number of sheets has not been counted by the counter 4 (if the determination is negative), the process returns to step S106 and repeats the process.

[0093] In step S108, the CPU 21 controls the gripper 8 to grip the number of sheets 14A counted in step S107 and transport them to the jogger 5. Here, the counted number of sheets 14A are referred to as a "sheet stack 14B."

[0094] Fig. 13 is a diagram showing an example of a state in which the claws 9 of the gripper 8 are about to grip the paper stack 14B. Fig. 14 is a diagram showing an example in which the paper stack 14B is gripped by the gripper 8.

[0095] As shown in Fig. 13, after one arm 2 grips paper-sheet stack 14B, arm control unit 21E controls arm 2 to lift the gripped paper-sheet stack 14B. With the distance between claws 9A and 9B of the other arm 2 wider than the thickness of paper-sheet stack 14B, arm control unit 21E controls the other arm 2 so that claw 9B is below claw 9A, and inserts claw 9B of the other arm 2 into the gap between paper-sheet stack 14B and the remaining paper sheets 14A. In this state, arm control unit 21E moves claw 9A and claw 9B of the other arm 2 along the contour of paper-sheet stack 14B, and controls arm 2 so that the other arm 2 grips the corner of paper-sheet stack 14B diagonally from the point where one arm 2 is gripping, as shown in Fig. 14.

[0096] In step S109, the CPU 21 determines whether all of the sheets 14A in the sheet stack 14 have been transported. If the CPU 21 determines that all of the sheets 14A in the sheet stack 14 have been transported (if the determination is positive), the process proceeds to step S110. If the CPU 21 determines that all of the sheets 14A in the sheet stack 14 have not been transported (if the determination is negative), the process returns to step S104 and repeats the process.

[0097] In step S110, the CPU 21 counts all the sheets in the paper stack 14 using the counter 4, and then moves the counter 4 (i.e., the disk 44) away from the position where it is in contact so as not to interfere with the setting of a new paper stack. Here, the new paper stack is referred to as a "new paper stack 14N."

[0098] 15 is a top view showing an example of how the counter 4 is retracted when a new stack of paper-sheets 14N is set. As shown in Fig. 15, depending on the installation location of the counter 4, the counter 4 may get in the way when setting the new stack of paper-sheets 14N. For this reason, the disk 44 is retracted from the position where it is in contact so that it does not get in the way when setting the new stack of paper-sheets 14N.

[0099] In step S111, the CPU 21 determines whether the end timing has arrived, for example, because there is no new paper stack 14N. If the CPU 21 determines that the end timing has not arrived (in the case of a negative determination), the process proceeds to step S112. If the CPU 21 determines that the end timing has arrived (in the case of a positive determination), the paper transport process by this control program 25A ends.

[0100] In step S112, when the CPU 21 detects that a new stack of sheets 14N has been set at a predetermined position, the process returns to step S101 and the process is repeated.

[0101] According to this embodiment, the number of sheets in a paper stack can be counted while pressing two adjacent sides of the paper stack with multiple arms. This eliminates the need to surround the sides of the paper stack with walls, and does not impede the arm's gripping action.

[0102] While one embodiment of the control system 1 for handling paper has been described above, the disclosed embodiment of the control system 1 is merely an example, and the embodiment of the control system 1 is not limited to the scope described in the embodiment. Various modifications and improvements can be made to the embodiment without departing from the gist of the present disclosure, and such modifications and improvements are also included in the technical scope of the disclosure.

[0103] For example, the internal processing order in the paper transport process shown in FIG. 9 may be changed without departing from the scope of the present disclosure.

[0104] In the above embodiment, as an example, the paper transport process shown in Fig. 9 is implemented by software processing. However, the same process as the flowchart of the paper transport process may be implemented by hardware. In this case, the processing speed can be increased compared to when the paper transport process is implemented by software processing.

[0105] In the above embodiment, the term "processor" refers to a processor in a broad sense, and includes a general-purpose processor (e.g., the CPU 21) and a dedicated processor (e.g., a GPU: Graphics Processing Unit, an ASIC: Application Specific Integrated Circuit, an FPGA: Field Programmable Gate Array, a programmable logic device, etc.).

[0106] Furthermore, the operations of the processors in the above embodiments may be performed not only by a single processor but also by multiple processors located at physically separate locations working together. Furthermore, the order of the operations of the processors is not limited to the order described in the above embodiments and may be changed as appropriate.

