EP3700688A1 - Dispositif de détection et procédé de détection de plusieurs ensembles de données d'objet d'au moins un objet - Google Patents

Dispositif de détection et procédé de détection de plusieurs ensembles de données d'objet d'au moins un objet

Info

Publication number
EP3700688A1
EP3700688A1 EP18800526.8A EP18800526A EP3700688A1 EP 3700688 A1 EP3700688 A1 EP 3700688A1 EP 18800526 A EP18800526 A EP 18800526A EP 3700688 A1 EP3700688 A1 EP 3700688A1
Authority
EP
European Patent Office
Prior art keywords
unit
object data
data acquisition
movement
detection device
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.)
Pending
Application number
EP18800526.8A
Other languages
German (de)
English (en)
Inventor
Darno Alexander KETTERER
Christin KETTERER
Julian WEISS
Sebastian Schmitt
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 EP3700688A1 publication Critical patent/EP3700688A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/10—Sorting according to size measured by light-responsive means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/16—Sorting according to weight
    • B07C5/28—Sorting according to weight using electrical control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
    • G01B5/0004—Supports
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/0063—Using robots
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/54—Revolving an optical measuring instrument around a body
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for

Definitions

  • a detection device for detecting multiple object data sets of at least one object has already been proposed.
  • a detection device for at least partially automated detection of multiple object data sets of at least one object, with a movement device for generating a defined relative movement between at least one object data acquisition unit and the at least one object.
  • An "object data set” comprises at least two different object data about the same object
  • a multiple object data set comprises more than ten different object data about the same object
  • a multiple object data set comprises more than one hundred different object data about the same object
  • a multiple object data set comprises at least two different ones
  • object data should in particular be understood as meaning at least one item of information which is suitable for characterizing an object, in particular distinguishing it from another object.
  • object data includes characteristics inherent in an object. Object data may in particular include appearance, shape, contour, color, symmetry, weight, material and / or another characteristic that appears appropriate to the person skilled in the art.
  • An "object data acquisition unit” should be understood to mean, in particular, a unit which is provided for at least one detection of a type of object data
  • the object data acquisition unit is preferably an imaging acquisition unit
  • the object data acquisition unit to comprise an infrared camera and / or TOF camera
  • an object data record comprises at least two different recordings of the object data acquisition unit
  • a multiple object data record comprises at least ten different ones Recordings of object data acquisition, especially from ten different perspectives.
  • a “defined relative movement” is to be understood as meaning, in particular, a relative change in position and / or orientation which is actively controllable and / or controllable at least in a regular operating state of the detection device
  • each acquisition of object data with the object data acquisition unit can be uniquely associated with position data relating to the relative position and / or orientation of the object data acquisition unit to the object.
  • a movement device for generating a defined relative movement comprises at least one drive unit and a guide unit.
  • a drive unit of the movement device is preferably designed electromechanically, in particular as an electric motor or, for example, for fine adjustment as a piezoelectric element.
  • a drive unit of the movement device is formed pneumatically or hydraulically.
  • a guide unit is in particular provided to guide an object along the defined relative movement.
  • a guide unit is to provided to minimize a movement along a direction which deviates from the defined relative movement.
  • a guide unit may be formed, for example, as a guide rail, swivel arm and / or articulated arm.
  • the movement device is provided for generating a defined relative movement between at least one object data acquisition unit and the at least one object.
  • the movement device is provided for generating a defined relative movement between at least one object data acquisition unit and a slide unit, which is provided in particular for positioning the object in an object data acquisition range of the detection device.
  • a “partially automated detection” is to be understood in particular as meaning that at least one multiple object data record is detected without operation in at least one operating state, that is to say in particular without the intervention of an operator.
  • the term "provided” should be understood to mean specially programmed, designed and / or equipped.Assuming that an object is intended for a specific function should in particular mean that the object fulfills this specific function in at least one application and / or operating state and / or performs.
  • the detection device can advantageously be quickly detected a large amount of object data on an object.
  • the movement device is provided for detecting object data from multiple perspectives.
  • detection of object data from multiple perspectives can be achieved by means of a defined relative movement between the object data acquisition unit and the object generated by means of the movement device.
  • a “perspective” is to be understood as meaning, in particular, a specific relative arrangement, in particular position and / or orientation, of the object data acquisition unit and of the object, in particular of the slide unit .
  • two perspectives are considered identical if they relate solely to a relative distance between object data acquisition unit and object.
  • multiple perspectives comprise at least two different relative arrangements of the object data acquisition unit and the object, in particular the slide unit.
  • multiple perspectives comprise more than ten different relative arrangements of the object data acquisition unit and the object, in particular the slide unit.
  • multiple perspectives comprise more than ten different arrangements of the object data acquisition unit relative to the object, in particular the slide unit.
  • two perspectives define a collection level.
  • multiple perspectives comprise at least two different detection levels.
  • the entirety of all possible with the movement device detection levels is space-filling.
  • a distance between two possible detection planes is at least smaller than 1 mm and / or an angular distance between two possible detection planes is at least smaller than 1 °. Due to the inventive design of the detection device, multiple object data sets may advantageously comprise object data from all sides of the object.
  • the detection device has a computing unit which is provided to perform an object learning process.
  • An "object learning process” is to be understood to mean, in particular, processing of the multiple object data sets for further use.
  • an object learning process may involve the creation of a surround view of the object, the creation of a three-dimensional model of the object and / or the extraction of characteristic features, in particular
  • the arithmetic unit is embodied as a server, and the arithmetic unit is preferably integrated into the object data acquisition unit
  • the arithmetic unit has at least one processor, a memory, input and output means, further electrical components le, an operating program, control routines, control routines and / or calculation routines.
  • the components of the arithmetic unit are arranged on a common board and / or advantageously arranged in a common housing. assigns.
  • processing of the multiple object data sets into a uniform digital representation of the object can be achieved by the configuration of the detection device according to the invention.
  • a further computing unit is proposed, which is provided to use a forward movement and return movement of an object data acquisition unit and / or an object for data acquisition.
  • the movement device and the object data acquisition unit are preferably controlled and / or regulated by a, in particular central, arithmetic unit.
  • the arithmetic unit controls and / or regulates the defined relative movement and at least the detection instant of the object data acquisition unit.
  • the movement device preferably has a defined starting position, from which a defined relative movement starts.
  • the further processing unit is provided in particular for purposefully generating and / or changing a forward movement and return movement of an object data acquisition unit and / or an object to a defined data acquisition.
  • a "starting position of the movement device” is to be understood in particular as meaning that at least the object data acquisition unit and / or the object, in particular the slide unit, are located at a fixed position within the movement device In a starting position of the movement device, all movable units and elements of the movement device are particularly preferably located at a fixed position and have a defined orientation.
  • a return movement can be realized by a reversal of the movement path during the forward movement or by a further movement along a closed path of movement between two detections of different multiple object data sets to a restoration of the starting position of the movement device can be advantageously minimized. It is further proposed that the movement device has at least one movement unit for a defined movement of the at least one object data acquisition unit.
  • the movement unit comprises at least one guide unit of the object data acquisition unit and a drive unit. Furthermore, it is proposed that the movement unit is provided for guiding the at least one object data acquisition unit on an at least partially curved movement path.
  • a "partially curved trajectory” is to be understood as meaning, in particular, that a course of the trajectory has a nonzero curvature in at least one partial area It is also conceivable for the trajectory to describe a complete circle, In particular, a center point of an arc of the at least partially curved trajectory defines a center of an object detection area.
  • the movement unit has at least one partially curved path, and that it is provided that the at least one
  • Object data acquisition unit along the at least partially curved path to lead Preferably, the movement unit to a guide of the object data acquisition unit as a guide unit on a curved path, in particular a curved guide rail and / or a curved guide rod.
  • the object data acquisition unit is mounted on a guide carriage, which is moved by the drive unit in at least one operating state of the detection device along the curved path.
  • a "partially curved path" is to be understood in particular as meaning that a course of the path has a curvature which differs from zero in at least one partial area.
  • the web comprises a circular arc.
  • the circular arc comprises a midpoint angle of more than 90 °.
  • the circular arc comprises a midpoint angle of more than 180 °. It is also conceivable that the web describes a complete circle. It is also conceivable that a curvature of the web is approximated by at least two straight web segments, which include an obtuse or acute angle. Preferably, the web segments are interconnected by a curved web segment to a continuous trajectory of the object data acquisition unit. Alternatively, each, in particular straight, web segment at least each has its own object data acquisition unit.
  • Configuration of the detection device can advantageously be completed easily a change of perspective.
  • the movement unit is provided for guiding the at least one object data acquisition unit along a direction which is at least substantially perpendicular to a movement path.
  • the movement unit can generate a superimposed movement of the object data acquisition unit along the movement path and perpendicular to the movement path.
  • substantially perpendicular should in particular define an orientation of a direction relative to a reference direction, wherein the
  • Direction and the reference direction in particular in a plane which extends parallel to the direction and the reference direction, include an angle of 90 ° and the angle a maximum deviation of in particular less than 8 °, advantageously less than 5 ° and particularly advantageously smaller than 2 °.
  • the object data acquisition unit is along a
  • the embodiment of the detection device according to the invention advantageously allows a working distance of the object data acquisition unit, in particular a focus, to be adjusted quickly and easily.
  • a cost-effective object data acquisition unit with a small span of the working distance can be used.
  • the movement unit has a pivoting and / or rotational axis about which the guide unit of the object data acquisition unit itself is pivotably and / or rotatably mounted. Due to the configuration of the detection device according to the invention, multiple object data records can advantageously contain object data from encompass all sides of the object.
  • the guide unit of the object data acquisition unit is mounted in a translationally movable manner, in order in particular to detect an object which has a maximum extent which is greater than a maximum extent of the guide unit.
  • the object data acquisition unit has at least one pivot axis and / or rotation axis about which the object data acquisition unit is mounted in a pivotable and / or rotatable manner.
  • the object data acquisition unit is mounted so as to be pivotable and / or rotatable about a straight line which intersects the object detection area and the object data acquisition unit.
