EP3912737A1 - System und verfahren zum sortieren von verpackten produkten und beleuchtungsvorrichtung zur verwendung darin - Google Patents

System und verfahren zum sortieren von verpackten produkten und beleuchtungsvorrichtung zur verwendung darin Download PDF

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Publication number
EP3912737A1
EP3912737A1 EP20382436.2A EP20382436A EP3912737A1 EP 3912737 A1 EP3912737 A1 EP 3912737A1 EP 20382436 A EP20382436 A EP 20382436A EP 3912737 A1 EP3912737 A1 EP 3912737A1
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EP
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Prior art keywords
linear
hyperspectral
images
image capture
sorting
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EP20382436.2A
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English (en)
French (fr)
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EP3912737C0 (de
EP3912737B1 (de
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Emilio DE LA RED BELLVIS
Iván CALLEN BARCELONA
Daniel ARTAL GONZÁLEZ
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Inndeo Proyectos Industriales SL
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Inndeo Proyectos Industriales SL
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    • 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
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour

Definitions

  • the present invention is useful in the field of manufacturing of packaged products and it belongs, more particularly, to the technical field of sorting packaging, preferably although limited to, food and pharmaceutical product packages.
  • the main object of the present invention is, therefore, sorting packaged products after the inspection thereof with machine vision means, preferably heat-sealed packages. Said sorting can be useful in, for example and limited to, quality control tasks.
  • the sorting system and method according to the present invention are able to analyse images of the packaged products to be sorted, both in the visible light spectrum and in the infrared light spectrum, and base said sorting on the inspection of the seals provided in said packages, and detecting any type of surface contamination on the product contained in the package, or printing defect on the films of the packages.
  • Patent application WO 2013/007951 describes a method for controlling, in particular, the structures of heat-sealed packages with the aid of a linear image sensor
  • US patent US5515159 describes a vision system for inspecting package seals.
  • Patents EP 2350621 and EP 3055681 also describe a method and device for inspecting package seals by optical control by means of digital photography.
  • the prior art devices and methods described above are satisfactory for inspecting packaged products (including the seals of said packages) and sorting them based on the results of said inspection provided that said packaged products have homogeneous optical features.
  • the prior art devices and methods cease to be effective in cases wherein the seal area is invaded with transparent products, such as the interleaver (or separator) used in slicing, or melted fat, which is colourless.
  • the techniques for inspecting, detecting defects and sorting that are already known use methods for comparing images within the visible light spectrum, which are ineffective on packages with printed films, where defects are commonly confused with printing inks. In other words, the techniques are insufficient to guarantee the quality of the seals and are ineffective if films with different printing inks are used.
  • hyperspectral machine vision equipment is known in the state of the art, which is mainly used in laboratories, satellites and drones, there being different manufacturers of the same.
  • Such equipment is capable of obtaining the so-called hyperspectral images, i.e., images containing information belonging to several different spectral bands usually comprised between 400 and 2,000 nanometres in frequency and which belong to both the visible region (from 400 to 750 nm) and the infrared region of the electromagnetic spectrum (wavelength greater than 750 nm).
  • Said hyperspectral images are usually processed by means of spectrography and can be used to determine the chemical composition by comparing the spectral signature.
  • a method for determining the spectral signature of the different pixels of hyperspectral images, or in other words, a method for analysing the intensity of the light from each pixel of hyperspectral images in each of the different predefined bands of the infrared light spectrum had by said hyperspectral images.
  • United States Patents 5512752 , 4719351 and 5206510 , German Patent Publications DE 19601923 , 19543134 and 4340795 , and Japanese Patent Applications JP-A-9138194 , 6288913 and 6210632 disclose several examples of hyperspectral machine vision equipment.
  • halogen light sources dissipate a high thermal power, such that if the packaged products are exposed to said light sources, the heat generated could degrade them.
  • This fact makes it difficult for halogen light sources to be encapsulated within a compact machine and notably complicates, furthermore, the fact that the hyperspectral machine vision devices can be used in the field of inspecting and sorting packaged products.
  • An object of the present invention is to address all the difficulties and drawbacks of the prior art indicated above, in addition to enabling packaged products to be sorted depending on different quality parameters related to the surface chemical composition thereof and detecting surface contamination thereon.
  • a first object of the invention relates to a system for sorting packaged products, said system being provided with:
  • the packaged products sorted by the present invention are preferably provided with a package comprising at least two heat-sealed films (i.e., they are sealed together by means of heat).