[0107] In the above embodiment, an example has been described in which the control program 25A is stored in the storage unit 25 or the ROM 22. However, the storage destination of the control program 25A is not limited to the storage unit 25 or the ROM 22. The control program 25A of the present disclosure may also be provided in a form stored in a computer-readable storage medium.

[0108] For example, the control program 25A may be provided in a form stored on an optical disk such as a CD-ROM, a DVD-ROM, or a Blu-ray disc. The control program 25A may also be provided in a form stored on 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.

[0109] Furthermore, the control system 1 may download the control program 25A from an external device connected to the communication line via the 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 executes the paper transport process. The present disclosure may be applied to programs and program products.

[0110] The following supplementary notes are provided regarding the above-described embodiments.

[0111] (Note) (((1))) A control system comprising a processor, wherein the processor acquires the size of paper in a paper stack that is a stack of paper, and before counting the number of paper sheets in the paper stack using a counter, moves each of a plurality of pressing units to each of two adjacent sides of a plurality of sides of the paper stack excluding the side on which the counter rests, according to the size of the paper, and controls each of the plurality of pressing units to press each of the two adjacent sides while the counter is counting. (((2))) The processor further acquires at least one of a thickness and a paper type of the paper in the paper stack, and changes a position of the side that each of the plurality of pressing units presses, according to at least one of the thickness and the paper type of the paper. (((3))) The control system described in ((2))), wherein the distance between the pressing unit and the counter when the paper in the paper stack is a first paper is shorter than the distance between the pressing unit and the counter when the paper is a second paper that is thicker than the first paper. (((4))) The control system of any one of (((1))) to (((3))), wherein the processor further controls a pressing unit other than the plurality of pressing units to press the top surface of the paper stack while the counter is counting. (((5))) The control system of (((4))), wherein the processor further acquires at least one of the thickness and paper type of the paper in the paper stack, and changes the position of the top surface pressed by the other pressing unit according to the at least one of the thickness and paper type of the paper. (((6))) The control system of (((5))), wherein the distance between the other pressing unit and the counter when the paper in the paper stack is a first paper is shorter than the distance between the other pressing unit and the counter when the paper is a second paper that is thicker than the first paper. ((7))) The control system described in any one of ((1))) to ((6))), wherein at least one of the plurality of pressing units presses down on a side position where the distance between the pressing unit and the counter is shortest.((8))) The control system of any one of ((1))) to ((7))), further comprising a trained model generated by machine learning learning data in which attribute information including paper size, number of sheets, paper type, and thickness is used as explanatory variables, and the position of the side pressed by each of the plurality of pressing units is used as a target variable, wherein the processor inputs attribute information about the paper in the paper stack into the trained model, and obtains the position of the side pressed by each of the plurality of pressing units from the trained model. ((9))) The control system of any one of ((1))) to ((8)), further comprising: (((10))) The control system according to ((9))), wherein, after counting all the sheets of paper in the paper stack with the counter, the processor retracts the counter from the position where it is in contact so as not to interfere with setting a new paper stack. (((11))) The control system according to ((9))) or (((10))), wherein the counter is a disk rotation type counter whose disk rotates in a direction along the edge of the paper in the paper stack, and the processor changes the side that each of the multiple arms presses depending on the rotation direction of the disk. (((12))) The control system according to ((11))), wherein one of the multiple arms presses a side surface to the right of the counter when the paper stack is viewed from above when the disk rotation direction is clockwise, and presses a side surface to the left of the counter when the paper stack is viewed from above when the disk rotation direction is counterclockwise.((13))) A control program for causing a computer to execute a process of obtaining the size of paper in a paper stack, which is a stack of paper; before counting the number of sheets of paper in the paper stack using a counter, moving each of a plurality of pressing units to each of two adjacent sides of a plurality of sides of the paper stack excluding the side on which the counter is placed, based on the size of the paper; and controlling each of the plurality of pressing units to press each of the two adjacent sides while the counter is counting.

