EP2207721A1 - Picking line and method for inserting products into a packaging container - Google Patents

Picking line and method for inserting products into a packaging container

Info

Publication number
EP2207721A1
EP2207721A1 EP08804490A EP08804490A EP2207721A1 EP 2207721 A1 EP2207721 A1 EP 2207721A1 EP 08804490 A EP08804490 A EP 08804490A EP 08804490 A EP08804490 A EP 08804490A EP 2207721 A1 EP2207721 A1 EP 2207721A1
Authority
EP
European Patent Office
Prior art keywords
picker
products
image processing
processing system
quality
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP08804490A
Other languages
German (de)
French (fr)
Other versions
EP2207721B1 (en
Inventor
Harry Rutschmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2207721A1 publication Critical patent/EP2207721A1/en
Application granted granted Critical
Publication of EP2207721B1 publication Critical patent/EP2207721B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/10—Feeding, e.g. conveying, single articles
    • B65B35/16—Feeding, e.g. conveying, single articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged

Definitions

  • the invention relates to a picker line for inserting products into a
  • Packaging container comprising a conveyor belt for the delivery and transport of products in a transport direction and at least one picker equipped with a position image processing system for determining the position of the products on the conveyor belt.
  • a position image processing system for determining the position of the products on the conveyor belt.
  • Products are known, for example, from US-A-5 040 056 and US-A-6 122 895.
  • image processing systems for verifying predetermined quality characteristics, such as e.g. Color and shape of a product.
  • the quality inspection of the products to be packaged such as e.g. Biscuits and the like small bakery products, usually by visual inspection of products delivered on a conveyor belt. Products that do not meet the quality specifications are sorted out manually.
  • the invention has the object of providing a picker road of the type mentioned in such a way that only products are picked that meet predetermined quality requirements.
  • Another object of the invention is the acquisition of quality data in a central system.
  • Another object of the invention is to visualize the quality defects of the non-picked products.
  • a quality image processing system for checking the products passing on the conveyor belt in the transport direction on the quality image processing system to predetermined quality features and assigning a downstream to the quality image processing system in the direction of transport subsequent picker to be transmitted, is arranged as a control command for gripping or non-gripping the products serving quality information.
  • At least two with one position-image processing system equipped picker are arranged in the transport direction one behind the other, each picker is provided for the transmission of the control command for grasping or not grasping the products serving quality information and the position data for the products not picked up by this picker products to the subsequent picker ,
  • Image processing system detected position data in each case to the next picker, the quality data determined by the quality image processing system go through all pickers. In the event of failure of its own position imaging system, each picker will assume the position data acquired by the preceding picker, i. the system is redundant.
  • the picker preceding the failed picker transmits the quality information serving as a control command for grasping or not grasping the products, and communicates the position data for the products not picked up by that picker to the picker following the failed picker.
  • this picker is thus circulating, i. the quality information and the position data are transferred from the previous picker directly to the following picker.
  • the products are displayed on a screen and the quality features recorded by the quality image processing system for the products are visualized. Expediently, the products detected by the position image processing system are marked separately.
  • the quality information acquired by the quality image processing system is assigned to the products detected in the position image processing system with more exact coordinates. Unpicked products must be handed over to the picker with the general quality information "good” or “bad” in the direction of transport, the absence of only one of the quality information leading to the qualifier "poor” for the control of the picker. Bad products, ie products which do not satisfy the quality requirements in at least one point, are not picked by any picker and leave the plant at their end. To locate the quality defects underlying causes are all a product associated quality information to the monitoring system explained below.
  • a user interface usually a screen, available on the good and bad products and the type of error can be seen, so that it can be distinguished, whether products were not picked due to a lack of quality, or if there are other reasons that a product is not packed, eg in case of overload of the system or in case of insufficient adjustment of the system.
  • the pickers were able to assign the quality information to the products or whether the positional tolerance between the quality image processing system and the position image processing system was too great.
  • the indication of the type of defect directly suggests problems in the manufacturing process of the products (e.g., wrong baking temperature, problems with applying a spice mixture, etc.) so that they can be remedied.
  • the system should allow the continued operation of the line even in the event of failure of individual pickers and image processing systems.
  • the proposed system with the device according to the invention includes i.a. the following advantages:
  • the quality image processing system is independent of the position image processing system. Localization by means of positional image processing systems is standard for all types of products, and the quality image processing system is adapted to each project.
  • Process equipment can be corrected, or problems in the allocation of products in the position-imaging system due to excessive tolerance between quality and position image processing system, overload of the picker, etc.
  • Fig. 1 a plan view of a picker street
  • FIG. 2 shows the recognition of a product characterized by a quality image processing system by a position image processing system associated with a picker
  • a picker line 10 shown in FIG. 1 has a revolving conveyor belt 12 for the transport of products 14 to be packed in a transport direction x.
  • three pickers 18n, 18i 2 , 18i 3 and 18 2 1, 18 22 , 18 2 3 arranged one behind the other in two parallel lines are arranged in the transport direction x such that the work areas overlap one another and thereby Cover the conveyor belt 12 over its entire width.
  • each picker 18 1 ⁇ , 18 1 2 , 18 1 3 and 18 2 1 , I 8 22 , 18 2 3 extends each one of the respective picker associated position image processing system 2Oi 1 , 20i 2 , 20i 3 or 2O 2 1 , 2O 22 , 2O 23 transversely to the transport direction x over the area covered by the corresponding picker
  • Conveyor belt 12 such that each two position image processing systems cover the entire width of the conveyor belt.
  • a quality image processing system 16 extends across the entire width of the conveyor belt 12. Errors and product characteristics that may be detected by the quality image processing system 16 include, for example, shape, damage, ink, imprints, etc. - -
  • the picker line 10 comprises only two parallel rows, each with three pickers 18. However, fewer or more than three pickers 10 may be arranged in only one or more than two rows.
  • a picker line 10 consists of a plurality of pickers 18 arranged one behind the other, which are arranged in one or more parallel rows. From the quality image processing system 16, all product data is sent to the first picker 18. In systems with several rows of pickers 18 arranged in parallel, each section of the product data corresponding to its working area, including an overlapping area, is transmitted to each first picker 18.
  • the product 14 to be packaged - e.g. from an oven ready for packaging to Pickerstrasse 10 transferred small bakery - are distributed in the transport direction x upstream of the quality image processing system 16 randomly over the entire width of the conveyor belt 12 of the picker 10 passed.