  • the two films of this type of package are preferably provided with a base made of plastic film, which comprises at least one cell wherein the products to be packaged are deposited and whereon a second film is adhered, sealed by means of heat melting with the aim of guaranteeing the airtightness of the cell.
  • said films are usually made of laminated aluminium, or a hybrid of aluminium and plastic.
  • the linear hyperspectral image capture means contemplated by the present invention enable the light reflected and transmitted by the products packaged in the packages within the infrared spectrum to be automatically captured, breaking it down into different frequency bands (preferably from 1 to 250 frequency bands). This enables a set of images to be obtained for each of the frequency bands, known as a hyperspectral image, the number of image layers of which coincides with the number of frequency bands which are analysed.
  • Hyperspectral images are processed by the first image processing means which analyse the distribution of the intensity of the light in each of the frequency bands pixel by pixel, which is known as the spectral signature of the pixel, assigning a colour tone to it, after comparing to other spectral signatures (or reference patterns) and applying different rules for identifying pre-established patterns of similar signatures.
  • the hyperspectral images of the packaged products are converted into the so-called chemical images. This technique enables chemical compounds with apparently identical colours in visible light to be distinguished, in addition to enabling the contents of the packages to be viewed through the films, even if they are printed with opaque inks, since in the infrared light spectrum the vast majority of the inks opaque to light are transparent.
  • said chemical images enable, in turn, the surface chemical composition of the packaged product to be analysed by comparing said chemical images to different predefined comparison patterns.
  • the chemical images obtained from colouring the hyperspectral images are subsequently processed by the second image processing means, configured to determine the conformity or non-conformity of the images based on pre-established comparison parameters.
  • the second image processing means preferably comprise programmable logic means provided with machine vision algorithms.
  • the reference patterns used by the first image processing means to compare them to the spectral signature of the hyperspectral images preferably include at least one of the following colour shades:
  • the sorting systems and methods according to the present invention enable the many defects in a packaged product to be detected (which will be described later in the present description).
  • the second image processing means capture the light reflected and transmitted by the packaged products within the visible light spectrum, and enable the automatic and high-speed analysis of parameters visible to the human eye such as: the printing of barcodes, codes and printed dates, the correct positioning of the films, the presence and position of adhesive labels and the presence of contaminants which are differentiated by colour from the packaged products.
  • the capture and processing of these images in the visible light spectrum enables the quality of the packaged products to be guaranteed, since it makes it possible to verify the printed codes and suitably trace the quality control of the products, verify the correct printing of critical data such as expiry or best before dates, prevent aesthetic defects, such as the displacement of the film in the packaging machine, or correctly install and print an additional label required on several occasions by customers.
  • the linear hyperspectral image capture means take images exclusively from a predefined line of sight (or image capture line).
  • the width of the image capture line can vary depending on the specific distance at which said image capture means are located, and may be, for example and without limitation, on the order of tenths of millimetres.
  • Each hyperspectral image is composed by capturing successive lines in different spectral bands. Subsequently, the light intensity values in each spectral band for each pixel of the hyperspectral image, i.e., the spectral signature of the pixel, are compared to a pattern signature, and as a result a colour tone is assigned, composing what is called a chemical image. Likewise, within each chemical image, one or several regions of interest are established, which enable the presence of specific colour tones to be detected, enabling the images to be sorted depending on different comparison methods related to the desired quality inspection.
  • the image capture means in the visible light spectrum also take images exclusively from one line of sight, composing the images by means of capturing successive lines.
  • the second image processing means establish one or several regions of interest, which by means of different comparison methods enable the images to be sorted depending on additional comparison methods also related to the desired quality inspection.
  • the present invention enables deciding whether a packaged product meets the quality requirements and therefore continues to the shipping line, or on the contrary, if the presence of a defect is detected, ordering the rejection thereof by sending a corresponding instruction to the actuation means of the sorting means.
  • Said sorting means preferably comprise a pneumatic blowing device, a folding belt, a pneumatic pusher or a pneumatic solenoid valve connected to a rejector.
  • the actuation means preferably comprise a programmable logic controller connected to the second image processing means.
  • the first and/or the second image processing means are preferably provided with programmable logic means, for example a computer.
  • the present invention contemplates that the linear image capture means and the linear hyperspectral image capture means can take images of both the upper face and the lower face of the packaged products. Furthermore, the present invention contemplates that the linear illumination means and the linear hyperspectral illumination means can illuminate the packaged products, both directly and backlit.