  • the inventive design of the detection device, a detection area, in particular an image format, a, in particular imaging, object data acquisition unit can be advantageously adapted to the object.
  • the object data acquisition unit preferably has a rotation and / or pivot axis, which is essentially perpendicular to the movement path of the object data acquisition unit.
  • the pivoting and / or pivoting axis permits alignment of a side of the object data acquisition unit intended for detection, in particular during and / or after a movement along the movement path, substantially perpendicular to a line intersecting the object detection area and the object data acquisition unit.
  • a detection range of an object data acquisition unit can be adapted to an object.
  • Object data can be maximized with capture while minimizing data over a background.
  • the movement unit comprises a drive unit which is provided for automatically moving the object data acquisition unit.
  • the term "automated” should be understood to mean that the drive unit is controlled and / or regulated via a, in particular central, arithmetic unit. ⁇ br/> ⁇ br/>
  • the arithmetic unit controls and / or regulates the drive unit on the basis of a list of, in particular previously determined, perspectives from which
  • the arithmetic unit could provisionally evaluate a data record in order to adapt the list dynamically.
  • the detection device comprises at least one, in particular the aforementioned, object carrier unit, wherein the movement device has a bearing unit, via which the object carrier unit is movably mounted relative to the object data acquisition unit, in particular rotatably mounted.
  • the object carrier unit is provided in particular for positioning the object in an object data acquisition area of the detection device.
  • the slide unit comprises at least one slide with a slide support wall intended to receive a weight of an object.
  • the slide wall has no depressions and / or elevations.
  • the slide wall may have a curvature to reduce the likelihood that, in particular, a round and / or a light object will fall off the slide.
  • a, in particular replaceable, slide has a locking unit for fixing an object on the slide.
  • the slide is circular in at least one cutting plane.
  • the bearing unit preferably has at least one pivoting and / or rotational axis about which the object carrier unit is mounted in a pivotable and / or rotatable manner.
  • the object carrier unit preferably has a vertical pivoting and / or rotational axis.
  • the pivoting and / or rotational axis preferably coincides with an axis of symmetry of the specimen slide unit.
  • a multiple object data record may comprise object data from different sides of the object.
  • an object detection area can be identified. In particular, optimal positioning of an object to be detected in the object detection area is facilitated. Due to the inventive design of the detection device, a defined relative movement between the object and the object data acquisition unit can advantageously be varied.
  • the storage unit at least partially surrounds the slide unit.
  • partially encompassing is meant in particular be that the slide unit is arranged in a recess of the bearing unit.
  • the term “partially encompassed” is understood to mean that a largest side surface of a smallest imaginary cuboid which just completely encloses the structural unit projects into a recess of the bearing unit a plane in which the geometric center is located is surrounded by the bearing unit over an angular range of at least 140 °, preferably at least 180 °,
  • the slide unit is arranged on a lateral recess of the bearing unit
  • the bearing unit is offset from the vertical rotation and / or pivot axis, so that in particular a movement path of the object data acquisition unit can be continued below the object support unit.
  • a stable arrangement of the slide unit can be achieved.
  • an offset from the axis of rotation arrangement of the bearing unit can be achieved.
  • the bearing unit has at least one movement path along which the object carrier unit is movably mounted.
  • the trajectory is parallel to a line intersecting the object detection area and the object data acquisition unit.
  • the trajectory is vertical.
  • the object carrier unit is movably mounted by means of the bearing unit at least translationally along a linear axis extending at least substantially parallel, in particular coaxially, to the rotary and / or pivot axis.
  • the storage unit comprises at least one lifting unit, by means of which the object carrier unit is movably mounted along the movement path.
  • the lifting unit can be configured as a scissors joint, as a linear bearing, as a telescopic bearing or the like.
  • the inventive design of the detection device advantageously a working distance, in particular a focus can be quickly and easily adjusted.
  • a cost-effective object data acquisition unit with a small span of the working distance can be used.
  • a horizontal movement path is also conceivable in order to detect an object, which It has a maximum extent that is greater than a maximum extension of the slide unit.
  • the movement device comprises a drive unit which is provided for automatically moving the object carrier unit.
  • the drive unit may comprise at least one actuator, in particular a linear actuator, such as, for example, an electric, hydraulic or pneumatic lifting cylinder or the like, an electric motor, a magnetic drive or the like to move the specimen slide unit.
  • the term "automated” should be understood to mean that the drive unit is controlled and / or regulated by a, in particular central, arithmetic unit
  • the arithmetic unit controls and / or regulates the drive unit on the basis of a list of, in particular previously determined, perspectives
  • the arithmetic unit could preliminarily evaluate a data set in order to adapt the list dynamically
  • a multiple data record can be detected quickly.
  • the movement device comprises a, in particular the aforementioned, drive unit which is intended to move the object carrier unit and the object data acquisition unit in opposite directions, in particular to move in opposite directions a pivot and / or rotation axis of the bearing unit, in particular in at least one operating state of the detection device.
  • the drive unit is provided in at least one further operating state of the detection device to move the slide unit and the object data acquisition unit in a same direction of movement relative to each other, in particular in a same direction of movement about the pivot and / or rotation axis of the bearing unit to move, especially at different speeds.
  • the drive unit is provided in at least one additional operating state of the detection device to hold the slide unit in a fixed position and to move only the object data acquisition unit relative to the slide unit, in particular to the
  • the drive unit preferably comprises at least one actuator, which is assigned to the object carrier unit, and a further actuator, which is assigned to the object data acquisition unit. is ordered.
  • the drive unit has a single actuator, which is provided via a gear unit to a movement of the slide unit and a movement of the object data acquisition unit.
  • the drive unit is designed as a magnetic drive unit and is provided for moving the object carrier unit and the object data acquisition unit in opposite directions, in particular in order to move a pivoting and / or rotational axis of the bearing unit in opposite directions.
  • the drive unit is provided for moving the object carrier unit and the object data acquisition unit along opposite main movement directions.
  • the drive unit is provided to move the object data acquisition unit along a direction about the slide unit and to move the slide unit in an opposite direction relative to the object data acquisition unit about the pivot and / or rotation axis of the bearing unit.
  • the detection device comprises at least the object data acquisition unit and at least one further object data acquisition unit, which are mounted so as to be movable relative to one another by means of the movement device.
  • the object data acquisition unit and the further object data acquisition unit can be of identical construction or structurally different. It is conceivable, for example, that the object data acquisition unit is provided for recording image data of an object and that the further object data acquisition unit is provided for recording dimensions of the object. Further application possibilities of the object data acquisition unit and the further object data acquisition unit that appear useful to a person skilled in the art are also conceivable.
  • the object data acquisition unit is movably mounted by means of the movement device along an angular range of less than 360 °, in particular of less than 270 °, preferably of less than 180 ° and particularly preferably of less than 100 ° relative to a horizontal plane of the detection device.
  • the further object data acquisition unit by means of the movement device along an angular range of less than 360 °, in particular of less than 270 °, preferably of less than 180 ° and more preferably of less than 100 ° movably mounted relative to a horizontal plane.
  • the horizontal plane preferably runs at least substantially parallel to a main extension surface of the slide unit.
  • an object lies in a state of the object arranged on the object carrier unit on the object
  • the horizontal plane extends at least substantially perpendicular to the pivoting and / or rotational axis of the bearing unit.
  • the object data acquisition unit and / or the further object data acquisition unit are additionally / by means of the movement device about the pivot axis and / or rotation axis
  • Bearing unit movably mounted.
  • the detection device comprises at least one, in particular the aforementioned, object carrier unit, which by means of the movement device relative to the object data acquisition unit and to the other
  • Object data acquisition unit is movably mounted.
  • the object carrier unit is preferably mounted rotatably about the pivoting and / or rotational axis of the bearing unit by means of the bearing unit relative to the object data acquisition unit and to the further object data acquisition unit.
  • the object carrier unit is rotatably mounted at least along an angular range of 360 ° about the pivoting and / or rotational axis of the bearing unit.
  • the object carrier unit is movably mounted in a translatory manner along the linear axis by means of the storage unit relative to the object data acquisition unit and to the further object data acquisition unit.
  • a high variability with regard to a positioning of the object carrier unit relative to the object data acquisition unit and to the further object data acquisition unit can advantageously be achieved.
  • An advantageous positioning of the object carrier unit, of the object data acquisition unit and of the further object data acquisition unit for a detection of various recordings of an object can advantageously be achieved for a very wide variety of objects, in particular, to enable a detailed capture of the object to generate a multiple record for the object.
  • the detection device comprises the at least one object data acquisition unit which has at least two detection units, in particular two cameras, which are movably mounted by means of the movement device.
  • the at least two detection units, in particular the two cameras are mounted movably relative to one another and / or relative to the slide unit by means of the movement device.
  • the at least two detection units, in particular the two cameras can be mounted rotatably about the pivoting and / or rotational axis of the bearing unit by means of the movement device, being pivotable relative to the slide unit in a vertical plane of the detection device comprising the pivoting and / or rotational axis of the bearing unit be stored relative to each other in the pan and / or rotational axis of the bearing unit comprehensive vertical plane of
  • the at least two detection units are preferably differently designed or equipped cameras.
  • the at least two detection units may differ, for example, in one embodiment of an objective, a focus region, a detection angle, an image sensor and / or other parameters that appear meaningful to a person skilled in the art.
  • the slide unit has at least one slide which has a transparent support wall in at least one operating state.
  • transparent is meant in particular that a transmittance of the slide wall, in particular at a mean wavelength of the detectable with the object data acquisition unit spectrum, at least greater than 80%, preferably greater than 90% and more preferably greater than 95% Slides made of a transparent material, such as glass or a polycarbonate nat.
  • a side of the object facing the object carrier wall can be detected by a position of the object data acquisition unit on a side of the object holder opposite the object.
  • the object carrier unit has an adjustment unit by means of which a reflectance, an absorption degree and / or transmittance can be set.