[0112] According to ((1))) and ((13))), the number of sheets in a paper stack can be counted while pressing the paper stack without interfering with the arm's gripping action on the paper stack. According to ((2))), the paper can be made less likely to be pulled while the counter is counting, compared to when the same position on the side is pressed regardless of the thickness and type of paper. According to ((3))), the paper can be made less likely to be pulled while the counter is counting, compared to when the distance between the pressing part and the counter is the same regardless of the thickness of the paper. According to ((4))), the paper can be made less likely to be pulled while the counter is counting, compared to when only the side of the paper stack is pressed. According to ((5))), the paper can be made less likely to be pulled while the counter is counting, compared to when the same position on the top surface is pressed regardless of the thickness and type of paper. According to ((6)), the paper can be made less likely to be pulled while the counter is counting, compared to when the distance between the different pressing unit and the counter is the same regardless of the thickness of the paper. According to ((7)), the paper can be made less likely to be pulled while the counter is counting, compared to when the distance between the pressing unit and the counter is not the shortest distance. According to ((8)), the paper can be made less likely to be pulled while the counter is counting, using a trained model. According to ((9)), multiple arms can be used to press down on the sides of the paper stack, and the same multiple arms can be used to grip a predetermined number of sheets. According to ((10)), the counter does not interfere with setting a new paper stack. According to ((11)), the paper can be made less likely to be pulled while the counter is counting, compared to when the same side is pressed down regardless of the direction of rotation of the disk. According to ((12)), the paper is less likely to be pulled while the counter is counting, compared to when the same side is pressed regardless of whether the disk is rotating clockwise or counterclockwise.

[0113] This application is based on a Japanese patent application (Patent Application No. 2024-085058) filed on May 24, 2024.

Claims

1. A control system comprising a processor, which acquires the size of paper in a paper stack, which is a stack of paper, and before counting the number of sheets in the paper stack using a counter, moves each of a plurality of pressing units to each of two adjacent sides of a plurality of sides of the paper stack excluding the side on which the counter is placed, according to the size of the paper, and controls each of the plurality of pressing units to press each of the two adjacent sides while the counter is counting.

2. The control system according to claim 1, wherein the processor further acquires at least one of the thickness and type of paper of the stack of paper, and changes the position of the side pressed by each of the plurality of pressing units according to at least one of the thickness and type of paper.

3. The control system of claim 2, wherein the distance between the pressing portion and the counter when the paper in the paper stack is a first paper is shorter than the distance between the pressing portion and the counter when the paper is a second paper that is thicker than the first paper.

4. The control system according to any one of claims 1 to 3, wherein the processor further controls a pressure unit other than the plurality of pressure units to press down on the top surface of the stack of sheets while the counter is counting.

5. The control system according to claim 4, wherein the processor further acquires at least one of the thickness and type of paper of the stack of paper, and changes the position of the upper surface pressed by the other pressing unit according to at least one of the thickness and type of paper.

6. The control system according to claim 5, wherein the distance between the other pressing portion and the counter when the paper in the paper stack is a first paper is shorter than the distance between the other pressing portion and the counter when the paper is a second paper that is thicker than the first paper.

7. A control system according to any one of claims 1 to 6, wherein at least one of the plurality of pressing sections presses down on a side position where the distance between the pressing section and the counter is shortest.

8. A control system as claimed in any one of claims 1 to 7, further comprising a trained model generated by machine learning learning data in which attribute information including paper size, number of sheets, paper type, and thickness is used as explanatory variables and the position of the side pressed by each of the multiple pressing units is used as a target variable, wherein the processor inputs attribute information about the paper in the paper stack into the trained model and obtains the position of the side pressed by each of the multiple pressing units from the trained model.

9. A control system as claimed in any one of claims 1 to 8, wherein the plurality of holding portions are a plurality of arms capable of gripping the sheets of paper in the stack of sheets, and the processor controls the plurality of arms to grip the predetermined number of sheets of paper after counting a predetermined number of sheets of paper with the counter while holding down the two adjacent sides with the plurality of arms.

10. The control system according to claim 9, wherein after the processor has counted all the sheets of paper in the stack of sheets with the counter, the processor moves the counter away from the position where it is in contact so as not to interfere with the setting of a new stack of sheets.

11. A control system as described in claim 9 or 10, wherein the counter is a disk rotation type counter in which a disk rotates in a direction along the edge of the paper in the paper stack, and the processor changes the side that each of the multiple arms presses depending on the rotation direction of the disk.

12. The control system according to claim 11, wherein one of the plurality of arms presses the side of the stack of paper to the right of the counter when viewed from above when the rotation direction of the disk is clockwise, and presses the side of the stack of paper to the left of the counter when viewed from above when the rotation direction of the disk is counterclockwise.

13. A control program for causing a computer to execute the following process: obtain the size of the paper in a paper stack, which is a stack of paper; before counting the number of sheets in the paper stack using a counter, move each of a plurality of pressing parts to each of two adjacent sides of a plurality of sides of the paper stack excluding the side on which the counter is placed, based on the size of the paper; and control each of the plurality of pressing parts to press each of the two adjacent sides while the counter is counting.

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