  • the sorting system according to the present invention like the sorting method of the invention (which will be described in detail later) enable the following defects of a packaged product to be detected:
  • the present invention enables the correct heat sealing of the packages to be analysed and also enables the packaged products to be sorted according to the quality thereof, and possible contaminating agents and any other printing defect in the films to be detected. This is a significant improvement in the detection of possible defects, with respect to the previous techniques.
  • the present invention captures the light reflected by the packaged products both in the infrared light spectrum and in the visible light spectrum. This enables images of the packaged product to be obtained through the films, even if said films are printed with inks opaque to visible light, which is an improvement with respect to currently existing vision equipment with a similar purpose.
  • the linear image capture means preferably comprise a linear digital camera.
  • the linear hyperspectral image capture means preferably comprise a linear hyperspectral digital camera configured to capture images in the spectrum encompassing from 400 to 2000 nanometres in wavelength.
  • the sorting system preferably further comprises a display monitor configured to show images obtained by the image capture means (both in the visible spectrum and in the infrared spectrum), the monitor being further provided with actuation buttons and illuminated lights which enable different operating parameters to be configured and navigating through different screens.
  • presence sensors are provided in the entry area and in the exit area. In this manner, it is possible to monitor the entry and exit of the packaged products, which enables possible jams to be detected as well as reducing the energy consumption of the sorting system by timing when the illumination means are turned on and off.
  • the sorting system of the invention preferably comprises two feeder belts arranged in series with each other, there being a gap between both feeder belts and the image capture line being located in said gap.
  • the sorting system according to the present invention is further provided with an upper enclosure and a lower enclosure wherein the linear image capture means, the linear hyperspectral image capture means, the linear hyperspectral illumination means and/or the linear illumination means are housed.
  • the upper and lower enclosures preferably have an elastomeric seal which guarantees the airtightness thereof during cleaning operations and at least one removable carriage to which the linear image capture means, the linear hyperspectral image capture means, the linear hyperspectral illumination means and/or the linear illumination means are fastened. Said removable carriage facilitates maintenance operations.
  • linear image capture means and/or the linear hyperspectral image capture means may be provided with a communication cable connected to the image processing means by which the corresponding sequence of digital images is transmitted.
  • the linear hyperspectral illumination means for use in the present invention concentrate the hyperspectral light beam on a line with a predefined width (the image capture line), reducing the electrical power of the halogen lamp, and thereby also reducing the thermal irradiation received by the packaged products.
  • Said hyperspectral illumination means demand less heat dissipation (thereby preventing possible damage to the packaged products) and enable a high light power to be obtained.
  • the level of lighting that they provide enables the necessary exposure time for the linear hyperspectral image capture means to be reduced, and enables the high-speed capture of the lines composing hyperspectral images, while they enable the capture with a higher sharpness of the lines.
  • the linear hyperspectral illumination means for use in the present invention preferably comprise a thermally conductive block (for example, a metal block) coupled to heat-dissipating fins, said block being provided with a parabola-shaped inner cavity with a reflective surface finish, a linear halogen lamp being provided in the focus of said parabola in such a manner that the light emitted by the lamp is reflected by the parabola and is concentrated in a light strip with a fixed width, said light strip being focused on a linear Fresnel lens configured to concentrate the received light into a line with a predefined width, the image capture line, which is precisely the same line along which the infrared light is captured by linear hyperspectral image capture means.
  • a thermally conductive block for example, a metal block
  • a linear halogen lamp being provided in the focus of said parabola in such a manner that the light emitted by the lamp is reflected by the parabola and is concentrated in a light strip with a fixed width
  • the linear hyperspectral illumination means may also preferably be provided with a displacement mechanism for the linear Fresnel lens. Said mechanism enables the focus of the Fresnel lens to be varied and therefore enables the width of the image capture line to be modified.
  • the linear Fresnel lens can be separated from the heat source (the linear halogen lamp), which enables it to be manufactured with machined plastic materials that are cheap to manufacture.
  • a second aspect of the invention relates to a method for sorting packaged products by using a sorting system according to the first aspect of the invention, said sorting method being characterised in that it comprises the following steps:
  • the control area analysed by the second image processing means preferably comprises a heat-sealing band of the packaged product, a cell wherein the products that have been packaged are deposited or an area wherein printed codes of the packaged product are provided.
  • the second processing means when analysing at least one predetermined control area, quantify the pixels of at least one predetermined shade which are present in said control area, analysing the outline and surface of the portions of said predetermined shade.