  • the slide on the slide wall on a layer of a material which changes its optical properties by the application of an electrical voltage.
  • the slide has a layer of electrochromic glass or liquid crystal glass on the slide wall.
  • the setting unit is provided to provide the layer with an adjustable voltage. Due to the inventive design of the detection device can advantageously be easily changed between a transparent background and a non-transparent background.
  • the slide unit is provided for active illumination.
  • active illumination is meant in particular that the object carrier unit itself comprises a lighting unit and / or that a lighting unit, viewed from the object data acquisition unit, is arranged behind the slide unit and at least partially irradiates it which diffusely diffuses the light emanating from the lighting unit, for example a layer of opaque white glass, Preferably, the lighting unit can emit light in different colors
  • Lighting unit at least two lighting elements, which are separately controlled.
  • the illumination unit can have a multiplicity of separately controllable illumination elements which are distributed on a surface which at least partially encloses the object detection area. Due to the inventive design of the illumination unit
  • Detection device can advantageously be adapted to a lighting of the object.
  • a contrast of the slide unit with respect to an object resting on it can be maximized.
  • the slide unit has at least one light source.
  • a light source is preferably arranged on the side opposite the slide wall.
  • a light source is embedded in the slide.
  • the object carrier unit has at least one light-emitting diode, in particular at least one organic light-emitting diode.
  • the at least one light-emitting diode is provided to allow the slide unit to shine uniformly, in particular in different adjustable colors.
  • the embodiment of the detection device according to the invention advantageously makes it possible to adapt lighting of the object.
  • a contrast of the slide unit with respect to an object resting on it can be maximized.
  • the slide unit transport at least two detachably connected slides.
  • solvable is meant in this context in particular “non-destructively separable”.
  • the object carrier unit preferably has a counterpart complementary to the object carrier.
  • the object carrier and the complementary complementary piece are positively and / or non-positively connected in at least one operating state of the detection device.
  • the slide and the complementary complementary piece can be temporarily connected via a guide rail, a latching connection, a magnet unit and / or another connection that appears appropriate to a person skilled in the art.
  • the slide unit is connected as a whole releasably connected to the storage unit.
  • the inventive design of the detection device can advantageously be loaded quickly and easily a slide unit with an object.
  • a transport unit which is intended to supply objects at least partially automated to an object detection area.
  • an object is transported without operator assistance at least from a starting point of the transport unit to the object detection area. unit.
  • An end point is in particular a discharge zone of the transport unit.
  • an exchange of an object takes place automatically in the object detection area.
  • the transport unit is controlled by the, in particular central, arithmetic unit.
  • the transport unit comprises a web feed unit, in particular a conveyor belt unit.
  • a web feed unit in particular a conveyor belt unit.
  • Other designs of the web feed unit are also conceivable, for example as roller conveyors.
  • the transport unit can be designed as an autonomous floor conveyor unit or as a robot arm. Due to the inventive design of the detection device can advantageously be supplied to the object detection area quickly a large number of objects.
  • the transport unit comprises a positioning unit for positioning an object, in particular down from the web conveying unit, in an object detection area.
  • the positioning unit is designed as a drawer, gripper arm and / or magnet arm.
  • the positioning unit is provided to a
  • the positioning unit is provided to supply the slide to the complementary complementary piece of the slide unit and / or the storage unit.
  • the embodiment of the detection device according to the invention advantageously makes it possible to reliably achieve positioning of an automatically transported object in the object detection area.
  • the transport unit has at least two slides. Preferably, the transport unit has at least ten slides. Due to the inventive design of the detection device advantageously a dead time of the detection device can be advantageously minimized due to a loading and unloading of the transport unit.
  • a housing unit is proposed, which is intended to at least partially shield an object detection area to the outside.
  • the object data acquisition unit and the movement device are at least partially arranged in an interior space defined by the housing unit.
  • the housing unit is particularly intended to shield the interior against dust.
  • the housing unit shields the interior from electromagnetic radiation.
  • the housing unit comprises one, in particular a single, opening for positioning an object in the object detection area.
  • the housing unit comprises a closure unit for a, in particular automatic, closing and opening of the opening.
  • the housing has two openings for arranging a web feed unit through the housing.
  • the housing has a viewing window on the object detection area.
  • the housing preferably has a display unit, in particular a display.
  • the display unit is in particular provided to at least one element of a multiple
  • the detection device can be operated in a dust-laden environment, especially in factories and / or warehouses.
  • an antisouch unit which is intended to at least reduce contamination of an object detection area and / or a region of an object data acquisition unit, in particular within the housing unit.
  • An "anti-spotting unit” is to be understood as meaning in particular a unit which at least reduces the number of particles, in particular dust, in a limited area and / or prevents it from penetrating into the area
  • the anti-squeal unit may, for example, comprise a fan having a constant air flow
  • a fan circulates air in the working area of the fan to create an airflow, but it is also conceivable for the fan to be a, particularly pure, gas, for example nitrogen, from a storage unit
  • the antishock unit is intended to generate an overpressure within the housing unit.
  • an overpressure is achieved by circulating filtered air from the environment of the housing unit.
  • a, in particular pure, gas is introduced from a storage unit into the housing unit.
  • a gas flow can be achieved from the housing unit addition.
  • a processing unit is proposed, which is provided to prepare at least one object before an object data record acquisition, in particular to clean.
  • the treatment unit has a lock unit.
  • a sluice unit is to be understood in particular as a substructure of the housing unit which is delimited by the object detection area and which has to pass through an object for positioning in the object detection area.
  • the substructure preferably has a delimitation unit at a transition to the object detection area.
  • the demarcation unit may comprise an automatically controlled sliding door or a curtain of resiliently arranged plastic louvers.
  • the lock unit preferably has a further delimitation unit on an outer side of the substructure, which is intended to bring and / or remove an object into the lock unit. Due to the configuration of the detection device according to the invention, at least in a regular operating state of the detection device, a direct connection of the object detection area with the air surrounding the housing unit can be avoided.
  • the treatment unit has a fluid control unit for controlling and / or regulating a fluid flow.
  • a fluid control unit may comprise a fan, a gas nozzle and / or a fluid nozzle.
  • the fluid control unit is at a Exterior wall of the housing unit attached.
  • the fluid control unit is preferably arranged around the opening of the housing unit.
  • the fluid control unit generates a fluid flow that is directed away from the opening.
  • a fluid control unit is arranged in the lock unit. Due to the inventive design of the detection device, a
  • contrast unit is proposed, which is provided for an active lighting.
  • a “contrast unit” should be understood to mean, in particular, a unit which, viewed from the object data acquisition unit, is arranged behind the object detection area and provides a uniform background when the object is detected.
  • the contrast unit may have a curvature or be formed.
  • the contrast unit is preferably arranged directly on the slide unit in at least one operating state of the detection device.
  • the contrast unit is movably mounted relative to the object carrier unit, in particular is movably mounted together with the object data acquisition unit and / or together with the further object data acquisition unit.
  • active illumination is meant, in particular, that the contrast unit itself comprises a lighting unit and / or that a lighting unit of the detection apparatus, viewed from the object data acquisition unit, is arranged behind the contrast unit and at least partially transilluminates it
  • the lighting unit may comprise at least two lighting elements that can be controlled separately
  • an illumination unit, viewed from the contrast unit is arranged opposite the object carrier unit, in particular on the guide unit for the object data acquisition unit
  • the object detection area could be substantially completely surrounded by a lighting unit of the detection device.
  • substantially completely surrounded is to be understood in particular that in an arrangement of the Lighting unit on a surface of an imaginary three-dimensional body that completely surrounds at least the object detection area, the illumination unit covers at least 50%, preferably more than 75% of the surface.
  • individual, in particular spaced-apart, individually controllable lighting elements on a surface of an imaginary three-dimensional body which completely surrounds at least the object detection area could also be arranged in an irregular or regular, in particular grid-shaped, pattern.
  • a partial surface of the surface resulting from a projection of a circular area on the surface and on which no lighting element is arranged at least less than 50%, preferably less than 25%.
  • the illumination unit of the detection device is designed such that an object arranged on the object carrier unit is illuminated from all sides, in particular in order to illuminate the object homogeneously.
  • the illumination unit is provided to illuminate an object arranged on the object carrier unit indirectly or selectively.
  • the illumination unit is provided to indemnify an object arranged on the object carrier unit as a result of color illumination.
  • a background arranged behind the object for release by means of the illumination unit in particular to blue, green or another color.
  • the color recognition process is performed by a camera system, in particular by the object data acquisition unit or a mobile detection unit, wherein in particular a color component in an object is calculated and compared with a dimension of the object to allow a suitable color selection to an exemption of the object.
  • the illumination unit of the detection device comprises a top view illumination unit and a front illumination unit.
  • the top view lighting unit is provided to illuminate an object arranged on the object carrier unit from above.
  • the top view lighting unit and / or the front lighting unit comprises at least one lighting panel, in particular a plurality of lighting panels.
  • the top view illumination includes and / or the front lighting unit at least one individually movably mounted lighting panel, in particular a plurality of individually movably mounted lighting panels, in particular to allow an adjustment of a luminous angle of the lighting unit relative to the slide unit.
  • the illumination panels of the top view illumination unit and / or the front illumination unit are cascaded, in particular rear-coupled and / or concatenated.
  • the top-view lighting unit and / or the front-lighting unit is / are controlled and / or regulated by means of the, in particular central, arithmetic unit of the detection apparatus or of a system comprising the detection apparatus.
  • the top view lighting unit and / or the front lighting unit comprise / include an own computing unit, in particular a DMX controller, for individual control and / or regulation of the lighting panel (s).
  • the illumination unit, in particular the top view illumination unit and / or the front illumination unit preferably has at least one, in particular passive, heat sink.
  • the heat sink is integrally formed with a support of the lighting panels, in particular as an aluminum extruded profile formed.
