The present invention relates to an apparatus for optosensory sensing, computer aided identification and highlighting of objects by optical means. It is assigned to the fields of automation technology and partly to measurement technology, and deals with an automation-supporting device for a semi-automatic test station. Devices of this type are used in order picking, in goods control (quality assurance), in production plants, in packaging or repackaging plants, in customs, in mail order, in the merchandise management, in waste sorting plants and many other applications, in particular where Objects that are similar to each other are difficult to differentiate with the eye alone.
The apparatus ingeniously combines known devices such as optical detection systems, image processing systems or optical readers with computerized controlled marking devices such as light spots to provide feedback to a user on real-time automated analysis using a computer. As a result, the user is able to handle (seize, sort, select) the correct objects or incorrect objects faster than previously possible.
State of the art
To support picking operations, a variety of new devices have been developed in recent years. So is in the utility model AT 010520 U2
an apparatus and method for visual support of picking operations, comprising an optical detection device and a display device. About Augmented Reality functions are z. B. in a camera image hint information such as arrows and the like. Such devices are also used in spectacles, thereby bringing additional information of the virtual world into the field of view or video image of the real world. Other aids have come in the literature as pick-to-light techniques, where light signaling devices on cabinets or trays assist the user in decision support in selecting an object from a material store. A disadvantage of systems with data glasses or video glasses is that they are not happy to be worn, either because of the limitation of the field of view, due to the weight of such glasses or for reasons of vanity or the necessary care to always have clear view. In the case of monitor-based recognition systems, on the other hand, it is again troublesome to once again identify a product, which is preferably highlighted by recognition software on the monitor, on the real work area, where the highlighting is then missing. In this case, comparing target data on a monitor with actual data on the real work surface has a higher probability that the user will pick up a wrong object despite the monitor decision aid. In addition, the speed for performing such selections is limited.
With pick-to-light devices one is limited to very few objects. For example, if a magazine has five signatures on five trays, there is a risk that wrong products will be sorted in a bin because video analysis is missing.
Object of the invention
The object of the invention is to eliminate the aforementioned disadvantages for the user of the above known methods and methods by a simple semi-automatic test station, which allows one to quickly identify one or more objects from a set of objects to be differentiated technically. The user should be informed immediately about the right object. It should be able to detect false or incorrectly located objects faster or to probe the right objects from wrong or faulty objects faster from a crowd. It should be possible to sort different products with a similar appearance more quickly than before manually. The tools should be of an optical nature to avoid the risk of injury during use, such as by machines. An augmented reality-close solution was sought, which is technically simple and inexpensive. In addition, an adaptability for a variety of applications should be possible. A quick reconfiguration or reprogramming of the system components should be easily adjustable for each new application situation via simple interfaces or teach-in possibilities. Also, scalability is an issue of the invention, the device must be able to grow with the growing challenges of the tasks.
Solution of the task
According to the invention the task is solved by a device for a semi-automatic test station, which is equipped with different components:
First, at least one device is required for detecting at least one object or object feature by means of optical and photo-sensory means. In addition, a device for computer-aided evaluation of optosensory detected objects or features by comparing the acquired data or the data evaluated by means of image comparison and / or character recognition algorithms against stored desired data. For example, barcodes or alphanumeric characters can be recognized and compared to records in memory. But it could also be determined by suitable image analysis programs an optical property. Possible properties are dimensional dimensions, such as the length or the widths. A particular shape, such as round, quadrangular, hexagonal, octagonal, oval or heart-shaped, or a particular color, such as red, yellow, blue; or certain brightness or spectral values of the reflection components of white light are other possible properties. Such a property can be determined absolutely or a ratio z. B. length to width or a contrast. The stored data sets can advantageously be created by a training algorithm, for which purpose the device presented here can be useful. For predefined properties, eg. As a certain size, a certain shape or a specific barcode, the detected and evaluated information with stored comparison values including a certain tolerance bandwidth can be compared, and evaluated by a computer program. This image data processing is not new per se but is required for the proposed device.