  • a third aspect of the present invention relates to linear hyperspectral illumination means comprising a thermally conductive block (for example, a metal block) coupled to heat-dissipating fins, said block being provided with a parabola-shaped inner cavity with a reflective surface finish, a linear halogen lamp being provided in the focus of said parabola in such a manner that the light emitted by the lamp is reflected by the parabola and is concentrated in a light strip with a fixed width, a linear Fresnel lens being focused on said light strip, lens which is configured to concentrate the received light into a line with a predefined width.
  • a thermally conductive block for example, a metal block
  • a linear halogen lamp being provided in the focus of said parabola in such a manner that the light emitted by the lamp is reflected by the parabola and is concentrated in a light strip with a fixed width
  • a linear Fresnel lens being focused on said light strip, lens which is configured to concentrate the received light
  • Said linear hyperspectral illumination means are also preferably provided with a displacement mechanism for the linear Fresnel lens. This mechanism enables the focus of the lens to be varied and therefore enables the width of the image capture line to be modified.
  • any technical features explained in relation to a system for sorting packaged products according to the first aspect of the present invention is also fully applicable to a method for sorting packaged products according to the second aspect of the present invention and vice versa.
  • Figure 1 shows a schematic representation of a system for sorting packaged products according to the present invention.
  • the sorting system is used to inspect heat-sealed packages of food packaged products (1) such as, for example, sausage, ham or cheese or medicines, and enables those products (10) that do not meet predefined quality parameters to be rejected, thanks to the actuation of sorting means (9) consisting, in this embodiment of the invention, of a tilting belt.
  • food packaged products (1) such as, for example, sausage, ham or cheese or medicines
  • the sorting system is further provided with two conveyor belts (2), arranged one after the other, which have two presence sensors (8) which detect the entrance and exit of the packaged products (1), such that both belts (2) have an opening in the transition between them, wherein, in this embodiment of the invention, the capture of the images of the lower surface of the package of the packaged products (1) takes place.
  • the system has two linear image capture means (4) in the visible spectrum, which in this embodiment are linear digital cameras and two linear hyperspectral image capture means (5) in the infrared spectrum, two of the capture means being located in the upper enclosure (41) and the other two in the lower enclosure (42).
  • the means (4) and (5) capture the images along an image capture line (3).
  • the linear hyperspectral illumination means (6) are hyperspectral digital cameras and are located in the upper enclosure (41) and enable images to be captured in the visible spectrum and the infrared spectrum of the upper surface of the package by means of direct lighting, capturing the lower surface of the package backlit in the infrared spectrum and directly in the visible light spectrum.
  • Linear illumination means (7) in the visible light spectrum are also provided, which, in this embodiment, are provided on the lower portion in order to enable the capture of images in the visible light spectrum of the lower surface of the package.
  • the system also has first processing means (12) for processing the hyperspectral images and second image processing means (13) configured to analyse at least one predetermined control area of each image of the sequence of images; acquired from the linear digital cameras (4) and from the first processing means (12). Both the first processing means (12) and the second processing means (13) are housed in a protective enclosure (11).
  • Actuation means (14) are also provided which comprise a programmable logic controller (14) and are configured to actuate on the package sorting means (9) by sending them sorting instructions.
  • the actuation means (14) in turn receive instructions from the image processing means (13).
  • the embodiment of the packaging sorting system shown in Fig. 1 is further provided with a display monitor (15), actuation buttons and operation lights (16) and software with a touch interface.
  • Said software enables the different operating parameters of the equipment to be configured and navigating through the screens of the application, which is programmed to show images from the sequence of images captured by the image capture means (4) and (5), showing a control panel with the operation status of the device, showing the sorted images and the history of sorting that has been performed.
  • Figure 2 shows a transverse cross-sectional representation of the linear hyperspectral illumination means (6), which are focused on a packaged product (1).
  • the package comprises a cell (31), wherein the product (39) to be packaged is deposited which is sealed by heat sealing of an upper film (32) with a bottom film which makes up the cell.
  • the linear hyperspectral illumination means (6) consist, in this embodiment of the invention, of a metal block (17) coupled to heat-dissipating fins (18), and they have a parabola-shaped cavity (19) along the block, in the focus of which a linear halogen lamp (20) is installed, such that the light it emits is reflected by the parabola, which has a mirrored surface finish, such that the reflection of the light is concentrated in a light strip (22) with a fixed width, which is focused on a linear Fresnel lens (21), which in turn concentrates the light in the image capture line (3), the width of which can be regulated by means of a mechanism (23), which by means of a displacement of the lens (21) regulates the focus thereof.
  • the line of light produced by the linear hyperspectral illumination means (6) focuses a strip on the upper face of the packaged product (1), which enables the image capture means (4) and (5) to capture images along the image capture line (3), both directly by means of the upper hyperspectral digital camera (5), as well as backlit through the opening existing between the two conveyor belts (2), by means of the lower hyperspectral digital camera (5).