  • Other embodiments of the heat sink are also conceivable, such as an embodiment of the heat sink as an active heat sink, in particular as
  • a printed circuit board made of FR4 or a printed circuit board with an aluminum core of the lighting unit, in particular the top view lighting unit and / or the front lighting unit is arranged on the support, in particular for a control and / or recording of individual lighting elements of
  • the circuit board is fixed by means of a force, positive and / or cohesive connection to the support, such as by gluing QPad® Gap Filier II, by means of a screw o. The like.
  • the circuit board on a topcoat layer the one bright color, especially white, corresponds.
  • the printed circuit board preferably has at least one copper conductor track which has a cross section of at least 70 ⁇ m.
  • the lighting unit preferably has lighting elements in the form of LEDs, in particular LED chips from the manufacturer Nichia and Seoul. However, it is also conceivable that the lighting elements have another, a skilled person appear appropriate design.
  • an RGB LED such as a Nichia RGB chip NSSM124DT
  • a white LED such as a Seoul Sunlike chip STW9C2PB-SC
  • the lighting element has a color temperature of 5000 K and a color rendering index of at least 95.
  • the lighting elements or the lighting panels are arranged so uniformly that a low heat resistance can be realized and / or a high heat spread can be achieved.
  • the illumination unit preferably comprises at least one optical diffuser element.
  • the optical diffuser element is preferably arranged on the printed circuit board, in particular on the lighting element.
  • the optical diffuser element has a maximum distance of less than 50 mm, in particular less than 30 mm, particularly preferably less than 20 mm and particularly preferably less than 15 mm relative to a surface of the printed circuit board or the illumination panel, in particular one to achieve advantageous scattering of the light from the lighting panels and / or to avoid hotspots and reflections at least as far as possible.
  • the illumination unit preferably comprises, in particular in addition, a backlight unit, which preferably has at least one illumination panel, in particular a plurality of illumination panels, which is / are formed in particular analogously to the illumination panel (s) of the top view illumination unit and / or the front illumination unit ,
  • the illumination panel (s) of the backlight unit are arranged in a light semicircle with a large diffuser disk.
  • the backlight unit is individually controllable and / or controllable by means of the, in particular central, computing unit of the detection device or of a system comprising the detection device.
  • the backlight unit comprises its own arithmetic unit, in particular a DMX controller, for individual control and / or regulation of the lighting panel (s).
  • the illumination unit comprises at least one background illumination unit which is integrated into the slide unit.
  • the background lighting unit is provided to illuminate the slide unit, in particular to illuminate an object arranged on the slide unit from below.
  • the background illumination unit is individually controllable and / or controllable by means of the, in particular central, arithmetic unit of the detection device or of a system comprising the detection device.
  • the background lighting unit comprises its own arithmetic unit, in particular a DMX controller, for individual control and / or regulation of the lighting panel (s).
  • the underground lighting unit comprises lighting elements or lighting panels, which are formed analogously to the lighting elements or the lighting panels of the top view lighting unit and / or the front lighting unit.
  • the lighting elements are as groups, in particular with at least five
  • the object carrier unit preferably has a multilayer structure.
  • the object carrier unit preferably comprises at least one scattering cover and at least one object support, which in particular comprises the main extension surface.
  • the scattering cover and at least one object support are preferably formed of a translucent material, in particular of a plate-acrylic resin composite, such as, for example, Opal S302 Hi Macs®.
  • a surface of the translucent material is formed ground.
  • the scattering cover and the at least one object support together form a maximum plate thickness of the slide unit of at least 12 mm.
  • the main extension surface of the object carrier unit preferably has a maximum distance relative to the background illumination unit which is less than 50 mm, in particular less than 40 mm and particularly preferably less than 30 mm, in particular in a mounted state of the object carrier unit and the background illumination unit.
  • a voltage supply of the lighting unit via, in particular six, power supply units, such as, for example, power supplies HEP600-20, 20V / 28A of the company Mean Well, which in particular These are individually split into a six-channel DMX controller, such as a six-channel DMC controller 6CV10A-TS.
  • the DMX controller is provided to drive the lighting element at a repetition rate of greater than 70 Hz, in particular in order to realize a flicker-free light output of the lighting element.
  • the lighting unit is automatically adaptable to characteristics of the object data acquisition unit by means of the DMX controller or the arithmetic unit as a function of a configuration of an object data acquisition unit, in particular by one
  • Adjustment of, for example, a repetition rate of the illumination unit to a repetition rate of the object data acquisition unit adapted to preferably avoid an image error, such as a flicker or flicker at a recording at least as much as possible.
  • the DMX controller is set to a maximum current limit of 10A.
  • the DMX controller is individually adjusted and tuned individually to each lighting panel of the lighting unit connected to the DMX controller, wherein preferably an individual addressing is stored in the C-bus system.
  • the lighting unit is tested according to the photobiological safety according to EN 62471.
  • the inventive design of the detection device can advantageously be adapted to a lighting of the object.
  • a color of the contrast unit can be used to maximize the contrast with respect to an object resting on the slide unit.
  • a contrast unit which has at least one light source, in particular the backlight unit.
  • a light source is attached to the side of the contrast unit facing away from the slide unit. It is also conceivable that a light source is embedded in the contrast unit.
  • a contrast unit is proposed which has at least one light-emitting diode, in particular at least one organic light-emitting diode. In particular, the at least one light emitting diode, in addition provided to let the contrast unit shine evenly, in particular in various adjustable colors.
  • the embodiment of the detection device according to the invention advantageously makes it possible to adapt lighting of the object. In particular, by means of color matching, a contrast of the contrast unit with respect to an object resting on the slide unit can be maximized.
  • a contrast unit wherein the movement device comprises a drive unit for an automated movement of the contrast unit.
  • the drive unit is provided to move the contrast unit on a movement path around the object detection area.
  • the movement path of the contrast unit is continuously connected to the movement path of the object data acquisition unit.
  • the movement path of the contrast unit runs at least in sections substantially parallel to a movement path of the object data acquisition unit.
  • “Substantially parallel” is to be understood here in particular as an alignment of a direction relative to a reference direction, in particular in a plane, wherein the direction relative to the reference direction is a deviation, in particular less than 8 °, advantageously less than 5 ° and particularly advantageously less than 2 It is also conceivable for the movement path of the contrast unit to be independent of the movement path of the object data acquisition unit.
  • “Automated” is understood to mean that the drive unit is controlled and / or regulated via a, in particular central, arithmetic unit. In particular, the arithmetic unit controls and / or regulates the drive unit on the basis of a list of, in particular previously determined, perspectives from which the object is to be detected.
  • the embodiment of the detection device according to the invention can advantageously be used to adapt a background, in particular to a position of the object data acquisition unit.
  • a contrast unit is proposed, wherein the movement device has a movement unit which is provided to simultaneously move the contrast unit and the object data acquisition unit.
  • the contrast unit and the object data acquisition unit at least after completion of the movement, the have the same relative position and the same relative orientation to each other, as before the movement.
  • the movement of the contrast unit and the movement of the object data acquisition unit can take place simultaneously or be carried out successively. It is also conceivable that the same relative position and the same relative orientation to one another, throughout the entire
  • the contrast unit and the object data acquisition unit have a common pivot and / or rotation axis about which the object data acquisition unit and the contrast unit are mounted in a pivotable and / or rotatable manner. Due to the configuration of the detection device according to the invention, a consistent background can advantageously be provided independently of the relative position of the object and object data acquisition unit.
  • a contrast unit is proposed, wherein the movement unit has a structural unit which, in at least one operating state, connects the contrast unit and the object data acquisition unit substantially rigidly to one another.
  • substantially rigid is meant in particular that a relative position and relative alignment of the contrast unit and the object data acquisition unit to each other, at least under a force exerted by the drive unit force and / or a force exerted by the drive unit torque is maintained
  • the structural unit comprises at least one, preferably two, coupling rods, which connect the movement unit of the object data acquisition unit and the movement unit of the contrast unit.
  • control and / or regulating unit is provided on the basis of the operating parameters to coordinate all movement sequences, which are made possible by the movement device, individually and steplessly to one another.
  • An object parameter is particular, a single piece of information about an object and / or an instruction about an object. The information and / or instruction may / may depend on the object itself and / or be given according to the situation.
  • An object parameter may, for example, be designed as a maximum extension of the object, as a weight, as a relative arrangement on the slide unit and / or a degree of contamination.
  • An operating parameter of the detection device comprises, for example, the perspectives to be used, the number of object data comprising a multiple object data set, the rotational speed of the slide unit, the activation of the processing unit, the speed of the transport unit, the strength of an air blower and / or another Professional appear reasonable parameter, which can be adapted to a reliable detection of a multiple object data set.
  • the inventive design of the detection device can advantageously be achieved a reliable detection of a multiple object data set.
  • the detection device can be quickly and reliably adapted to objects with different object parameters.
  • an identification unit for a preliminary detection of at least one object parameter.
  • the identification unit preferably comprises a scanning unit for reading in an object parameter.
  • the object parameter is designed as a unique identification number, for example as EAN.
  • the identification number is preferably stored in an identification element, for example as barcode, QR code and / or RFID tag.
  • the identification number is read in when the transport unit is loaded and / or when the object is positioned in the object detection area.
  • further object parameters for example dimensions and / or weight, can be retrieved from a database on the basis of the identification number.
  • the identification number is unique.
  • the identification number assigns an object to a particular category of objects with similar further object parameters.
  • the scanning unit is a hand-held scanner.
  • the scanning unit could also be integrated in the slide, the transport unit and / or the lock unit, in particular for automated detection of an object parameter.
  • the identification element is preferably arranged on the object and / or in the object. integrated.
  • the identification feature is arranged spatially separated from the object, for example a packaging and / or a data sheet. Due to the inventive design of the detection device operating parameters of the detection device can be quickly adapted to different objects.
  • registered multiple object data sets can be reliably assigned to an object.
  • an identification unit for a preliminary detection of at least one slide parameter.
  • the identification unit preferably comprises a scanning unit for reading in a slide parameter.
  • the slide parameter is designed as a unique identification number.
  • the identification number is stored in an identification element, for example as a barcode, QR code and / or RFID tag.