  • predetermined quality features such as shape, color and the like. Recognizable on the finished product 14 recognizable, suitable for determining the product quality properties and registered in the direction of transport x arranged downstream of the quality image processing system 16 arranged first picker 18.
  • Image processing system 20 of the first picker 18 the exact coordinates of the products 14 are detected on the conveyor belt 12 and compared with the registered in the quality image processing system 16 data, due to the less accurate position determination by the quality image processing system 16, the assignment of the data derived from this system through the position
  • Image processing system 20 takes place via a tolerance window 24 (FIG. 2).
  • the position imaging system 20 communicates the data of the thus-identified products 14 to the associated picker 18, which packages a portion of the good products 14.
  • the data of the products 14 detected by the positional image processing system 20 are also transmitted to the positional image processing system 20 of the subsequent picker 18. This
  • each picker 18 can also access the position data of the preceding picker 18 if necessary.
  • a picking line 10 equipped with a sufficient number of pickers 18 in accordance with the packaging performance only the products 14 which are registered as "bad" by the quality image processing system 16 due to a quality defect and consequently not packed, remain as rejects at the end of the conveyor belt 12.
  • the assignment of a product 14 recognized by the quality image processing system 16 to a product detected by the positional image processing system 20 of a picker 18 is effected by the quality determination of the picker 18 being less accurate compared to the position image processing system 20 of the picker 18.
  • Image processing system 16 via a tolerance window 24. The following designations are used for the different positions of a product 14:
  • P1 Local, detected by the position image processing system 20 of the picker 18
  • Position P2 detected by the quality image processing system 16, within the
  • the products 14 detected and classified by the quality image processing system 16 on the conveyor belt 12 in the transport direction x are moving on a screen 22 with their position on the conveyor in the form of rectangles of light color as "good” (14g ) or with a type of hatch corresponding to the type of defect as “bad” (14s).
  • Products (z) associated with the position imaging system 20 are shown in a darker hue.
  • the current state of the product carpet on the conveyor belt 12 can be seen at any time. In particular, it can also be seen for which reason products 14 leave the plant unpacked, eg because of a recognized quality defect, an excessive position tolerance (data of the quality image processing system 16 and the position image processing system 20 could not be brought into agreement), or because of Overload of the system.
  • a position-imaging system 16 fails, it is detected and the picker 18 affected by the failure receives the image processing data from the upstream picker 18 so that production can be maintained.
  • the failure of a Picker horrung can be detected, so that the data are communicated past the failed picker to the next operational picker. Only the failure of the quality image processing system 16 leads to the shutdown of the line.
  • the positional deviation between communicated and locally detected data is displayed on screen 22 as a dash from the center of the locally detected product. If you only see one point there, the data is stable. This feature helps with
  • Position P2 gives.
  • the locally detected part can be linked with a quality information. If the quality meets the requirements, the product is communicated to the picker queue.
  • Each system sends its product data to the subsequent system as soon as the corresponding product has left the picker's work area. Correctly sent product data 14v are marked in a separate color.
  • the visualization system is implemented on the local picker controls and shows there a section of the own work area as well as the work areas of the adjacent pickers.
  • the system can also be implemented across plants and show the condition of the entire system.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Image Processing (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to a picking line for inserting products into a packaging container, having a conveyor belt for the delivery and the transport of products in a transport direction, and at least one picker equipped with a position image processing system for determining the position of the products on the conveyor belt. A quality image processing system is disposed in the transport direction upstream of the at least one picker for checking the products passing the quality image processing system on the conveyor belt in the transport direction for predetermined quality features, and for associating quality information to be transmitted to a picker adjacent downstream of the quality image processing system in the transport direction, serving as a control command for grasping or not grasping the products.

Description

Beschreibung description
Titeltitle
PICKERSTRASSE UND VERFAHREN ,ZUM EINSETZEN VON PRODUKTEN IN EINEN VERPACKUNGSBEHÄLTERPICKER ROAD AND METHOD FOR INSERTING PRODUCTS IN A PACKAGING CONTAINER
Technisches GebietTechnical area
Die Erfindung betrifft eine Pickerstrasse zum Einsetzen von Produkten in einenThe invention relates to a picker line for inserting products into a
Verpackungsbehälter, mit einem Transportband für die Anlieferung und den Transport von Produkten in einer Transportrichtung und wenigstens einem mit einem Positions- Bildverarbeitungssystem zur Bestimmung der Position der Produkte auf dem Transportband ausgestatteten Picker. Im Rahmen der Erfindung liegt auch ein Verfahren zum Betreiben der Pickerstrasse.Packaging container, comprising a conveyor belt for the delivery and transport of products in a transport direction and at least one picker equipped with a position image processing system for determining the position of the products on the conveyor belt. Within the scope of the invention is also a method for operating the picker line.
Stand der TechnikState of the art
Pickerstrassen mit einem zum Bildverarbeitungssystem zum Erfassen der Positionen von in zufälliger Orientierung auf einem sich bewegenden Transportband angeordnetenPicker lines arranged with an image processing system for detecting the positions of in random orientation on a moving conveyor belt
Produkten sind beispielsweise aus US-A-5 040 056 und US-A-6 122 895 bekannt.Products are known, for example, from US-A-5 040 056 and US-A-6 122 895.
Bekannt sind auch Bildverarbeitungssysteme zum Überprüfen von vorgegebenen Qualitätsmerkmalen, wie z.B. Farbe und Form eines Produktes.Also known are image processing systems for verifying predetermined quality characteristics, such as e.g. Color and shape of a product.
Bei Pickerstrassen zum Verpacken von Produkten nach dem Pick & Place System erfolgt die Qualitätsüberprüfung der zu verpackenden Produkte, wie z.B. Biskuits und dergleichen Kleinbackwaren, üblicherweise durch visuelle Prüfung der auf einem Transportband angelieferten Produkte. Produkte, die den Qualitätsvorgaben nicht entsprechen, werden manuell aussortiert.In picker lines for packaging products according to the pick & place system, the quality inspection of the products to be packaged, such as e.g. Biscuits and the like small bakery products, usually by visual inspection of products delivered on a conveyor belt. Products that do not meet the quality specifications are sorted out manually.
