EP2207721B1 - Picking line and method for inserting products into a packaging container - Google Patents

Picking line and method for inserting products into a packaging container Download PDF

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Publication number
EP2207721B1
EP2207721B1 EP08804490A EP08804490A EP2207721B1 EP 2207721 B1 EP2207721 B1 EP 2207721B1 EP 08804490 A EP08804490 A EP 08804490A EP 08804490 A EP08804490 A EP 08804490A EP 2207721 B1 EP2207721 B1 EP 2207721B1
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EP
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Prior art keywords
picker
products
image processing
processing system
quality
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EP08804490A
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German (de)
French (fr)
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EP2207721A1 (en
Inventor
Harry Rutschmann
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • 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 method according to the preamble of claim 1.
  • Picker lines with an image processing system for detecting the positions of randomly oriented on a moving conveyor belt products are, for example US-A-5 040 056 and US-A-6,122,895 known.
  • 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.
  • At least two pickers are arranged one behind the other in the transport direction, each picker being provided to the subsequent picker for transmitting the quality information serving as the control command for grasping or not grasping the products and the position data for the products not grasped by this picker ,
  • Each picker passes the quality information obtained and the position data acquired by its position-image processing system to the next picker, with the quality data determined by the quality image processing system passing through all the pickers.
  • each picker assumes the position data acquired by the preceding picker, i. the system is redundant.
  • the picker preceding the failed picker transmits the quality information used as the 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 captured 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 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 classified the products according to their shape, color, structure or the presence of certain properties, such as seasoning mixture and the like ... 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.
  • 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 recognized 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.
  • An in Fig. 1 Picker 10 shown has a revolving conveyor belt 12 for the transport of products to be packaged 14 in a transport direction x.
  • a transport direction x Along the conveyor belt 12 are in the transport direction x three characterized by their work area pickers 18 1.1 , 18 1.2 , 18 1.3 and 18 2.1 , 18 2.2 , 18 2.3 arranged one behind the other in two parallel lines so that overlap the work areas and thus the Cover conveyor belt 12 over its entire width.
  • each picker 18 1.1 , 18 1.2 , 18 1.3 and 18 2.1 , 18 2.2 , 18 2.3 extends each one of the respective picker associated position image processing system 20 1.1 , 20 1.2 , 20 1.3 and 20 2.1 , 20 2.2 , 20 2.3 transversely to the transport direction x over the region of the conveyor belt 12 covered by the respectively associated picker in such a way 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.
  • Fig. 3 are the products 14 recognized and classified by the quality image processing system 16 and traveling on the conveyor belt 12 in the transport direction x on a screen 22 with their position on the conveyor belt in the form of rectangles in light shade as "good” (14g) or with one the type of error corresponding hatching as “bad” (14s) shown.
  • 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 matched), or due to 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 waiveung 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 to adjust the offsets between multiple camera systems. Furthermore, the running of the tape, encoder synchronization problems and similar undesirable effects can be diagnosed.
  • 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)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (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

Beschreibungdescription Technisches GebietTechnical area

Die Erfindung betrifft ein Verfahren nach dem Oberbegriff des Anspruchs 1.The invention relates to a method according to the preamble of claim 1.

Stand der TechnikState of the art

Pickerstrassen mit einem zum Bildverarbeitungssystem zum Erfassen der Positionen von in zufälliger Orientierung auf einem sich bewegenden Transportband angeordneten Produkten sind beispielsweise aus US-A-5 040 056 und US-A-6 122 895 bekannt.Picker lines with an image processing system for detecting the positions of randomly oriented on a moving conveyor belt products are, for example US-A-5 040 056 and US-A-6,122,895 known.

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.In 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 to meet the required quality standards corresponding products, for example according to the in WO 2004/018332 Automatically sort out the described procedures.

Ein Verfahren der eingangs genannten Art ist aus US-A-5041 907 bekannt.A method of the type mentioned is out US-A-5041907 known.

Darstellung der ErfindungPresentation 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 efindungsgemässen Lösung der Aufgabe führt ein Verfahren mit den Merkmalen des Anspruchs 1.For efindungsgemässen solution of the problem leads a method having the features of claim 1.

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.

Es 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.At least two pickers, each equipped with one position-processing system, are arranged one behind the other in the transport direction, each picker being provided to the subsequent picker for transmitting the quality information serving as the control command for grasping or not grasping the products and the position data for the products not grasped by this picker ,

Jeder Picker gibt die erhaltenen Qualitätsinformationen und die von seinem Positions-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 übemimmt jeder Picker die vom vorangehenden Picker erfassten Positionsdaten, d.h. das System ist redundant ausgelegt.Each picker passes the quality information obtained and the position data acquired by its position-image processing system to the next picker, with the quality data determined by the quality image processing system passing through all the pickers. In the event of failure of its own position imaging system, each picker assumes the position data acquired by the preceding picker, i. the system is redundant.