  • the identification number is read in during loading of the transport unit and / or during positioning of the object on the slide.
  • the identification unit preferably comprises a further scanning unit for reading in the identification number immediately before an arrangement of the object carrier in the object detection area.
  • the identification number is unique. In particular, it is a consecutive numbering.
  • the scanning unit is a hand-held scanner.
  • the further scanning unit is designed to be automated. Due to the inventive design of the detection device operating parameters of the detection device can be quickly adapted to different slides.
  • the identification unit is intended to evaluate a slide parameter with respect to an object parameter.
  • the identification unit has a scanning unit, which enables both an input of an object parameter, in particular an identification number, and a slide parameter, in particular an identification number.
  • a slide parameter is preferably assigned to an object on the basis of an object parameter.
  • further object parameters for example dimensions and / or weight, can be retrieved from a database on the basis of the slide parameter.
  • the detection device has a
  • the slide unit comprises a weight detection unit.
  • a “weight detection unit” should be understood to mean, in particular, a unit which can detect at least one weight, preferably a mass, of an object
  • the weight detection unit can for example be embedded in the slide as a pressure plate Alternatively, the weight detection unit detects a weight over the Forces and / or torques on the bearing unit
  • a multiple object data record may also contain information about the weight of the detected object.
  • a dimension detection unit should be understood to mean, in particular, a unit that can detect at least one extension of an object
  • the dimension detection unit has a movably mounted laser module for a time-of-flight measurement
  • the movement device comprises a laser module movement unit for independent movement of the laser module from the object data acquisition unit
  • the laser module movement unit preferably comprises a guide carriage
  • the guide carriage is preferably located on the guide unit of the object data acquisition device and / or
  • the laser module moving unit has a trajectory independent of the object data acquisition device and / or the contrast unit an alternative embodiment, an extension of an object with a chentician calculated based on the detected with the object data acquisition unit multiple object data set and movement data of the slide unit, in particular a rotational speed, with a structure-from-motion method.
  • the "dimension detection unit” may comprise an illumination unit and a detection unit in order to obtain an extension from a transmitted light and / or reflected light method It is also conceivable for a plurality of methods to be combined with one another Detection device, a multiple object data set may also contain information about the dimensions of the detected object.
  • a transmission unit in particular an X-ray unit, which is intended to at least partially irradiate at least one object.
  • the transmission unit preferably has at least one X-ray unit and one X-ray screen.
  • the transmission unit has an ultrasound unit.
  • the transmission unit can be positively and / or non-positively connected to the movement unit of the object data acquisition unit and / or the contrast unit.
  • the movement device has a transmission unit, for independent movement of the transmission unit from the object data acquisition unit and / or the contrast unit.
  • the naturalstrahl Gayshim comprises a guide carriage.
  • the guide carriage is preferably arranged on the guide unit of the object data acquisition device and / or on the guide unit of the contrast unit.
  • the radiographic movement unit has a trajectory independent of the object data acquisition device and / or the contrast unit. It is also conceivable that the fürstrahlbewegsaku is immovable. Due to the inventive design of the detection device, a multiple object data set may also contain information about the internal structure of an object. In particular, it can be recognized whether the object is hollow or solid. With data on the dimensions can also be concluded on a density.
  • a system is proposed with a detection device according to the invention, with a memory unit with data sets generated at least partially with the detection device and with a mobile detection device. unit as well as with a computing unit, which is intended to evaluate data acquired with the mobile detection unit, at least taking into account the memory unit.
  • the memory unit is provided to store multiple object data sets at least temporarily.
  • those generated by means of the system or by means of the detection device comprise
  • Object data sets of detected objects Information relating to a set setting of the detection device during the detection, a dimension of the object, a weight of the object, a bounding box of the object, a solid model of the object, 3D data of the object, a color profiling of the detection device or further data that appears appropriate to a person skilled in the art.
  • the object data sets of detected objects are stored as so-called metadata, in particular according Exif (Exchangeable Image File Format), in the image files of the detected objects.
  • Exif Exchangeable Image File Format
  • the object data sets of captured objects are stored in a different manner, such as in a separate file format, as an electronic watermark, separately from the image file in a database or the like.
  • the detection device or the system comprising the detection device comprises one or more scales, by means of which at least one characteristic variable formed as a weight can be detected.
  • the one or more scales are / at least data-technically connected to the arithmetic unit.
  • the memory unit is intended to store data records which have been generated at least partially with the detection device.
  • the storage unit is spatially separated from the detection device.
  • the arithmetic unit is intended to perform an object learning process.
  • object learning process should be understood to mean, in particular, a processing of the multiple object data records for a further use, for example an object learning process may involve the creation of a surround view of the object, the creation of a three-dimensional model of the object and / or the extraction of characteristic features, in particular to enable a
  • the multiple data sets generated by the detection device are processed into data sets that have been generated at least partially with the detection device.
  • generated at least partially with the detection device should be understood in particular that for processing a multiple data set at least one further information is involved.
  • the further information is preferably a further multiple data record of a further object which, at least with regard to one type of object data, can be classified into a same category as the object.
  • a “mobile detection unit” is to be understood in particular as meaning that the mobile detection unit can be operated by hand in a predetermined operating state, in particular in a location-independent manner.
  • the mobile input unit can be worn by a person directly or indirectly on the body, for example as a bracelet and / or
  • the mobile input unit may be embodied as a smartphone, tablet, smartwatch and / or peripheral head-mounted display (PHMD) .
  • the mobile detection unit is in particular designed to capture object data
  • the arithmetic unit is provided for identifying the object based on the object data acquired by the mobile detection unit, taking into account the data records stored in the memory unit It can be seen, based on the multiple object data sets acquired by the detection device, to identify the object taking into account the data records stored in the memory unit.
  • a database can be created, which allows identification of an object by simple means. In particular, additional information about the object can be retrieved immediately.
  • a method with a detection device according to the invention and / or a system according to the invention is proposed in which the object carrier unit and the object data acquisition unit, in particular about a pivot axis and / or rotation axis of a bearing unit of the movement device, are moved in opposite directions in at least one method step. Due to the inventive design of the method, a dead time of the detection device can be kept advantageously low. Furthermore, a method with a detection device according to the invention and / or a system according to the invention is proposed in which at least one multiple data record is acquired in at least one method step during a return movement of the movement device after a forward movement back to an initial position of the movement device.
  • the movement device and the object data acquisition unit are preferably controlled and / or regulated by a, in particular central, arithmetic unit.
  • the arithmetic unit controls and / or regulates the defined relative movement and at least the detection instant of the object data acquisition unit.
  • the movement device preferably has a defined starting position, from which a defined relative movement starts.
  • a "forward movement” is to be understood as meaning, in particular, a movement which leads away from the starting position.
  • Return movement is to be understood as meaning, in particular, a movement which leads to the starting position.
  • a return movement can be realized by a reversal of the movement path during the forward movement or by a further movement along a closed movement path.
  • a method with a detection device according to the invention and / or a system according to the invention is proposed in which, in at least one method step, it is concluded from at least one data record of a material.
  • the arithmetic unit includes at least the color and weight of the object by matching with a database on a material.
  • dimensions of the object are used for material recognition, in particular information about the density. It is conceivable that, for example via laser spectroscopy, further data relating to a material of the object are collected. Due to the inventive design of the
  • the same-looking objects can be distinguished from one another.
  • a method is proposed with a system according to the invention, in which the created object data sets are determined in at least one method. step to machine learning, especially with a neural network. Furthermore, a method with a system according to the invention is proposed in which the created object data sets are evaluated in at least one method step for detecting the object. In addition, a method with a system according to the invention is proposed, in which the data acquired with the mobile detection unit is evaluated in at least one method step for detecting the object.
  • the inventive design of the method in particular, a fast and reliable identification of a detected object can be achieved.
  • the detection device according to the invention, the system according to the invention and / or the method according to the invention should / should not be limited to the application and embodiment described above.
  • the detection device according to the invention, the system according to the invention and / or the method according to the invention can have a number deviating from a number of individual elements, components and units as well as method steps mentioned herein in order to fulfill a mode of operation described herein.
  • values lying within the stated limits are also to be disclosed as disclosed and used as desired.
  • 1 is a schematic representation of the system according to the invention for non-transparent slides
  • 2 is a schematic representation of the movement device with an opaque slide
  • FIG. 3 shows a schematic representation of the movement unit of the object data acquisition unit
  • Fig. 4 is a schematic representation of a system for transparent
  • FIG. 5 is a schematic representation of the movement device with a transparent slide
  • FIG. 6 is a schematic representation of the bearing unit in a lateral arrangement
  • FIG. 7 shows a schematic representation of the movement device with a structure element for a simultaneous movement of object data acquisition unit and contrast unit
  • FIG. 10 is a schematic representation of the transport unit and a further positioning unit
  • FIG. 12 is a schematic representation of the method for detecting a multiple object data set
  • 13 is a schematic representation of the method for recognizing objects
  • Fig. 15 is a schematic representation of another alternative detection device.
  • 16 is a schematic representation of another alternative detection device.
  • FIG. 1 shows a system with a detection device with a memory unit 92a with data sets generated at least partially with the detection device and with a mobile detection unit 94a and with a computing unit 16a, which is provided with data acquired with the mobile detection unit 94a at least taking into account the data To evaluate memory unit 92a.
  • the detection device has a computing unit 16a which is provided to perform an object learning process.
  • the detection device comprises a housing unit 62a, which is intended to at least partially shield an object detection area to the outside.
  • the detection device comprises a transport unit 54a, which is provided to supply objects 10a at least partially automated to the object detection area.
  • the transport unit 54a comprises a web conveying unit 56a, in particular a conveyor belt unit.
  • the transport unit 54a is intended to transport at least two detachably connected slides 46a.
  • the transport unit 54a carries a plurality of slides 46a, with an illustrated number of slides 46a preferably being merely exemplary.
  • the slides 46a are loaded in a loading area 104a with one object 10a each.