Grundsätzlich ist auch denkbar, die Qualität der auf einem Transportband angelieferten Produkte vor deren Verpackung in einer Pickerlinie mittels bekannter Bildverarbeitungssysteme zu überprüfen und nicht den geforderten Qualitätsstandards entsprechende Produkte z.B. nach dem in WO 2004/018332 beschriebenen Verfahren automatisch auszusortieren. Darstellung der ErfindungIn principle, it is also conceivable to check the quality of the products delivered on a conveyor belt prior to their packaging in a picker line by means of known image processing systems and not automatically sort out the products corresponding to the required quality standards, for example according to the method described in WO 2004/018332. Presentation of the invention
Der Erfindung liegt die Aufgabe zugrunde, eine Pickerstrasse der eingangs genannten Art so weiterzubilden, dass nur Produkte gepickt werden, die vorgegebenen Qualitätsanforderungen entsprechen.The invention has the object of providing a picker road of the type mentioned in such a way that only products are picked that meet predetermined quality requirements.
Ein anderes Ziel der Erfindung ist die Erfassung der Qualitätsdaten in einem zentralen System.Another object of the invention is the acquisition of quality data in a central system.
Ein weiteres Ziel der Erfindung ist eine Visualisierung der Qualitätsmängel der nicht gepickten Produkte.Another object of the invention is to visualize the quality defects of the non-picked products.
Zur erfindungsgemässen Lösung der Aufgabe führt, dass in Transportrichtung stromauf des wenigstens einen Pickers ein Qualitäts-Bildverarbeitungssystem zur Prüfung der auf dem Transportband in Transportrichtung am Qualitäts-Bildverarbeitungssystem vorbeilaufenden Produkte auf vorgegebene Qualitätsmerkmale und zur Zuordnung einer an den in Transportrichtung stromab an das Qualitäts-Bildverarbeitungssystem anschliessenden Picker zu übermittelnden, als Steuerbefehl zum Ergreifen oder Nichtergreifen der Produkte dienenden Qualitätsinformation angeordnet ist.To achieve the object according to the invention, in the transport direction upstream of the at least one picker, a quality image processing system for checking the products passing on the conveyor belt in the transport direction on the quality image processing system to predetermined quality features and assigning a downstream to the quality image processing system in the direction of transport subsequent picker to be transmitted, is arranged as a control command for gripping or non-gripping the products serving quality information.
Um auch höchsten Sicherheitsansprüchen zu genügen, können auch zwei Systeme redundant angelegt werden.In order to meet the highest security requirements, two systems can also be created redundantly.
Bevorzugt sind wenigstens zwei mit je einem Positions-Bildverarbeitungssystem ausgestattete Picker in Transportrichtung hintereinander angeordnet, wobei jeder Picker zur Übermittlung der als Steuerbefehl zum Ergreifen oder Nichtergreifen der Produkte dienenden Qualitätsinformationen und der Positionsdaten für die von diesem Picker nicht ergriffenen Produkte an den nachfolgenden Picker vorgesehen ist.Preferably, at least two with one position-image processing system equipped picker are arranged in the transport direction one behind the other, each picker is provided for the transmission of the control command for grasping or not grasping the products serving quality information and the position data for the products not picked up by this picker products to the subsequent picker ,
Jeder Picker gibt die erhaltenen Qualitätsinformationen und die von seinem Positions-Each picker gives the obtained quality information and that of his position
Bildverarbeitungssystem erfassten Positionsdaten jeweils an den nächsten Picker weiter, wobei die vom Qualitäts-Bildverarbeitungssystem ermittelten Qualitätsdaten bei allen Pickern durchlaufen. Bei Ausfall seines eigenen Positions-Bildverarbeitungssystems übernimmt jeder Picker die vom vorangehenden Picker erfassten Positionsdaten, d.h. das System ist redundant ausgelegt .Image processing system detected position data in each case to the next picker, the quality data determined by the quality image processing system go through all pickers. In the event of failure of its own position imaging system, each picker will assume the position data acquired by the preceding picker, i. the system is redundant.
Bei Ausfall eines Bildverarbeitungssystem oder eines Pickers können die als Steuerbefehl zum Ergreifen oder Nichtergreifen der Produkte dienenden Qualitätsinformationen und die Positionsdaten für die von diesem Picker nicht ergriffenen Produkte an den nächsten Picker übermittelt werden.In case of failure of an image processing system or a picker that can be used as a control command for the grasping or non-grasping of the products serving quality information and the position data for the products not picked up by this picker products are transmitted to the next picker.
Bei einem Ausfall eines Pickers übermittelt der dem ausgefallenen Picker vorangehende Picker die als Steuerbefehl zum Ergreifen oder Nichtergreifen der Produkte dienenden Qualitätsinformationen und die Positionsdaten für die von diesem Picker nicht ergriffenen Produkte an den dem ausgefallenen Picker nachfolgenden Picker übermittelt. Bei einem Totalausfall eines Pickers wird dieser Picker somit umlaufen, d.h. die Qualitätsinformationen und die Positionsdaten gehen vom vorangehenden Picker direkt auf den nachfolgenden Picker über.In the event of a picker failure, the picker preceding the failed picker transmits the quality information serving as a control command for grasping or not grasping the products, and communicates the position data for the products not picked up by that picker to the picker following the failed picker. In a total failure of a picker this picker is thus circulating, i. the quality information and the position data are transferred from the previous picker directly to the following picker.
Als Qualitätskriterien werden bevorzugt Form und Farbe der Produkte und das Vorhandensein bildlicher Merkmale auf den Produkten ausgewertet.As quality criteria, preference is given to the shape and color of the products and the presence of pictorial features on the products.
Bei einem zum Betreiben der erfindungsgemässen Vorrichtung bevorzugten Verfahren werden die Produkte an einem Bildschirm dargestellt und die vom Qualitäts- Bildverarbeitungssystem für die Produkte erfassten Qualitätsmerkmale visualisiert. Zweckmässigerweise werden dabei die vom Positions-Bildverarbeitungssystem erfassten Produkte gesondert markiert.In a method preferred for operating the device according to the invention, the products are displayed on a screen and the quality features recorded by the quality image processing system for the products are visualized. Expediently, the products detected by the position image processing system are marked separately.