According to the invention, a device for directly highlighting or marking at least one object or object feature as a function of the result of the object or feature comparison evaluation is integrated in the system. The object to be marked lies on a document of defined size within an operative work area. A user of the device places objects on the pad or gets them to the pad via non-described devices. It is now advantageous for the marking device to have optical means which can project light with at least one specific property from the group intensity, shape and wavelength onto parts of the working area or onto the objects located thereon. In this case, these parts of the work area are selectively selected using a drive device, which is controlled by the device for computer-aided evaluation. For this purpose, the programming and the results of the automated analysis of the device for computer-assisted evaluation are used. In order to be able to unambiguously assign the location for the marking, at least one device or additional device is provided in order to allocate data, preferably optically sensed by calibration, to the actual position data correctly and then as a result of the computer-assisted determination of the position and orientation in the working area to use.
Advantageously, as an apparatus for marking or highlighting an image projector can be used, which is mounted at a distance above or obliquely above the surface. If the image projector is in a different position, the base can also be reached as a projection surface by deflecting mirrors. Any reflection of the target positions must be taken into account.
Alternatively, the marking or highlighting device may also be constructed from at least one light source which will project a light beam of a particular size, shape, intensity, pattern type and / or color as focused spots onto positions of that projection surface given by the dimensions of the base. In this case, at least one detail of the quality, for example the light color (spectral composition) or spot pattern and the target direction of the spot can be determined by the drive device. Thus, either by selection switch for a light source from a group of light sources with different beam alignment or by servomotors for changing the position and / or direction of a directional radiation of the irradiated place can be selected.
As an apparatus for detecting an object or an object feature, an electronic area camera preferably a CCD or a CMOS camera, preferably with a lens objective is particularly suitable, but also a line camera with a movable preferably oscillating or rotating mirror is possible. Also conceivable is the use of a laser scanner or the like for object detection.
For a detection with a camera, a lighting device for the objects may be useful, wherein the camera facing side of the object should be illuminated.
At least one of the devices for object detection or for object position detection can advantageously be arranged below the support for the objects, since they then do not hinder the work area and do not limit the user's hands to the field of view of the camera. The underlay should consist of transparent or partially translucent material. Suitable are glass or plastic. The pad can also be designed for this purpose as a grid or network.
To connect the individual devices for object detection, data processing and marking or for the control device of the marking device are advantageously cable connections, radio links or optical fiber connections for data transmission.
It makes sense if the predetermined, stored data also includes object-linked information beyond the optical properties, such as batch number, serial number, article number, expiry date, supplier information.
If a device is provided for additional acoustic signaling of a defined object or object feature recognition whose signal quality, preferably pitch or modulation signals different recognition events, this system offers further advantages.
In addition to the device, the method thereby possible is the subject of the invention. This method makes it possible according to the invention to recognize and identify at least one object with the aid of a detection device and an evaluation device. At least one previously selected and defined object feature, preferably a specific barcode of an object to be examined, is either not identified via this or another detection device. or clearly identified or misidentified. The purpose of the device for highlighting and marking, by the object is marked in a qualitatively different way "visually". This is advantageously done with differently colored light, in particular with green light for "right object - correctly recognized", with red light "possibly right object - not correctly recognized" and with blue light for "wrong object - correctly recognized". Other color assignments are possible as well as the use of certain projection patterns.