  • the objects 10a are removed from the slides 46a after detection in object detection areas surrounded by the housing units 62a in a discharge area 106a.
  • the loading and / or unloading takes place, for example, manually, in particular by a worker.
  • the loading and / or unloading of the transport unit 54a can also be effected automatically, in particular by means of a logistics and conveying system, in particular by means of a robot.
  • the detection device comprises an identification unit 84a for preliminary detection of object parameters.
  • the detection device comprises an identification unit 84a for a preliminary detection of slide parameters.
  • the identification unit 84a each comprises a scanning unit which is arranged on the housing units 62a.
  • the identification unit 84a preferably has a mobile scanning unit.
  • the mobile scanning unit is provided in particular for detecting both an object parameter and a slide parameter.
  • the mobile scanning unit reads while loading the Slide 46a inputs an identification number of the slide 46a. Subsequently and / or before, the mobile scanning unit preferably reads in an identification number of the object 10a.
  • an identification number of the object 10a to be assigned manually to the one identification number of the object carrier 46a and to be interrogated only by the scanning unit.
  • object parameters are queried from an internal and / or external database.
  • the detection device comprises a communication device 86a for receiving object parameters.
  • the communication device 86a receives the identification number of the slide 46a carrying the associated object 10a.
  • the web conveying unit 56a transports the object 10a on the slide 46a after reading the identification numbers to the first object data acquisition area.
  • the identification unit 84a is provided to evaluate a slide parameter with respect to an object parameter.
  • the scanning unit arranged on the housing unit 62a detects the identification number of the slide 46a as it enters the interior of the housing unit 62a.
  • the object parameters received by the communication device 86a are selected based on the identification number of the slide 46a.
  • the detection device comprises a control and / or regulating unit 82a, which is provided to set at least one operating parameter of the detection device depending on at least one object parameter.
  • a detection of the side of an object 10a on the object carrier 46a facing the object carrier 46a must be made 103a at least once.
  • the system has a further object detection area, which is provided to create a supplementary detection of the object 10a after a turn 103a of the object 10a.
  • FIG. 2 shows the detection device for at least partially automated detection of multiple object data sets of at least the object 10a, with a movement device 12a for generating a defined relative movement between at least one object data acquisition unit 14a and the at least one object 10a.
  • the moving device 12a is provided for detecting object data from multiple perspectives.
  • the movement device 12a has at least one movement unit 24a for a defined movement of the at least one object data acquisition unit 14a.
  • the movement unit 24 a is provided to the at least one
  • Object data acquisition unit 14a to perform on an at least partially curved trajectory 26a.
  • the movement unit 24a has at least one partially curved path 28a and is provided to guide the at least one object data acquisition unit 14a along the at least partially curved path 28. It is conceivable that a plurality of object data acquisition units 14a are used.
  • FIG. 2 indicates a further object data acquisition unit 108a.
  • each object data acquisition unit 14a, 108a could cover a portion of the curved path 28a for faster acquisition of object data from multiple perspectives.
  • the object data acquisition units 14a, 108a could be moved simultaneously or independently of each other.
  • the movement unit 24a is provided for guiding the at least one object data acquisition unit 14a along a direction 30a that is at least substantially perpendicular to a movement path 26a.
  • the object data acquisition unit 14a has at least one pivot and / or rotation axis 32a around which the object data acquisition unit
  • the detection device comprises a dimension detecting unit 88a.
  • the dimension detecting unit 88a is formed as a laser module.
  • the dimension acquisition unit 88a is preferably mounted on a guide carriage of the movement unit 24a which is common to the object data acquisition unit 14a.
  • the detection device has a slide unit 36a.
  • the movement device 12a has a storage unit 38a, via which the object carrier unit 36a is movably mounted.
  • the bearing unit 38a has at least one pivot and / or rotation axis 40a around which the slide unit 36a is mounted pivotably and / or rotatably.
  • the storage unit 38a has at least one movement path 42a along which the object carrier unit 36a is movably mounted.
  • the object carrier unit 36a is preferably movably mounted, in particular rotatable, relative to the object data acquisition unit 14a via the storage unit 38a.
  • the movement device 12a comprises a drive unit 44a, which is provided for automatically moving the object carrier unit 36a.
  • the movement device 12a preferably comprises the drive unit 44a, which is intended to move the object carrier unit 36a and the object data acquisition unit 14a in opposite directions, in particular to counter-move the pivot and / or rotation axis 40a of the storage unit 38a.
  • the slide unit 36a is provided for active illumination.
  • the slide unit 36a has at least one light source 52a.
  • the object carrier unit 36a has at least one light-emitting diode (LED), in particular at least one organic light-emitting diode (OLED).
  • LED light-emitting diode
  • OLED organic light-emitting diode
  • the light source 52a comprises an OLED screen, which is arranged flat on the slide 46a.
  • the slide unit has at least one transparent protective layer for protection of the light source 52a.
  • the slide unit 36a includes a weight detection unit.
  • the slide unit 36a has at least one detachably connected slide 46a.
  • the object carrier 46a is preferably lifted by the storage unit 38a from the web conveying unit 56a (see FIG.
  • the object carrier 46a is lowered onto the web conveying unit 56a.
  • the web conveying unit 56a has a corresponding recess for lifting and lowering the slide 46a, by means of which the bearing unit 38a can be temporarily positively and / or non-positively connected to the slide 46a.
  • the detection device has a computing unit 18a, which is provided to use a forward movement 20a, 20'a and return movement 22a, 22'a of an object data acquisition unit 14a and / or of an object 10a for data acquisition.
  • the detection device comprises a contrast unit 72a, which is provided for active illumination.
  • the detection device comprises a contrast unit 72a, which has at least one light source 74a.
  • the detection device comprises a contrast unit 72a which has at least one light-emitting diode, in particular at least one organic light-emitting diode.
  • the contrast unit 72a is arranged in at least one operating state on the slide unit 36a.
  • the light source 74a comprises an OLED screen, which is arranged flat on the contrast unit 74a.
  • FIG. 3 shows a possible embodiment of the movement unit 24a.
  • the movement unit 24a comprises a drive unit 34a, which is provided for automatically moving the object data acquisition unit 14a.
  • the movement unit 24a comprises a guide carriage on which the object data acquisition unit 14a is mounted.
  • the curved track 28a is as
  • FIGS. 12 and 13 each show a method with a detection device according to the invention and / or with a system according to the invention.
  • FIG. 12 shows a schematic representation of the method for detecting a multiple object data record.
  • an initial phase 136a it is ensured that the movement device 12a is in one of the intended positions
  • Starting position 98a is located.
  • operating parameters are automatically set at least for the movement device 12a and the object data acquisition unit 14a.
  • a list is created with positions for the slide unit 36a and the object data acquisition unit 14a in which detection of object data takes place by means of the object data acquisition unit 14a.
  • the movement unit 24a of the object data acquisition unit 14a is preferably controlled and / or regulated to the first position.
  • object data is preferably acquired with the object data acquisition unit 14a at regular intervals, for example every 10 ° of the rotational movement of the slide unit 36a.
  • the individual detections can be triggered, for example, by means of a rotary travel sensor, or take place in regular time intervals which are matched to a rotational speed of the slide unit 36a.
  • a check 142a is made as to whether an end of the list of positions has been reached.
  • the movement unit 24a of the object data acquisition unit 14a is controlled and / or regulated to the next position.
  • a return movement 22a is preferably initiated in a further method step 166a.
  • at least one method step 96a during a return movement 22a of the movement device 12a after a forward movement 20a back to an initial position 98a of the movement device 12a at least one multiple data record is collected.
  • a further list with positions for a return movement 22a is treated analogously. If an end of the further list with positions is reached in a corresponding further check 144a, preferably the movement device 12a is controlled to the starting position 98a.
  • at least one list contains standard positions, for example in the case of a circular path of the object data acquisition unit 0 °, 45 ° and 90 ° with respect to the starting position 98a.
  • at least one list contains object-specific items. It is also conceivable that all the positions under which a detection takes place are equally divided among all lists.
  • the rotation 138a can be stopped, in particular after the detection of a data record in the method step 96a, 140a, or maintained continuously until the movement device 12a returns to the starting position 98a.
  • FIG. 13 shows a schematic illustration of the method for recognizing an object 10a.
  • FIG. 13 shows a method with a system according to the invention, in which the created object data records are stored in at least a method step to a machine learning 100a are evaluated.
  • two phases are distinguished.
  • a distinction is made between a learning phase and a recognition phase.
  • a check 152a is preferably carried out in which phase the method is located.
  • a first phase is located in a first
  • Process step 150a detects at least one multiple object data set of at least one object 10a with the detection device.
  • the object carrier unit 36a and the object data acquisition unit 14a are moved in opposite directions, in particular for detecting a multiple object data set of at least one object 10a by means of the detection device.
  • the multiple object data record is preferably stored in the memory unit 92a.
  • the created object data sets are evaluated in at least one method step for a machine learning 100a.
  • the data records resulting from a machine learning 100a are preferably stored in the memory unit 92a in a further method step 154a.
  • the original multiple object data sets may be deleted in step 154a.
  • the system can be used to detect previously detected objects 10a.
  • object data about an object 10a to be recognized is detected by a mobile detection unit 94a.
  • the detection device is used in method step 150a to acquire object data.
  • the object data is supplied to the arithmetic unit 16a. In the process, the created
  • Object data sets evaluated in at least one method step to a recognition 102a of the object 10a are evaluated in at least one method step to detect 102a of the object 10a.
  • two sets of data partially match if one record is a subset of the other.
  • the second method step 156a checks whether the recognition 102a was successful, in particular whether at least one match could be found.
  • an optional step queries an operator's decision 146a as to whether the acquired object data should be used for machine learning 100a in order to expand the list of recognizable objects and / or or to modify the stored in the storage unit record to an already known object.
  • the object data is cleared in a final method step 148a.
  • Detection 102a performed in a further process step, a count 158a of matching the collected data records.
  • information about the corresponding object for example a name, an identification and / or order number, is preferably output in a concluding method step 160a.