Mit dem erfindungsgemässen Pick & Place System ist sichergestellt, dass nur Produkte gepickt werden, die vorgegebenen Qualitätsanforderungen entsprechen. Die Merkmale werden dabei von einem Qualitäts-Bildverarbeitungssystem erfasst und die Produkte entsprechend ihrer Form, Farbe, Struktur oder dem Vorhandensein bestimmterWith the inventive pick & place system it is ensured that only products are picked that meet the specified quality requirements. The features are detected by a quality image processing system and the products according to their shape, color, structure or the presence of certain
Eigenschaften, wie Würzmischung und dgl., klassiert. Diese Informationen werden in der Pickeranlage an die einzelnen Picker kommuniziert. Dabei hat jeder Picker ein eigenes Positions-Bildverarbeitungssystem, da sich die Produkte im Laufe der Zeit verschieben können. Die vom Qualitäts-Bildverarbeitungssystem erfassten Qualitätsinformationen wer- den den im Positions-Bildverarbeitungssystem mit exakteren Koordinaten erfassten Produkten zugeordnet. Nicht gepickte Produkte müssen dem in Transportrichtung nachfolgenden Picker mit der generellen Qualitätsinformation "gut" bzw. "schlecht" übergeben werden, wobei das Fehlen nur einer der Qualitätsinformationen zu der für die Steuerung des Pickers massgeblichen Qualifikation "schlecht" führt. Schlechte, d.h. den Qualitätsanforderungen in mindestens einem Punkt nicht genügende Produkte, werden von keinem Picker gepickt und verlassen die Anlage an ihrem Ende. Zur Ortung der den auftretenden Qualitätsmängeln zugrunde liegenden Ursachen werden alle einem Produkt zugehörigen Qualitätsinformationen an das nachfolgend erläuterte Überwachungssystem weitergegeben.Properties, such as seasoning mixture and the like, classified. This information is communicated to the individual pickers in the picker system. Each picker has its own position image processing system, as the products can shift over time. The quality information acquired by the quality image processing system is assigned to the products detected in the position image processing system with more exact coordinates. Unpicked products must be handed over to the picker with the general quality information "good" or "bad" in the direction of transport, the absence of only one of the quality information leading to the qualifier "poor" for the control of the picker. Bad products, ie products which do not satisfy the quality requirements in at least one point, are not picked by any picker and leave the plant at their end. To locate the quality defects underlying causes are all a product associated quality information to the monitoring system explained below.
Zur Überwachung der Pickerlinie ist zweckmässigerweise ein User Interface, üblicherweise ein Bildschirm, vorhanden, auf dem gute und schlechte Produkte sowie die Fehlerart zu erkennen sind, so dass unterschieden werden kann, ob Produkte aufgrund eines Qualitätsmangels nicht gepickt wurden, oder ob andere Gründe vorliegen, dass ein Produkt nicht verpackt wird, z.B. bei Überlast der Anlage oder bei mangelhafter Justierung der Anlage. Weiter soll zu erkennen sein ob die Picker die Qualitätsinformation den Produkten zuordnen konnten oder ob die Positionstoleranz zwischen Qualitäts- Bildverarbeitungssystem und Positions-Bildverarbeitungssystem zu gross war. Die Anzeige der Fehlerart lässt direkt auf Probleme im Herstellungsprozess der Produkte (z.B. falsche Backtemperatur, Probleme mit dem Aufbringen einer Gewürzmischung etc.) schliessen, so dass diese behoben werden können. Weiter soll das System das Weiterbetreiben der Linie auch beim Ausfall einzelner Picker und Bildverarbeitungssystemen erlauben.To monitor the picker line is conveniently a user interface, usually a screen, available on the good and bad products and the type of error can be seen, so that it can be distinguished, whether products were not picked due to a lack of quality, or if there are other reasons that a product is not packed, eg in case of overload of the system or in case of insufficient adjustment of the system. It should also be clear whether the pickers were able to assign the quality information to the products or whether the positional tolerance between the quality image processing system and the position image processing system was too great. The indication of the type of defect directly suggests problems in the manufacturing process of the products (e.g., wrong baking temperature, problems with applying a spice mixture, etc.) so that they can be remedied. Furthermore, the system should allow the continued operation of the line even in the event of failure of individual pickers and image processing systems.
Das vorgeschlagene System mit der erfindungsgemässen Vorrichtung beinhaltet u.a. die folgenden Vorteile:The proposed system with the device according to the invention includes i.a. the following advantages:
Das Qualitäts-Bildverarbeitungssystem ist unabhängig vom Positions- Bildverarbeitungssystem. Dabei ist die Lokalisierung durch Positions- Bildverarbeitungssysteme für alle Arten von Produkten Standard, das Qualitäts- Bildverarbeitungssystem wird jeweils projektspezifisch angepasst.The quality image processing system is independent of the position image processing system. Localization by means of positional image processing systems is standard for all types of products, and the quality image processing system is adapted to each project.
Es gibt nur ein Qualitäts-Bildverarbeitungssystem, was eine einfache Handhabung ermöglicht und zu einer Kostenersparnis führt.There is only one quality image processing system, which allows easy handling and saves money.
Der Grund für nicht gepickte Produkte ist sofort ersichtlich, z.B. mangelhafte Qualität der Produkte und welches Qualitätsproblem konkret vorliegt, so dass in denThe reason for non-pickled products is immediately apparent, e.g. Inadequate quality of the products and what quality problem exists concretely, so that in the
Prozessanlagen korrigiert werden kann, oder Probleme bei der Zuordnung der Produkte im Positions-Bildverarbeitungssystem wegen zu grosser Toleranz zwischen Qualitäts- und Positions- Bildverarbeitungssystem, Überlast der Picker etc.Process equipment can be corrected, or problems in the allocation of products in the position-imaging system due to excessive tolerance between quality and position image processing system, overload of the picker, etc.
- Da gute und schlechte Produkte unterschiedlich visualisiert werden, ergeben sich intuitiv Learnings über das Systemverhalten. Z.B. erkennt man bei mehrbahnigen - -- Since good and bad products are visualized differently, intuitive learnings about the system behavior result. For example, one recognizes in multi-lane - -
Linien sehr schnell, auf weicher Bahn quer zur Bandlaufrichtung die meisten Problem auftreten. Dies erlaubt Rückschlüsse auf den Ort einer möglichen Prozessoptimierung.Lines very fast, on soft web across the tape direction the most problem occur. This allows conclusions about the location of a possible process optimization.
Hohe Fehlertoleranz beim Ausfall einzelner Picker oder Vision Systeme.High fault tolerance in case of failure of individual picker or vision systems.
Kurze Beschreibung der ZeichnungShort description of the drawing
Weitere Vorteile, Merkmale und Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung bevorzugter Ausführungsbeispiele sowie anhand der Zeichnung; diese zeigt schematisch inFurther advantages, features and details of the invention will become apparent from the following description of preferred embodiments and from the drawing; this shows schematically in
Fig. 1 : eine Draufsicht auf eine Pickerstrasse;Fig. 1: a plan view of a picker street;
Fig. 2: das Erkennen eines von einem Qualitäts-Bildverarbeitungssystem charakterisierten Produktes durch ein einem Picker zugeordneten Positions- Bildverarbeitungssystem;FIG. 2 shows the recognition of a product characterized by a quality image processing system by a position image processing system associated with a picker; FIG.
