EP2207721B1 - Pickerstrasse und verfahren zum einsetzen von produkten in einen verpackungsbehälter - Google Patents

Pickerstrasse und verfahren zum einsetzen von produkten in einen verpackungsbehälter 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
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.)
Not-in-force
Application number
EP08804490A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP2207721A1 (de
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/de
Application granted granted Critical
Publication of EP2207721B1 publication Critical patent/EP2207721B1/de
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 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.

Landscapes

  • 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)
EP08804490A 2007-10-17 2008-09-19 Pickerstrasse und verfahren zum einsetzen von produkten in einen verpackungsbehälter Not-in-force EP2207721B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007049702A DE102007049702A1 (de) 2007-10-17 2007-10-17 Pickerstrasse
PCT/EP2008/062561 WO2009049990A1 (de) 2007-10-17 2008-09-19 Pickerstrasse und verfahren zum einsetzen von produkten in einen verpackungsbehälter

Publications (2)

Publication Number Publication Date
EP2207721A1 EP2207721A1 (de) 2010-07-21
EP2207721B1 true EP2207721B1 (de) 2011-06-01

Family

ID=40130633

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08804490A Not-in-force EP2207721B1 (de) 2007-10-17 2008-09-19 Pickerstrasse und verfahren zum einsetzen von produkten in einen verpackungsbehälter

Country Status (7)

Country Link
US (1) US8387342B2 (ja)
EP (1) EP2207721B1 (ja)
JP (1) JP5415431B2 (ja)
AT (1) ATE511476T1 (ja)
DE (1) DE102007049702A1 (ja)
ES (1) ES2367090T3 (ja)
WO (1) WO2009049990A1 (ja)

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EP2236424B1 (de) * 2009-03-30 2016-02-24 Veltru AG Verfahren und Vorrichtung zum Einlegen von Einzelprodukten in Behälter in einer Roboterstrasse
US9818070B2 (en) 2011-07-22 2017-11-14 Packsize Llc Tiling production of packaging materials
TW201422401A (zh) * 2012-12-03 2014-06-16 Hon Hai Prec Ind Co Ltd 成品取出的檢測系統及檢測方法
RU2667463C2 (ru) 2013-01-18 2018-09-19 ПЭКСАЙЗ ЭлЭлСи Мозаичное производство упаковочных материалов
US10922637B2 (en) 2013-01-18 2021-02-16 Packsize Llc Tiling production of packaging materials
JP6434531B2 (ja) * 2014-11-06 2018-12-05 株式会社Ｆｕｊｉ 部品供給装置
EP3288751A4 (en) 2015-04-29 2019-01-23 Packsize LLC TUMBLING PRODUCTION OF PACKAGING MATERIALS
CN106697435A (zh) * 2016-11-23 2017-05-24 河池学院 一种生产纸盒流水线质检机器人
CN106586131A (zh) * 2016-11-23 2017-04-26 河池学院 一种水果包装流水线质检机器人
CN106628421B (zh) * 2017-02-15 2022-05-03 常州汇拓科技有限公司 一种枪盖的理盖剔盖装置及其理盖剔盖方法
EP3647235B1 (en) * 2017-06-30 2023-09-20 Panasonic Intellectual Property Management Co., Ltd. Projection indication device, parcel sorting system, and projection indication method
DE102019202008A1 (de) * 2019-02-14 2020-08-20 Krones Aktiengesellschaft Verfahren zum Steuern und/oder Regeln eines Schrumpftunnels und Vorrichtung zum Aufschrumpfen thermoplastischen Verpackungsmaterials auf Artikel
CN114275236B (zh) * 2022-01-13 2023-02-28 上海柠喆机械科技有限公司 一种控制搬运盛装近似圆形或椭圆形产品的托盘的装置的方法

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Also Published As

Publication number Publication date
JP5415431B2 (ja) 2014-02-12
DE102007049702A1 (de) 2009-04-23
JP2011500464A (ja) 2011-01-06
EP2207721A1 (de) 2010-07-21
US8387342B2 (en) 2013-03-05
WO2009049990A1 (de) 2009-04-23
ATE511476T1 (de) 2011-06-15
US20100223883A1 (en) 2010-09-09
ES2367090T3 (es) 2011-10-28

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