  • a list of all matches is output in a method step 162a.
  • information is output by means of which the objects can be distinguished.
  • it is concluded from at least one data record of a material.
  • a material is closed during machine learning 100a and / or recognition 102a. It is also conceivable that the detection device already uses at least one object data set when detecting a multiple object data record in method step 150a in order to conclude a material.
  • FIGS. 4-6, 7-8, 9, 10, 11, 14, 15 and 16 each show a further exemplary embodiment of the invention.
  • the following descriptions and the drawings are essentially limited to the differences between the exemplary embodiments, wherein, with regard to identically named components, in particular with regard to components having the same reference numbers, in principle also to the drawings and / or the description of the other embodiments, in particular FIGS to 3 and 12 and 13, can be referenced.
  • the letter a is the reference symbol of the exemplary embodiment in FIGS. 1 to 3 as well as 12 and 13 readjusted.
  • the letter a is replaced by the letters b to i.
  • Figure 4 shows a schematic representation of a system having a single object data acquisition area enclosed by a housing unit 62b.
  • a slide 46b with a slide support wall 48b which is transparent in at least one operating state see Fig. 5
  • manual turning 103a see Fig. 1
  • FIG. 5 shows a schematic illustration of the movement device 12b and FIG. 6 shows a schematic illustration of the storage unit 38b.
  • the slide unit 36b has at least one slide 46b, which has a slide wall 48b that is transparent in at least one operating state.
  • the object carrier unit 36b has an adjustment unit 50b by means of which a degree of reflection, an absorption degree and / or transmittance can be set.
  • the setting unit 50b is in particular connected to the slide wall 48b via a sliding contact 118b.
  • the transparency of the object carrier 46b preferably allows detection of object data from the side of the object carrier 46b facing away from the object 10b.
  • the object 10b is rotated by 360 ° about the pivot and / or rotation axis 40b.
  • the object data acquisition unit 14b is moved along the curved path 28b at least on a circular arc with a center angle of 180 °.
  • any desired perspective at least within a control and / or regulating accuracy of the movement device 12b, can be assumed.
  • the storage unit 38b is arranged laterally of the slide unit 36b in order not to block a line of sight of the object data acquisition unit 14b on the object 10b.
  • the bearing unit 38b at least partially surrounds the slide unit 36b.
  • the object carrier unit 36b has in particular a groove 114b for receiving a rolling element 116b of the bearing unit 38b.
  • the groove 114b and the rolling element 116b could also be designed, for example, as a toothed rack transmission.
  • the axes of rotation of the unwinding ment 116b movably mounted to allow a locking / detachment of the slide unit 36b to / from the storage unit 38b.
  • the detection device comprises a contrast unit 72b, wherein the movement device 12b comprises a drive unit 76b for automated movement of the contrast unit 72b.
  • the detection device comprises a contrast unit 72b, wherein the movement device 12b has a movement unit 78b which is provided to simultaneously move the contrast unit 72b and the object data acquisition unit 14b.
  • the movement unit 78b synchronizes the drive units 76b and the drive unit, not shown, of the movement unit 24b.
  • the arithmetic unit 18b and the moving unit 78b are formed as a single central processing unit.
  • a dimension detection unit 88b has a movement unit, in particular a guide carriage, which is independent of the object data acquisition unit 14b.
  • the detection device comprises a contrast unit 72c, wherein the movement unit 78c has a structural unit 80c which, in at least one operating state, essentially interconnects the contrast unit 72c and the object data acquisition unit 14c.
  • the structural unit 80c is designed as a common guide carriage.
  • the contrast unit 72c is provided for active illumination.
  • a light source 74c is in particular arranged behind the contrast unit 72c, viewed from the slide unit 36c.
  • the detection device comprises a transmission unit 89c, in particular an X-ray unit, which is provided to at least partially irradiate at least one object 10c.
  • the transmission unit 89c preferably comprises at least one beam source 90c and a screen 91c.
  • the irradiation unit 89c is arranged on the moving unit 24c of the object data acquisition unit 14c.
  • the object data acquisition unit 14c is simultaneously used as a dimension acquisition unit 88c in that the multiple object data sets are linked in particular to a rotational speed of the object carrier unit 36c about the pivoting and / or rotation axis 40c.
  • Figures 7 and 8 show a schematic representation of the storage unit 38c.
  • the bearing unit 38c is preferably formed in two parts.
  • the bearing unit 38c is provided to receive a drive ring 122c arranged on the side of the object carrier unit 36c facing away from the object 10c in a groove 120c of the bearing unit.
  • FIG. 9 shows a detection device in which the transport unit 54d is arranged laterally of the housing unit 62d.
  • the transport unit 54d comprises a positioning unit 58d for positioning an object, in particular down from the web conveying unit 56d, in an object detection area 60d.
  • the positioning unit 58d is designed as extendable gripping units, which are pushed under a slide 46d on the transport unit 54d.
  • the object carriers 46d preferably have a recess for receiving a gripping unit on the side facing the web conveying unit 56d.
  • the detection device comprises an anti-malicious unit 64d, which is intended to at least reduce contamination of an object detection region 60d and / or a region of an object data acquisition unit 14d, in particular within the housing unit 62d.
  • Antisquench unit 64d is designed to create an overpressure within housing unit 62d. Specifically, by disposing the antisock unit 64d from the opening of the housing unit 62d, behind the object data acquisition unit 14d and / or behind the object detection area 60d, a fluid flow is generated from the object data acquisition unit 14d and / or the object detection area 60d to the opening of the housing unit 62d is directed. Advantageously, penetration of dust and / or other dirt particles is reduced.
  • the detection device has a conditioning unit 66d, which is provided to prepare at least one object prior to object data set detection, in particular to clean it.
  • the conditioning unit 66d has a fluid control unit 70d for controlling and / or regulating a fluid flow.
  • the fluid control unit comprises air nozzles.
  • the fluid control unit 70d generates an air flow coming from the housing unit 62d is directed away.
  • an airflow generated by the fluid control unit 70d is directed to a slide 46d located in front of the opening of the housing unit 62d.
  • an air flow generated by the fluid control unit 70d is provided to remove dust particles and other contaminants that are on the slide 46d and / or on an object on the slide
  • FIG. 10 shows a detection device in which the transport unit 54e is arranged on the side of the housing unit 62e.
  • the transport unit 54e comprises a positioning unit 58e for positioning an object, in particular down from the web conveying unit 56e, in an object detection area 60e.
  • the positioning unit 58e has a magnetic base 128e, which is movably mounted in a guide track 130e.
  • the magnetic leg 128e has an electromagnet for switching the magnetic force.
  • the magnetic base has a permanent magnet.
  • the magnetic leg 128e is automatically pushed under a slide 46e on the web conveying unit 56e.
  • the web conveying unit 56e preferably has a recess 132e, by means of which the magnetic leg 128e produces a frictional connection with the slide 46e.
  • the slide 46e is guided by the recess 132e from the web conveying unit 56e to the slide unit 36e.
  • the slide unit 36e has a counterpart complementary to the slide 46e.
  • the counterpart and the slide 36e complement each other in at least one intended operating state to form a substantially circular disc.
  • the slide unit 36e has a recess 124e, which is designed essentially as a negative mold of the slide 46e.
  • the recess 124e has a shoulder 126e to a tray of the slide 46e.
  • the detection device comprises an antiskid unit 64e, which is provided to at least reduce contamination of a region of an object data acquisition unit 14e, in particular within the housing unit 62e.
  • the antishock unit 64e is formed as an air nozzle.
  • the anti-squeal unit 64e generates a constant airflow directed away from the object data acquisition unit 14e.
  • the conditioning unit 66f comprises a lock unit 68f.
  • the lock unit 68f has a fluid restriction unit 134f.
  • the fluid restriction unit 134f has, in particular, plastic lamellae.
  • the fluid restriction unit 134f preferably generates a flow resistance, in particular for a flow into the lock unit 68f.
  • the conditioning unit 66f has a fluid control unit 70f for controlling and / or regulating a fluid flow.
  • the fluid control unit 70f generates an air flow directed away from the lock unit 68f.
  • an airflow generated by the fluid control unit 70f is directed to a slide 46f located immediately before the fluid restriction unit 134f.
  • an airflow generated by the fluid control unit 70f is intended to blow away dust particles and other contaminants that are on the slide 46f and / or on an object lOf, in particular in a direction away from the lock unit 68f.
  • further fluid control units are mounted inside the lock unit 68f, for example for generating an overpressure in the lock unit 68f.
  • the lock unit has a fluid control unit for generating a water jet in order to clean an object located in the lock unit 68f.
  • the lock unit 68f has a fluid control unit in the form of a heater blower to dry an object located in the lock unit 68f.
  • FIG. 14 shows an alternative detection device for at least partially automated detection of multiple object data sets of at least one object (not shown here in detail).
  • the detection device comprises at least one movement device 12g for generating a defined relative movement between at least one object data acquisition unit 14g of the detection device and the at least one object and / or a slide unit 36g of the detection device.
  • the detection device shown in FIG. 14 has an at least substantially analogous configuration to the detection device described in the description of FIGS. 1 to 3, so that with respect to an embodiment of the device shown in FIG Detection device can be referenced at least substantially to the description of Figures 1 to 3.
  • the detection device illustrated in FIG. 14 preferably has a contrast unit 72g, which is movably mounted together with the object data acquisition unit 14g relative to the slide unit 36g, in particular by means of the movement device 12g.
  • the contrast unit 72g is movably mounted relative to the object data acquisition unit 14g by means of the movement device 12g.
  • the object data acquisition unit 14g and / or the contrast unit 72g are preferably movably mounted by means of the movement device 12g about a pivoting and / or rotational axis 40g of a bearing unit 38g of the movement device 12g relative to the slide unit 36g.
  • the movement device 12g preferably comprises a drive unit (not shown here in detail), which is provided to the
  • Object data acquisition unit 14g preferably together with the contrast unit 72g, in particular in at least one operating state of the detection device to move in opposite directions to a movement of the slide unit 36g, in particular about the pivot and / or rotation axis 40g) of the storage unit 38g.