Bei Ausfall eines Bildverarbeitungssystem oder eines Pickers werden 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 übermitteltIn case of failure of an image processing system or a picker that are 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 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 Qualitätsinfortnationen 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 failure of a picker, the picker preceding the failed picker transmits the quality information used as the 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 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 preferred method, the products are displayed on a screen and the quality features captured 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 bestimmter 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 werden 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.With 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 classified the products according to their shape, color, structure or the presence of certain properties, such as seasoning mixture and the like .. 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 recognized 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 dem erfindungsgemässen Verfahren beinhaltet u.a. die folgenden Vorteile:

  • 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.
  • Es gibt nur ein Qualitäts-Bildverarbeitungssystem, was eine einfache Handhabung ermöglicht und zu einer Kostenersparnis führt.
  • Der Grund für nicht gepickte Produkte ist sofort ersichtlich, z.B. mangelhafte Qualität der Produkte und welches Qualitätsproblem konkret vorliegt, so dass in den 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.
  • Da gute und schlechte Produkte unterschiedlich visualisiert werden, ergeben sich intuitiv Leamings über das Systernverhalten. Z.B. erkennt man bei mehrbahnigen Linien sehr schnell, auf welcher Bahn quer zur Bandlaufrichtung die meisten Problem auftreten. Dies erlaubt Rückschlüsse auf den Ort einer möglichen Prozessoptimierung.
  • Hohe Fehlertoleranz beim Ausfall einzelner Picker oder Vision Systeme.
The proposed system with the method according to the invention contains, inter alia, 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.
  • There is only one quality image processing system, which allows easy handling and saves money.
  • The reason for non-pickled products is immediately apparent, eg poor quality of the products and what quality problem exists concretely, so that can be corrected in the process equipment, or problems in the allocation of products in the position-image processing system because of too great a tolerance between quality and position - Image processing system, overload of the picker etc.
  • Since good and bad products are visualized differently, there are intuitive leamings about the system behavior. For example, one recognizes in multi-lane Lines very fast, on which web transverse to the tape direction the most problem occur. This allows conclusions about the location of a possible process optimization.
  • 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 in

Fig. 1:
eine Draufsicht auf eine Pickerstrasse;
Fig. 2:
das Erkennen eines von einem Qualitäts-Bildverarbeitungssystem charakterisierten Produktes durch ein einem Picker zugeordneten Positions- Bildverarbeitungssystem;
Fig. 3:
auf einem Bildschirm dargestellte Produkte mit visualisierten Quali- tätsmerkmalen.
Further 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:
a plan view of a picker road;
Fig. 2:
recognizing a product characterized by a quality image processing system by a position image processing system associated with a picker;
3:
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 181.1, 181.2, 181.3 bzw. 182.1, 182.2, 182.3 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 181.1, 181.2, 181.3 bzw. 182.1, 182.2, 182.3 erstreckt sich je ein dem betreffenden Picker zugehöriges Positions-Bildverarbeitungssystem 201.1, 201.2, 201.3 bzw. 202.1, 202.2, 202.3 quer zur Transportrichtung x über den vom jeweils zugehörigen Picker abgedeckten Bereich des 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.An in Fig. 1 Picker 10 shown has a revolving conveyor belt 12 for the transport of products to be packaged 14 in a transport direction x. Along the conveyor belt 12 are in the transport direction x three characterized by their work area pickers 18 1.1 , 18 1.2 , 18 1.3 and 18 2.1 , 18 2.2 , 18 2.3 arranged one behind the other in two parallel lines so that overlap the work areas and thus the Cover conveyor belt 12 over its entire width. In the transport direction x upstream of each picker 18 1.1 , 18 1.2 , 18 1.3 and 18 2.1 , 18 2.2 , 18 2.3 extends each one of the respective picker associated position image processing system 20 1.1 , 20 1.2 , 20 1.3 and 20 2.1 , 20 2.2 , 20 2.3 transversely to the transport direction x over the region of the conveyor belt 12 covered by the respectively associated picker in such a way 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-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-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. Dieses 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:

P1:
Lokale, vom Positions-Bildverarbeitungssystem 20 des Pickers 18 erfasste Position
P2:
vom Qualitäts-Bildverarbeitungssystem 16 erfasste, innerhalb des Toleranzfensters 24 liegende 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 entsprechend
The product 14 to be packaged - for example from an oven ready for packaging to Pickerstrasse 10 transferred small baked goods - 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. 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. As the products 14 pass beneath the position imaging system 20 of the first picker 18, the exact coordinates of the products 14 on the conveyor 12 are detected and compared with the data registered in the quality vision system 16, due to the less accurate position detection by the quality vision system 16, the assignment of the data originating from this system by the position image processing system 20 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 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 that have been registered as "bad" by the quality image processing system 16 due to a quality defect and consequently not packaged remain as scrap goods at the end of the conveyor belt 12. As in Fig. 2 3, 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 performed by the quality image processing system 16 via a tolerance window because of the less accurate position detection compared to the position image processing system 20 of the picker 18 24. The following terms are used for the different positions of a product 14:
P1:
Local position detected by the position image processing system 20 of the picker 18
P2:
detected by the quality image processing system 16, within the tolerance window 24 lying position
P3:
detected by the quality image processing system 16, outside the tolerance window 24 lying position
x, y:
Position coordinates, for P1 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 die Qualitätsanforderungen für dieses Produkt erfüllt sind. Das Produkt 14 mit ausserhalb des Toleranzfensters 24 liegender Position P3 wird - ungeachtet der Qualität - nicht gepickt.Only a product 14 whose position P2 detected by the quality image processing system 16 is within the tolerance window 24 will be picked by the picker 18 if the quality requirements for that 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 are the products 14 recognized and classified by the quality image processing system 16 and traveling on the conveyor belt 12 in the transport direction x on a screen 22 with their position on the conveyor belt in the form of rectangles in light shade as "good" (14g) or with one the type of error corresponding hatching as "bad" (14s) shown. 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.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 matched), or due to Overload of the system.

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.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 beim Einjustieren der Offsets zwischen mehreren Kamerasystemen. Weiterhin können das Ablaufen des Bandes, Encoder- Synchronisationsprobleme und ähnliche unerwünschte Effekte diagnostiziert werden.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 to adjust the offsets between multiple 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-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:

  • 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.
  • Für ein lokal detektiertes Teil ist kein passendes Remote Teil vorhanden: Das Produkt wird nicht an die Picker-Warteschlange kommuniziert.
  • 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.
On the screen 22 is shown for each locally detected part (= part, which was recognized by the quality image processing system and the position-image processing system of the picker) with the position P1, if there is a matching remote part (= part of the quality image processing system detected and not detected by the position image processing system) with a lying within the tolerance window 24 position P2 are. Here the following states are to be distinguished:
  • 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.
  • There is no matching remote part for a locally detected part: the product is not communicated to the picker queue.
  • 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.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.

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 (4)

  1. Method for inserting products into a packaging container using a picking line with a conveyor belt (12) for delivering and transporting the products (14) in a direction of transport (x) and with at least one picker (18) which is assigned to the conveyor belt and is provided with a position image processing system (20) for determining the position of the products (14) on the conveyor belt (12), a quality image processing system (16) which is arranged upstream of the at least one picker (18) in the direction of transport (x) being used to check the products (14) running past the quality image processing system (16) on the conveyor belt (12) in the direction of transport (x) for predefined quality features, and an item of quality information which is to be transmitted to the picker (18) adjoining the quality image processing system (16) downstream in the direction of transport (x) and is used as a control command for grabbing or not grabbing the products (14) being assigned to the products (14),
    characterized in that
    at least two pickers (18) which are each provided with a position image processing system (20) are arranged behind one another in the direction of transport (x), each picker (18) transmitting the quality information, which is used as a control command for grabbing or not grabbing the products (14), and the position data for the products (14) which have not been grabbed by this picker (18) to the downstream picker (18), and
    (a) if an image processing system (16, 20) or a picker (18) fails, the quality information, which is used as a control command for grabbing or not grabbing the products (14), and the position data for the products (14) which have not been grabbed by this picker (18) are transmitted to the next picker (18), or
    (b) if a picker (18) fails, the picker (18) preceding the failed picker (18) transmits the quality information, which is used as a control command for grabbing or not grabbing the products (14), and the position data for the products (14) which have not been grabbed by this picker (18) to the picker (18) following the failed picker (18).
  2. Method according to Claim 1, characterized in that the shape and colour of the products (14) and the presence of graphical features on the products (14) are evaluated as quality criteria.
  3. Method according to Claim 1 or 2, characterized in that the products (14) are displayed on a screen (22) and the quality features detected by the quality image processing system (16) for the products (14) are visualized.
  4. Method according to Claim 3, characterized in that the products (14) detected by the position image processing system (20) 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)

Applications Claiming Priority (2)

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DE102007049702A DE102007049702A1 (en) 2007-10-17 2007-10-17 picking line
PCT/EP2008/062561 WO2009049990A1 (en) 2007-10-17 2008-09-19 Picking line and method for inserting products into a packaging container

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EP2207721A1 EP2207721A1 (en) 2010-07-21
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ATE511476T1 (en) 2011-06-15
JP2011500464A (en) 2011-01-06
EP2207721A1 (en) 2010-07-21
US20100223883A1 (en) 2010-09-09
US8387342B2 (en) 2013-03-05
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WO2009049990A1 (en) 2009-04-23
DE102007049702A1 (en) 2009-04-23

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