Fig. 3: auf einem Bildschirm dargestellte Produkte mit visualisierten Qualitätsmerkmalen.3 shows products displayed on a screen with visualized quality features.
Beschreibung von AusführungsbeispielenDescription of exemplary embodiments
Eine in Fig. 1 dargestellte Pickerstrasse 10 weist ein umlaufendes Transportband 12 für den Transport von zu verpackenden Produkten 14 in einer Transportrichtung x auf. Entlang des Transportbandes 12 sind in Transportrichtung x je drei durch ihren Arbeitsbereich charakterisierte Picker 18n, 18i 2 , 18i 3 bzw. 1821 , 1822 , 1823 hintereinander in zwei parallelen Linien so angeordnet, dass sich die Arbeitsbereiche jeweils überlappen und dadurch das Transportband 12 über seine ganze Breite abdecken. In Transportrichtung x stromauf jedes Pickers 181 ^, 181 2, 181 3 bzw. 182 1, I 822, 1823 erstreckt sich je ein dem betreffenden Picker zugehöriges Positions- Bildverarbeitungssystem 2Oi 1, 20i 2, 20i 3 bzw. 2O2 1, 2O22, 2O23 quer zur Transportrichtung x über den vom jeweils zugehörigen Picker abgedeckten Bereich desA picker line 10 shown in FIG. 1 has a revolving conveyor belt 12 for the transport of products 14 to be packed in a transport direction x. Along the conveyor belt 12, three pickers 18n, 18i 2 , 18i 3 and 18 2 1, 18 22 , 18 2 3 arranged one behind the other in two parallel lines are arranged in the transport direction x such that the work areas overlap one another and thereby Cover the conveyor belt 12 over its entire width. In the transport direction x upstream of each picker 18 1 ^, 18 1 2 , 18 1 3 and 18 2 1 , I 8 22 , 18 2 3 extends each one of the respective picker associated position image processing system 2Oi 1 , 20i 2 , 20i 3 or 2O 2 1 , 2O 22 , 2O 23 transversely to the transport direction x over the area covered by the corresponding picker
Transportbandes 12 derart, dass je zwei Positions-Bildverarbeitungssysteme die gesamte Breite des Transportbandes abdecken. Am Anfang des Transportbandes 12 erstreckt sich ein Qualitäts-Bildverarbeitungssystem 16 quer über die gesamte Breite des Transportbandes 12. Fehler und Produkteigenschaften, die vom Qualitäts- Bildverarbeitungssystem 16 erfasst werden können, sind z.B. Form, Beschädigungen, Farbe, Aufdrucke etc. - -Conveyor belt 12 such that each two position image processing systems cover the entire width of the conveyor belt. At the beginning of the conveyor belt 12, a quality image processing system 16 extends across the entire width of the conveyor belt 12. Errors and product characteristics that may be detected by the quality image processing system 16 include, for example, shape, damage, ink, imprints, etc. - -
Im gezeigten Ausführungsbeispiel umfasst die Pickerstrasse 10 nur zwei parallele Reihen mit je drei Pickern 18. Es können jedoch auch weniger oder mehr als drei Picker 10 in nur einer oder in mehr als zwei Reihen angeordnet sein. Allgemein besteht eine Pickerstrasse 10 aus mehreren, hintereinander angeordneten Pickern 18, die in einer oder mehreren parallelen Reihen angeordnet sind. Vom Qualitäts-Bildverarbeitungssystem 16 werden alle Produktdaten an den ersten Picker 18 gesendet. Bei Anlagen mit mehreren parallel angeordneten Reihen von Pickern 18 wird an jeden ersten Picker 18 der seinem Arbeitsbereich einschliesslich eines Überlappungsbereiches entsprechende Ausschnitt aus den Produktdaten übermittelt.In the exemplary embodiment shown, the picker line 10 comprises only two parallel rows, each with three pickers 18. However, fewer or more than three pickers 10 may be arranged in only one or more than two rows. Generally, a picker line 10 consists of a plurality of pickers 18 arranged one behind the other, which are arranged in one or more parallel rows. From the quality image processing system 16, all product data is sent to the first picker 18. In systems with several rows of pickers 18 arranged in parallel, each section of the product data corresponding to its working area, including an overlapping area, is transmitted to each first picker 18.
Die zu verpackenden Produkt 14 - z.B. von einem Backofen verpackungsfertig zur Pickerstrasse 10 überführte Kleinbackwaren - werden in Transportrichtung x stromauf des Qualitäts-Bildverarbeitungssystems 16 regellos über die ganze Breite des Transportbandes 12 verteilt der Pickerstrasse 10 übergeben. Beim Durchlaufen der Produkte 14 unter dem Qualitäts-Bildverarbeitungssystem 16 werden von jedem Produkt 14 neben seiner Position auf dem Transportband 12 vorbestimmte Qualitätsmerkmale wie Form, Farbe und dgl. am fertigen Produkt 14 erkennbare, zur Bestimmung der Produktqualität geeignete Eigenschaften registriert und an die in Transportrichtung x stromab des Qualitäts-Bildverarbeitungssystems 16 angeordneten ersten Picker 18 übermittelt. Beim Durchlaufen der Produkte 14 unter dem Positions-The product 14 to be packaged - e.g. from an oven ready for packaging to Pickerstrasse 10 transferred small bakery - are distributed in the transport direction x upstream of the quality image processing system 16 randomly over the entire width of the conveyor belt 12 of the picker 10 passed. When passing through the products 14 under the quality image processing system 16 of each product 14 next to its position on the conveyor belt 12 predetermined quality features such as shape, color and the like. Recognizable on the finished product 14 recognizable, suitable for determining the product quality properties and registered in the direction of transport x arranged downstream of the quality image processing system 16 arranged first picker 18. When passing through the products 14 under the position
Bildverarbeitungssystem 20 der ersten Picker 18 werden die exakten Koordinaten der Produkte 14 auf dem Transportband 12 erfasst und mit den im Qualitäts- Bildverarbeitungssystem 16 registrierten Daten verglichen, wobei wegen der weniger genauen Positionsermittlung durch das Qualitäts-Bildverarbeitungssystem 16 die Zuordnung der von diesem System stammenden Daten durch das Positions-Image processing system 20 of the first picker 18, the exact coordinates of the products 14 are detected on the conveyor belt 12 and compared with the registered in the quality image processing system 16 data, due to the less accurate position determination by the quality image processing system 16, the assignment of the data derived from this system through the position