The invention will be explained with reference to the following embodiment. Show it:
1 a sketch of an arrangement example of the inventive device;
The example described here showed a possible application of the device or the associated method. Various objects or object features are possible. The example has been chosen deliberately simple for ease of understanding, in real applications there are much higher complex situations which in most cases can also be supported by this device. Suppose a set of memory cards is spread on a glass plate. In this known card game the task is to collect as many identical image pairs from a set of image pairs with as few grab attempts. These memory cards are now the objects to be identified 3 with certain object features 3 ' , that's the picture content. These are printed on one of the two sides of the cards. Initially, in a learning mode via a device, the back of the cards is scanned via the image capture device 10 captured and their characteristics stored as a record 21 ' In order to avoid having two backs through the device 1 recognized as the same pair of cards and identified. Using a first algorithm within an evaluation device 20 in the form of a computer, one now identifies a first card on the glass plate 2 based on the opto-sensory acquired data 11 using a device 10 for example, a digital camera and compares the results of the data 21 after processing with the storage data 21 ' , If these are the same as the backside information in the data memory, then the evaluation of the optosensory data on the next detected card becomes on the document 2 continued from glass. The camera is below the surface for the purpose of card or image capture 2 attached and directed to the transparent glass plate. As long as no image but only backs are captured, the process repeats itself. The position and orientation of the card is also optically, for example, via the device 10 or the position detecting device 10 ' detected. About a jet device 30 If the card is now illuminated as unknown, for example, with blue light from above, the new image content is saved as a new data record. This procedure is repeated for all cards on the glass plate. Each card whose back is down on the glass plate is illuminated from above, for example, red. This will signal to the user that the red card must be turned over, otherwise it will not be recognized. As soon as a stored image motif is recognized a second time, these two identical or similar cards are selectively illuminated with green light on the basis of the determined position data; in addition, a signal can be emitted which can be used as a request to remove the image pair irradiated with green light. The user must remove the recognized pairs of images each time he beeps. He also has to turn all the cards illuminated in blue so that they are lying face down. This method allows the user to remove or collect all image pairs, little by little, from the glass plate, using the green light marks, and only takes a fraction of the time that would be required for this logistical task without the device. The signal tone can be delivered with a time delay by a corresponding acoustic signaling device. In this case, the user has the opportunity to take a recognized image pair of the noise emission from the glass plate and thereby avoid the beep. As a result, it is additionally possible to distinguish slow users from rapid ones in the number of acoustic messages, with the result that an indirect motivation of the user takes place.
In 1 there is a user 4 in front of the work surface 2 , There are two objects on this surface 3 with the object features 3 ' , Four detection devices 10 . 10 ' are arranged so that they "look" from different directions on the work surface. Here are two devices 10 below the pad, which is transparent here. A device for detecting objects or object features and a device for determining the position of the object are arranged above the work area above the work surface. The assembly management and control devices are omitted here for the sake of clarity, as well as the connections are only indicated. The devices 10 . 10 ' here can be digital cameras. The collected data 11 . 11 ' These devices are connected to the device 20 which is here a computer stand device is transmitted and evaluated accordingly by this device, so that the data 21 and 24 which are used for comparison and position assignment. The comparison of the data 21 , or determined properties 22 with setpoints 21 ' . 22 ' done using the computer program 23 in the device 20 , Using the data 24 the position detection and the identification algorithms in the device 20 becomes the device 30 , which here is for example a projector, according to directly or by means of a control device 31 controlled or positioned to cause the marking by means of a corresponding light irradiation. Here are two different light cones marked on two different objects in different colors G, B as an example.
LIST OF REFERENCE NUMBERS
- identification device
- Device for detecting an object or an object feature
- 10 '
- Additional device for determining the position of the object in the detection area.
- optosensory recorded data of the objects, or the local position of the same 11 '
- optical means for optical detection (here: lenses / aperture system)
- Photosensoric means (here: camera modules, sensor array, alternatively eg barcode scanner)
- Underlay (working surface under the working area, eg glass plate)
- Device for computer-aided evaluation of the acquired data from the device 10
- evaluated data from the sensor data
- 21 '
- stored data (eg from teach-in mode)
- determined properties from the sensor data (size, color, brightness, shape, etc.)
- 22 '
- predefined tolerance values for the properties
- Computer program
- Position data (control data or calibrated assignment data based on position data and identification results of the computer evaluation 24 ' )
- 3 '
- object feature
- Device for direct highlighting or marking
- Device for controlling the device 30 using the data from device 20
- first marking type (eg green light spot)
- second marking type (eg blue light spot)
QUOTES INCLUDE IN THE DESCRIPTION
This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Cited patent literature