  • Figure 3A shows a representation of a longitudinal cross section of linear hyperspectral illumination means (6) and it further schematically shows how the linear hyperspectral image capture means (5) send the hyperspectral image lines of the light reflected or transmitted in different bands of the infrared spectrum (24) to the first means image processing (12), which, as shown schematically in Figures 3B to 3D , compose a hyperspectral image (29), which is formed by different pixels (25), in each of which the intensity of the light captured in the different frequency bands of the infrared light spectrum is recorded, which is known as the spectral signature (26), and subsequently composes a sequence of images called chemical images (30), wherein the pixels of said images are coloured, the colour tone (28) of the different pixels being determined in this embodiment of the invention by a software implemented in the image processing means (12) based on the comparison of the spectral signature (26) with predetermined reference patterns (27). Subsequently, the chemical images (30) are sent to the second image processing means (13).
  • the first means image processing (12) which
  • Figure 4A is a top view wherein it schematically shows the passage of a heat-sealed packaged product (1) over the gap area of the two conveyor belts (2), as well as the image capture line (3).
  • the packaged product is provided with two cells (31), wherein the products (39) are deposited and whereon an upper film is adhered by means of a heat-sealing process, along a heat-sealing band (33) arranged around the cells (31).
  • Figure 4B shows a diagram of the control area (36) of the images to be processed, said control area (36) comprising different regions of interest to be analysed, the control area (36) includes, in this specific exemplary embodiment of the invention, the cell (38) inside of which the packaged product (39) to be analysed is located, which may have surface contamination (35).
  • the control area (36) also includes the heat sealing (33), which is delimited by the band comprising the heat sealing around the cell (37), said band being able to have contamination from the packaged product itself or from a contaminant (34).
  • Figures 5A-5C show chemical images (30) of some packages of Serrano ham, illustrating, among other aspects of the invention, how the control area (36) of the package, the region of interest of the heat sealing (37) and the presence of contamination (34) are detected therein, by means of the processing of the different regions.
  • Fig. 5A shows two chemical images (30) generated by the first image processing means (12), from two different models for assigning colour tone (28) based on the comparison with different spectral signature models (26). From left to right, the first image is composed to differentiate the control areas of the package, the second to detect the contamination of the heat sealing.
  • Fig. 5B shows, by way of example, sequences of the processing of the chemical images of some packages of Serrano ham, which illustrate, among other aspects of the invention, how the control area (36) of the package and the region of interest of the heat sealing (37) are detected. From left to right, the first image is processed to detect the outline of the package, the second image to determine the control area (36) of the package, the third image to determine the regions of interest of the heat sealing (37).
  • Fig. 5C shows, by way of example, how the presence of contamination (34) is detected in the heat sealing (37), by comparing the colour pattern of the contamination in the region of interest of the heat sealing (37), processing the different regions of interest.
  • Figures 6 and 7 show, in front and isometric views, a possible embodiment of the system for sorting packaged products.
  • Fig. 6 shows, in a front view, the different elements of the system for sorting packaged products according to the invention, previously described in Figures 1 and 2 , with the aim of facilitating the understanding of the diagrams.
  • the system is provided with two linear hyperspectral image capture means (5), one located in the upper enclosure (41) with direct lighting and the other located in the lower enclosure (42) with backlit lighting.
  • two different linear hyperspectral illumination means (6) are provided, arranged symmetrically to each other with respect to the image capture line.
  • Fig. 7 represents the same as Fig. 6 in an isometric view, only in this case the removable carriages (43) of the upper (41) and lower (42) enclosures are deployed in order to better display the different image capture means and the illumination means of the device for sorting packaged products.
  • Figure 8 shows an isometric view of a possible embodiment of the linear hyperspectral illumination means (6).
  • the metal block (17) coupled to the dissipating fins (18) is arranged perpendicular to the passage direction of the packaged products, with a certain inclination on the conveyor belt (2), focusing the beam towards the linear Fresnel lens (21), which is attached to a mechanism (23) that enables the position and orientation of the lens to be regulated, and therefore the width of the lighting line focused on the capture area of the hyperspectral camera (3) which hits the package.
EP20382436.2A 2020-05-22 2020-05-22 System und verfahren zum sortieren von verpackten produkten Active EP3912737B1 (de)

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CN114653596A (zh) * 2022-04-07 2022-06-24 陈皓 一种药物组合物生产制备用检验装置

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