Bildverarbeitungssystem 20 über ein Toleranzfenster 24 erfolgt (Fig. 2). Das Positions- Bildverarbeitungssystem 20 übermittelt die Daten der so erkannten Produkte 14 an den zugehörigen Picker 18, der einen Teil der guten Produkte 14 verpackt. Die Daten der vom Positions-Bildverarbeitungssystem 20 erkannten Produkte 14 werden ebenfalls an das Positions-Bildverarbeitungssystem 20 des nachfolgenden Pickers 18 übermittelt. DiesesImage processing system 20 takes place via a tolerance window 24 (FIG. 2). The position imaging system 20 communicates the data of the thus-identified products 14 to the associated picker 18, which packages a portion of the good products 14. The data of the products 14 detected by the positional image processing system 20 are also transmitted to the positional image processing system 20 of the subsequent picker 18. This
Prozedere wiederholt sich für jeden weiteren, in Transportrichtung x stromab nachfolgenden Picker 18. Jeder Picker 18 kann im Bedarfsfall auch auf die Positionsdaten des vorangehenden Pickers 18 zugreifen. Bei einer entsprechend der Verpackungsleistung mit einer ausreichenden Anzahl Picker 18 ausgestatteten Pickerstrasse 10 verbleiben am Ende des Transportbandes 12 nach dem letzten Picker 18 nur die vom Qualitäts-Bildverarbeitungssystem 16 aufgrund eines Qualitätsmangels als "schlecht" registrierten und demzufolge nicht verpackten Produkte 14 als Ausschussware. Wie in Fig. 2 gezeigt, erfolgt die Zuordnung eines vom Qualitäts-Bildverarbeitungssystem 16 erkannten Produktes 14 zu einem vom Positions-Bildverarbeitungssystem 20 eines Pickers 18 erfassten Produkt wegen der im Vergleich zum Positions- Bildverarbeitungssystem 20 des Pickers 18 weniger genauen Positionsermittlung durch das Qualitäts-Bildverarbeitungssystem 16 über ein Toleranzfenster 24. Für die verschiedenen Positionen eines Produktes 14 werden die folgenden Bezeichnungen verwendet:The procedure is repeated for each further picker 18 downstream in the transport direction x. Each picker 18 can also access the position data of the preceding picker 18 if necessary. At a picking line 10 equipped with a sufficient number of pickers 18 in accordance with the packaging performance, only the products 14 which are registered as "bad" by the quality image processing system 16 due to a quality defect and consequently not packed, remain as rejects at the end of the conveyor belt 12. As shown in FIG. 2, the assignment of a product 14 recognized by the quality image processing system 16 to a product detected by the positional image processing system 20 of a picker 18 is effected by the quality determination of the picker 18 being less accurate compared to the position image processing system 20 of the picker 18. Image processing system 16 via a tolerance window 24. The following designations are used for the different positions of a product 14:
P1 : Lokale, vom Positions-Bildverarbeitungssystem 20 des Pickers 18 erfassteP1: Local, detected by the position image processing system 20 of the picker 18
Position P2: vom Qualitäts-Bildverarbeitungssystem 16 erfasste, innerhalb desPosition P2: detected by the quality image processing system 16, within the
Toleranzfensters 24 liegende PositionTolerance window 24 lying position
P3: vom Qualitäts-Bildverarbeitungssystem 16 erfasste, ausserhalb des Toleranzfensters 24 liegende Position x, y: Positionskoordinaten, für P1 der Lage des Toleranzfensters, für P2 und P3 der Orientierung des Transportbandes 12 entsprechendP3: from the quality image processing system 16 detected, outside the tolerance window 24 lying position x, y: position coordinates, P1 of the position of the tolerance window, for P2 and P3 the orientation of the conveyor belt 12 accordingly
Nur ein Produkt 14, dessen vom Qualitäts-Bildverarbeitungssystem 16 erfasste Position P2 innerhalb des Toleranzfensters 24 liegt, wird vom Picker 18 gepickt, sofern dieOnly a product 14, whose position P2 detected by the quality image processing system 16 is within the tolerance window 24, is picked by the picker 18, if the
Qualitätsanforderungen für dieses Produkt erfüllt sind. Das Produkt 14 mit ausserhalb des Toleranzfensters 24 liegender Position P3 wird - ungeachtet der Qualität - nicht gepickt.Quality requirements for this product are met. The product 14 with position P3 lying outside the tolerance window 24 is not picked - regardless of the quality.
In Fig. 3 sind die vom Qualitäts-Bildverarbeitungssystem 16 erkannten und klassierten, auf dem Transportband 12 in Transportrichtung x sich fortbewegenden Produkte 14 auf einem Bildschirm 22 mit ihrer Position auf dem Transportband in der Form vom Rechtecken in hellem Farbton als "gut" (14g) oder mit einer der Fehlerart entsprechender Schraffur als "schlecht" (14s) dargestellt. Vom Positions-Bildverarbeitungssystem 20 zugeordnete (z) Produkte sind mit dunklerem Farbton dargestellt.In Fig. 3, the products 14 detected and classified by the quality image processing system 16 on the conveyor belt 12 in the transport direction x are moving on a screen 22 with their position on the conveyor in the form of rectangles of light color as "good" (14g ) or with a type of hatch corresponding to the type of defect as "bad" (14s). Products (z) associated with the position imaging system 20 are shown in a darker hue.
Am Bildschirm 22 ist jederzeit der aktuelle Zustand des Produktteppichs auf dem Transportband 12 zu sehen. Insbesondere ist auch zu erkennen, aus welchem Grund Produkte 14 die Anlage unverpackt verlassen, also z.B. wegen einem erkannten Qualitätsmangel, einer zu grosse Positionstoleranz (Daten des Qualitäts- Bildverarbeitungssystems 16 und des Positions-Bildverarbeitungssystems 20 konnten nicht in Übereinstimmung gebracht werden), oder wegen Überlast der Anlage. Fällt ein Positions-Bildverarbeitungssystem 16 aus, wird dies erkannt, und dem vom Ausfall betroffenen Picker 18 werden die Bildverarbeitungsdaten des vorgelagerten Pickers 18 übermittelt, so dass die Produktion aufrechterhalten werden kann. Auch der Ausfall einer Pickersteuerung kann erkannt werden, so dass die Daten am ausgefallenen Picker vorbei an den nächsten einsatzfähigen Picker kommuniziert werden. Lediglich der Ausfall des Qualitäts-Bildverarbeitungssystems 16 führt zum Abschalten der Linie.On the screen 22, the current state of the product carpet on the conveyor belt 12 can be seen at any time. In particular, it can also be seen for which reason products 14 leave the plant unpacked, eg because of a recognized quality defect, an excessive position tolerance (data of the quality image processing system 16 and the position image processing system 20 could not be brought into agreement), or because of Overload of the system. If a position-imaging system 16 fails, it is detected and the picker 18 affected by the failure receives the image processing data from the upstream picker 18 so that production can be maintained. The failure of a Pickersteuerung can be detected, so that the data are communicated past the failed picker to the next operational picker. Only the failure of the quality image processing system 16 leads to the shutdown of the line.