  • the object data acquisition unit 14g and / or the contrast unit 72g are preferably also movable relative to the slide unit 36g by means of the movement device 12g about a horizontal, in particular at least substantially perpendicular, horizontal axis 178g of the movement device 12g extending to the pivoting and / or rotation axis 40g of the bearing unit 38g. siege.
  • the slide unit 36g is mounted such that a support structure of the detection device on which the slide unit 36g is fixed or movably mounted, has a main longitudinal axis which is at least substantially parallel, in particular coaxial, to the horizontal axis 178g.
  • the object data acquisition unit 14g and / or the contrast unit 72g is movably mounted around the specimen slide unit 36g by means of the movement device 12g when the specimen slide unit 36g is arranged on the support structure, viewed in a vertical plane.
  • the object data acquisition unit 14g and / or the contrast unit 72g is relative to one another by means of the movement device 12g along an angular range of less than 360 °, in particular less than 270 °, preferably less than 180 ° mounted to a horizontal plane of the detection device movable about the horizontal axis 178g.
  • Other possibilities of movement of the object data acquisition unit 14g, of the contrast unit 72g and / or of the slide unit 36g relative to one another which appear reasonable to a person skilled in the art are likewise conceivable.
  • FIG. 15 shows a further alternative detection device for at least partially automated detection of multiple object data sets of at least one object (not shown here in detail).
  • the detection device comprises at least one movement device 12h for generating a defined relative movement between at least one object data acquisition unit 14h of the detection device and the at least one object and / or a slide unit (not shown here in detail) of the detection device.
  • the detection device illustrated in FIG. 15 has an at least substantially analogous configuration to the detection device described in the description of FIGS. 1 to 3, so that, with regard to an embodiment of the detection device illustrated in FIG. 15, at least substantially the description of FIGS 1 to 3 can be referenced. In contrast to that described in the description of Figures 1 to 3
  • the detection device shown in Figure 15 preferably at least one object data acquisition unit 14h having at least two detection units 174h, 176h, in particular two cameras, which are movably supported by the moving device 12h, in particular relative to the slide unit.
  • the object data acquisition unit 14h comprises at least three detection units 174h, 176h, 180h, in particular two cameras, which are movably mounted by means of the movement device 12h, in particular relative to the slide unit.
  • the detection units 174h, 176h, 180h are movably mounted relative to one another and relative to the object carrier unit by means of the movement device 12h.
  • the detection units 174h, 176h, 180h can be rotatably mounted by means of the movement device about a pivoting and / or rotational axis of a bearing unit of the movement device 12h, pivotable relative to the object support unit in a vertical plane of the detection device comprising the pivoting and / or rotation axis of the bearing unit be stored, relatively be mutually movably mounted in the pivot axis and / or axis of rotation of the bearing unit comprehensive vertical plane of the detection device and / or be movably mounted along and / or to another, a person skilled in the sense appearing axis.
  • the detection units 174h, 176h, 180h are preferably differently designed or equipped cameras.
  • the detection units 174h, 176h, 180h may differ, for example, in one embodiment of an objective, a focus range, a detection angle, an image sensor and / or other parameters that appear appropriate to a person skilled in the art.
  • FIG. 16 shows a further alternative detection device for at least partially automated detection of multiple object data sets of at least one object (not shown here in detail).
  • the detection device comprises at least one movement device 12i for generating a defined relative movement between at least one object data acquisition unit 14i of the detection device and the at least one object and / or a slide unit (not shown here in detail) of the detection device.
  • the detection device illustrated in FIG. 16 has an at least substantially analogous configuration to the detection device described in the description of FIGS. 1 to 3, so that, with regard to an embodiment of the detection device illustrated in FIG. 16, at least substantially the description of FIGS 1 to 3 can be referenced. In contrast to the detection device described in the description of FIGS. 1 to 3, the detection device illustrated in FIG.
  • the 16 preferably has at least the object data acquisition unit 14i and at least one further object data acquisition unit 172i which are mounted so as to be movable relative to one another by means of the movement device 12i.
  • the at least one object carrier unit 36i is movably mounted by means of the movement device 12i relative to the object data acquisition unit 14i and to the further object data acquisition unit 172i.
  • the object data acquisition unit 14i and the further object data acquisition unit 172i may be of identical construction or structurally designed differently.
  • the object data acquisition unit 14i and the further object data acquisition unit 172i can have a multiplicity of acquisition units, in particular cameras, or in each case a single acquisition unit.
  • the object data acquisition unit 14i is movably mounted by means of the movement device 12i along an angular range of less than 360 °, in particular less than 270 °, preferably less than 180 ° and particularly preferably less than 100 ° relative to a horizontal plane of the detection device.
  • the further object data acquisition unit 172i is movably mounted by means of the movement device 12i along an angular range of less than 360 °, in particular less than 270 °, preferably less than 180 ° and particularly preferably less than 100 ° relative to a horizontal plane.
  • the object data acquisition unit 14i and / or the further object data acquisition unit 172i are additionally movably mounted by means of the movement device 12i about a pivot and / or rotation axis 40i of a storage unit 38i of the movement device 12i.
  • a person skilled in the appear reasonable embodiments of the detection device are also conceivable.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)

Abstract

L'invention concerne un dispositif de détection destiné à la détection au moins partiellement automatisée de plusieurs ensembles de données d'objet d'au moins un objet (10a, 10b, 10c, 10e, 10f), comprenant un dispositif de déplacement (12a, 12b, 12c, 12g, 12h, 12i) servant à générer un mouvement relatif défini entre au moins une unité de détection de données d'objet (14a, 14b, 14c, 14d, 14e, 14g, 14h, 14i) et l'au moins un objet (10a, 10b, 10c, 10e, 10f).
EP18800526.8A 2017-10-27 2018-10-26 Dispositif de détection et procédé de détection de plusieurs ensembles de données d'objet d'au moins un objet Pending EP3700688A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017219407.3A DE102017219407A1 (de) 2017-10-27 2017-10-27 Erfassungsvorrichtung
PCT/EP2018/079479 WO2019081748A1 (fr) 2017-10-27 2018-10-26 Dispositif de détection et procédé de détection de plusieurs ensembles de données d'objet d'au moins un objet

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EP3700688A1 true EP3700688A1 (fr) 2020-09-02

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EP18800524.3A Pending EP3701485A1 (fr) 2017-10-27 2018-10-26 Dispositif de détection et procédé de détection de plusieurs ensembles de données d'objet d'au moins un objet
EP18800526.8A Pending EP3700688A1 (fr) 2017-10-27 2018-10-26 Dispositif de détection et procédé de détection de plusieurs ensembles de données d'objet d'au moins un objet
EP18800528.4A Pending EP3700689A1 (fr) 2017-10-27 2018-10-26 Dispositif de détection et procédé de détection de plusieurs ensembles de données d'objet d'au moins un objet
EP18796872.2A Pending EP3700685A1 (fr) 2017-10-27 2018-10-26 Dispositif de détection et procédé de détection de plusieurs ensembles de données d'objet d'au moins un objet
EP18800522.7A Pending EP3700686A1 (fr) 2017-10-27 2018-10-26 Dispositif de détection et procédé de détection de plusieurs ensembles de données d'objet d'au moins un objet
EP18800523.5A Active EP3701484B1 (fr) 2017-10-27 2018-10-26 Système de saisie et méthode pour la saisie de multiples ensembles de données d'au moins un objet
EP18800525.0A Pending EP3700687A1 (fr) 2017-10-27 2018-10-26 Dispositif de détection et procédé de détection de plusieurs ensembles de données d'objet d'au moins un objet

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EP18796872.2A Pending EP3700685A1 (fr) 2017-10-27 2018-10-26 Dispositif de détection et procédé de détection de plusieurs ensembles de données d'objet d'au moins un objet
EP18800522.7A Pending EP3700686A1 (fr) 2017-10-27 2018-10-26 Dispositif de détection et procédé de détection de plusieurs ensembles de données d'objet d'au moins un objet
EP18800523.5A Active EP3701484B1 (fr) 2017-10-27 2018-10-26 Système de saisie et méthode pour la saisie de multiples ensembles de données d'au moins un objet
EP18800525.0A Pending EP3700687A1 (fr) 2017-10-27 2018-10-26 Dispositif de détection et procédé de détection de plusieurs ensembles de données d'objet d'au moins un objet

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US (5) US20200370933A1 (fr)
EP (7) EP3701485A1 (fr)
CN (4) CN111512339A (fr)
DE (1) DE102017219407A1 (fr)
PL (1) PL3701484T3 (fr)
WO (7) WO2019081739A1 (fr)

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CN111225750A (zh) 2020-06-02
US20200326181A1 (en) 2020-10-15
WO2019081743A1 (fr) 2019-05-02
US11499810B2 (en) 2022-11-15
EP3701485A1 (fr) 2020-09-02
EP3701484B1 (fr) 2022-09-14
EP3700685A1 (fr) 2020-09-02
CN111511478A (zh) 2020-08-07
CN111246948A (zh) 2020-06-05
WO2019081739A1 (fr) 2019-05-02
CN111512339A (zh) 2020-08-07
PL3701484T3 (pl) 2023-01-09
EP3700686A1 (fr) 2020-09-02
DE102017219407A1 (de) 2019-05-02
CN111512340A (zh) 2020-08-07
WO2019081737A1 (fr) 2019-05-02
EP3700689A1 (fr) 2020-09-02
US20200346346A1 (en) 2020-11-05
WO2019081741A1 (fr) 2019-05-02
EP3700687A1 (fr) 2020-09-02
WO2019081751A1 (fr) 2019-05-02
EP3701484A1 (fr) 2020-09-02
US20200370933A1 (en) 2020-11-26
US20200363242A1 (en) 2020-11-19
WO2019081742A1 (fr) 2019-05-02
WO2019081748A1 (fr) 2019-05-02
US20210197233A1 (en) 2021-07-01

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