Die Positionsabweichung zwischen kommunizierten und lokal detektierten Daten wird auf dem Bildschirm 22 als Strich aus dem Zentrum des lokal detektierten Produkts dargestellt. Sieht man dort nur einen Punkt sind die Daten stabil. Diese Funktion hilft beimThe positional deviation between communicated and locally detected data is displayed on screen 22 as a dash from the center of the locally detected product. If you only see one point there, the data is stable. This feature helps with
Einjustieren der Offsets zwischen mehreren Kamerasystemen. Weiterhin können das Ablaufen des Bandes, Encoder- Synchronisationsprobleme und ähnliche unerwünschte Effekte diagnostiziert werden.Adjust the offsets between several camera systems. Furthermore, the running of the tape, encoder synchronization problems and similar undesirable effects can be diagnosed.
Am Bildschirm 22 wird für jedes lokal detektierte Teil (= Teil, das vom Qualitäts-On the screen 22, for each locally detected part (= part, which depends on the quality
Bildverarbeitungssystem erkannt und vom Positions-Bildverarbeitungssystem des Pickers erfasst wurde) mit der Position P1 dargestellt, ob es ein passendes Remote Teil (=Teil, das vom Qualitäts-Bildverarbeitungssystem erkannt und vom Positions- Bildverarbeitungssystem nicht erfasst wurde) mit einer innerhalb des Toleranzfensters 24 liegenden Position P2 gibt. Hierbei sind die folgenden Zustände zu unterscheiden:Image processing system detected and detected by the positioner image processing system of the picker) is shown with the position P1, whether it is a matching remote part (= part, which was recognized by the quality image processing system and not detected by the position image processing system) with a lying within the tolerance window 24 Position P2 gives. Here the following states are to be distinguished:
Für eine lokal detektiertes Teil ist ein passendes Remote Teil vorhanden: Das lokal detektierte Teil kann mit einer Qualitätsinformation verknüpft werden. Falls die Qualität den Anforderungen entspricht, wird das Produkt an die Picker-Warteschlange kommuniziert.For a locally detected part there is a suitable remote part: The locally detected part can be linked with a quality information. If the quality meets the requirements, the product is communicated to the picker queue.
Für ein lokal detektiertes Teil ist kein passendes Remote Teil vorhanden: Das Produkt wird nicht an die Picker-Warteschlange kommuniziert.There is no matching remote part for a locally detected part: the product is not communicated to the picker queue.
- Es ist ein Remote Teil vorhanden, aber es wird kein entsprechendes Teil lokal detektiert: Vermutlich wurde das Teil bereits von einem vorhergehenden Picker verpackt. Es erfolgt keine Datenübermittlung an die Picker-Warteschlange.- There is a remote part, but no corresponding part is detected locally: presumably the part was already packed by a previous picker. There is no data transmission to the picker queue.
Jedes System versendet seine Produktdaten an das nachfolgende System, sobald das entsprechende Produkt aus dem Arbeitsbereich des Pickers herausgelaufen ist. Korrekt versendete Produktdaten 14v werden in einer eigenen Farbe markiert. yEach system sends its product data to the subsequent system as soon as the corresponding product has left the picker's work area. Correctly sent product data 14v are marked in a separate color. y
Im gezeigten Beispiel ist das Visualisierungssystem auf den lokalen Pickersteuerungen implementiert und zeigt dort jeweils einen Ausschnitt aus dem eigenen Arbeitsbereich sowie den Arbeitsbereichen der angrenzenden Pickern. Das System kann jedoch auch anlageübergreifend implementiert werden und den Zustand der Gesamtanlage zeigen. In the example shown, the visualization system is implemented on the local picker controls and shows there a section of the own work area as well as the work areas of the adjacent pickers. However, the system can also be implemented across plants and show the condition of the entire system.

Claims

Ansprüche claims
1. Pickerstrasse zum Einsetzen von Produkten in einen Verpackungsbehälter, mit einem Transportband (12) für die Anlieferung und den Transport von Produkten (14) in einer Transportrichtung (x) und wenigstens einem mit einem Positions-Bildverarbeitungssystem (20) zur Bestimmung der Position der Produkte (14) auf dem Transportband (12) ausgestatteten Picker (18), dadurch gekennzeichnet, dass in Transportrichtung (x) stromauf des wenigstens einen Pickers (18) ein Qualitäts- Bildverarbeitungssystem (16) zur Prüfung der auf dem Transportband (12) in Transportrichtung (x) am Qualitäts-Bildverarbeitungssystem (16) vorbeilaufenden Produkte (14) auf vorgegebene Qualitätsmerkmale und zur Zuordnung einer an den in Transportrichtung (x) stromab an das Qualitäts-Bildverarbeitungssystem (16) anschliessenden Picker (18) zu übermittelnden, als Steuerbefehl zum Ergreifen oder Nichtergreifen der Produkte (14) dienenden Qualitätsinformation angeordnet ist.A picking line for inserting products into a packaging container, comprising a conveyor belt (12) for delivering and transporting products (14) in a transport direction (x) and at least one having a position image processing system (20) for determining the position of Products (14) on the conveyor belt (12) equipped picker (18), characterized in that in the transport direction (x) upstream of the at least one picker (18) a quality image processing system (16) for testing on the conveyor belt (12) in Transport direction (x) at the quality image processing system (16) passing products (14) to predetermined quality characteristics and to assign a to the in the transport direction (x) downstream of the quality image processing system (16) subsequent picker (18) to be transmitted, as a control command to Seizing or disregarding the products (14) quality information is arranged.
2. Pickerstrasse nach Anspruch 1 , dadurch gekennzeichnet, dass wenigstens zwei mit je einem Positions-Bildverarbeitungssystem (20) ausgestattete Picker (18) in2. Pickerstrasse according to claim 1, characterized in that at least two, each with a position-image processing system (20) equipped picker (18) in
Transportrichtung (x) hintereinander angeordnet sind, wobei jeder Picker (18) zur Übermittlung der als Steuerbefehl zum Ergreifen oder Nichtergreifen der Produkte (14) dienenden Qualitätsinformationen und der Positionsdaten für die von diesem Picker (18) nicht ergriffenen Produkte (14) an den nachfolgenden Picker (18) vorgesehen ist.Transport direction (x) are arranged one behind the other, wherein each picker (18) for transmitting the as a control command for gripping or non-gripping of the products (14) serving quality information and the position data for the picker (18) unconfined products (14) at the following Picker (18) is provided.
3. Verfahren zum Einsetzen von Produkten in einen Verpackungsbehälter mittels einer Pickerstrasse mit einem Transportband (12) für die Anlieferung und den Transport der Produkte (14) in einer Transportrichtung (x) und wenigstens ein dem Transportband zugeordneter, mit einem Positions-Bildverarbeitungssystem (20) zur Bestimmung der Position der Produkte (14) auf dem Transportband (12) ausgestatteten Picker (18), dadurch gekennzeichnet, dass mittels eines in Transportrichtung (x) stromauf des wenigstens einen Pickers (18) angeordneten Qualitäts-Bildverarbeitungssystems (16) die auf dem Transportband (12) in Transportrichtung (x) am Qualitäts-Bildverarbeitungssystem (16) vorbeilaufenden Produkte (14) auf vorgegebene Qualitätsmerkmale geprüft werden, wobei den Produkten (14) eine an den in Transportrichtung (x) stromab an das Qualitäts- Bildverarbeitungssystem (16) anschliessenden Picker (18) zu übermittelnde, als Steuerbefehl zum Ergreifen oder Nichtergreifen der Produkte (14) dienende Qualitätsinformation zugeordnet wird.3. A method for inserting products in a packaging container by means of a Pickerstrasse with a conveyor belt (12) for the delivery and transport of the products (14) in a transport direction (x) and at least one associated with the conveyor belt, with a position image processing system (20 ) for determining the position of the products (14) on the conveyor belt (12) equipped picker (18), characterized in that by means of a in the transport direction (x) upstream of the at least one picker (18) arranged quality image processing system (16) on the products (14) are checked for predetermined quality features on the conveyor belt (12) in the transport direction (x) on the quality image processing system (16), the products (14) being conveyed downstream to the quality image processing system (16) in the transport direction (x) ) subsequent picker (18) to be transmitted, as Control command for seizing or non-intervention of the products (14) is assigned quality information.
4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass wenigstens zwei mit je einem Positions-Bildverarbeitungssystem (20) ausgestattete Picker (18) in4. The method according to claim 3, characterized in that at least two, each with a position-image processing system (20) equipped picker (18) in
Transportrichtung (x) hintereinander angeordnet sind, wobei jeder Picker (18) die als Steuerbefehl zum Ergreifen oder Nichtergreifen der Produkte (14) dienenden Qualitätsinformationen und die Positionsdaten für die von diesem Picker (18) nicht ergriffenen Produkte (14) an den nachfolgenden Picker (18) übermittelt.Transport direction (x) are arranged one behind the other, wherein each picker (18) serving as a control command for gripping or non-engagement of the products (14) quality information and the position data for the picker (18) unconfined products (14) to the subsequent picker ( 18).
5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass bei Ausfall eines Bildverarbeitungssystem (16, 20) oder eines Pickers (18) die als Steuerbefehl zum Ergreifen oder Nichtergreifen der Produkte (14) dienenden Qualitätsinformationen und die Positionsdaten für die von diesem Picker (18) nicht ergriffenen Produkte (14) an den nächsten Picker (18) übermittelt werden.5. The method according to claim 4, characterized in that in case of failure of an image processing system (16, 20) or a picker (18) serving as a control command for gripping or non-engagement of the products (14) quality information and the position data for the of this picker (18 ) not taken products (14) to the next picker (18) are transmitted.
6. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass bei einem Ausfall eines Pickers (18) der dem ausgefallenen Picker (18) vorangehende Picker (18) die als Steuerbefehl zum Ergreifen oder Nichtergreifen der Produkte (14) dienenden Qualitätsinformationen und die Positionsdaten für die von diesem Picker (18) nicht ergriffenen Produkte (14) an den dem ausgefallenen Picker (18) nachfolgenden Picker (18) übermittelt.6. The method according to claim 3, characterized in that in case of failure of a picker (18) of the failed picker (18) preceding picker (18) serving as a control command for gripping or non-engagement of the products (14) quality information and the position data for the from this picker (18) unconfined products (14) transmitted to the failed picker (18) subsequent picker (18).
7. Verfahren nach einem der Ansprüche 3 bis 6, dadurch gekennzeichnet, dass Form und Farbe der Produkte (14) und das Vorhandensein bildlicher Merkmale auf den7. The method according to any one of claims 3 to 6, characterized in that the shape and color of the products (14) and the presence of pictorial features on the
Produkten (14) als Qualitätskriterien ausgewertet werden.Products (14) are evaluated as quality criteria.
8. Verfahren nach einem der Ansprüche 3 bis 7, dadurch gekennzeichnet, dass die Produkte (14) an einem Bildschirm (22) dargestellt und die vom Qualitäts- Bildverarbeitungssystem (16) für die Produkte (14) erfassten Qualitätsmerkmale visualisiert werden.8. The method according to any one of claims 3 to 7, characterized in that the products (14) are displayed on a screen (22) and visualized by the quality image processing system (16) for the products (14) quality features are visualized.
9. Verfahren nach Anspruch 9, dadurch gekennzeichnet, dass die vom Positions- Bildverarbeitungssystem (20) erfassten Produkte (14) gesondert markiert werden. 9. The method according to claim 9, characterized in that the position of the image processing system (20) detected products (14) are marked separately.
EP08804490A 2007-10-17 2008-09-19 Picking line and method for inserting products into a packaging container Not-in-force EP2207721B1 (en)

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JP2011500464A (en) 2011-01-06
US8387342B2 (en) 2013-03-05
US20100223883A1 (en) 2010-09-09
WO2009049990A1 (en) 2009-04-23
DE102007049702A1 (en) 2009-04-23
ATE511476T1 (en) 2011-06-15
ES2367090T3 (en) 2011-10-28
EP2207721B1 (en) 2011-06-01
JP5415431B2 (en) 2014-02-12

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