EP3912737B1 - Système et procédé de tri de produits conditionnés - Google Patents

Système et procédé de tri de produits conditionnés Download PDF

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Publication number
EP3912737B1
EP3912737B1 EP20382436.2A EP20382436A EP3912737B1 EP 3912737 B1 EP3912737 B1 EP 3912737B1 EP 20382436 A EP20382436 A EP 20382436A EP 3912737 B1 EP3912737 B1 EP 3912737B1
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EP
European Patent Office
Prior art keywords
linear
hyperspectral
images
image capture
sorting
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.)
Active
Application number
EP20382436.2A
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German (de)
English (en)
Other versions
EP3912737A1 (fr
EP3912737C0 (fr
Inventor
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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Priority to EP20382436.2A priority Critical patent/EP3912737B1/fr
Priority to ES20382436T priority patent/ES2973545T3/es
Publication of EP3912737A1 publication Critical patent/EP3912737A1/fr
Application granted granted Critical
Publication of EP3912737C0 publication Critical patent/EP3912737C0/fr
Publication of EP3912737B1 publication Critical patent/EP3912737B1/fr
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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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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).
  • 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.
  • 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.

Landscapes

  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Sorting Of Articles (AREA)

Claims (14)

  1. Système de tri de produits emballés (1), ledit système étant équipé :
    - d'au moins une courroie transporteuse (2) configurée pour transporter les produits emballés (1) d'une zone d'entrée vers une zone de sortie ;
    - d'au moins un moyen de capture d'images linéaires (4), configuré pour capturer des images de la lumière réfléchie ou transmise sur le spectre visible par les produits emballés (1) le long d'une ligne de capture d'images prédéfinie (3) ;
    - d'au moins un moyen d'éclairage linéaire (7) configuré pour émettre de la lumière sur le spectre de lumière visible et éclairer la ligne de capture d'images (3) ;
    ledit système étant caractérisé en ce qu'il comprend en outre :
    - au moins un moyen de capture d'image hyperspectrale linéaire (5), configuré pour capturer des images hyperspectrales de la lumière réfléchie ou transmise sur différentes bandes du spectre infrarouge (24) par les produits emballés (1) le long de la ligne de capture d'images prédéfinie (3) ;
    - au moins un moyen d'éclairage hyperspectral linéaire (6) configuré pour émettre de la lumière sur le spectre de lumière infrarouge et pour éclairer uniquement la ligne de capture d'images (3) ;
    - un premier moyen de traitement d'images (12), configuré pour déterminer la signature spectrale de chaque pixel (25) des images hyperspectrales (29) sur différentes bandes prédéfinies du spectre de lumière infrarouge, afin de comparer la signature spectrale (26) de chaque pixel des images hyperspectrales avec un motif de référence (27) et afin de colorer les images hyperspectrales (29) dans une teinte préétablie (28) selon le résultat de la comparaison de la signature spectrale (26) de celles-ci avec le motif de référence (27), afin d'obtenir des images hyperspectrales colorées (30) ;
    - un deuxième moyen de traitement d'images (13), configuré pour analyser au moins une zone de contrôle prédéterminée (36) de chaque image acquise par le moyen de capture d'images linéaires (4) et de chaque image hyperspectrale colorée (30) obtenue par le premier moyen de traitement d'images (12) ; pour comparer au moins ladite zone de contrôle (36) de chacune desdites images avec au moins un motif de référence ; pour trier lesdites images selon ladite comparaison avec le motif de référence et envoyer des instructions de tri à un moyen de déclenchement (14) ; et
    - un moyen de déclenchement (14), configuré pour recevoir les instructions de tri et déclencher un moyen de tri (9) pour les produits emballés (1) sur la base desdites instructions de tri, le moyen de tri (9) étant prévu dans la zone de sortie.
  2. Système selon la revendication 1, dans lequel le moyen de capture d'images linéaires (4) comprend une caméra numérique linéaire.
  3. Système selon l'une quelconque des revendications précédentes, dans lequel le moyen de capture d'images hyperspectrales linéaires (5) comprend une caméra numérique hyperspectrale linéaire configurée pour capturer des images sur le spectre de 400 à 2000 nanomètres de longueur d'onde.
  4. Système selon l'une quelconque des revendications précédentes, dans lequel le moyen de tri (9) comprend un dispositif de soufflage pneumatique, une courroie pliable, un poussoir pneumatique ou un solénoïde pneumatique relié à un réjecteur.
  5. Système selon l'une quelconque des revendications précédentes, dans lequel le moyen de déclenchement (14) comprend un contrôleur à logique programmable relié au deuxième moyen de traitement d'images (13).
  6. Système selon l'une quelconque des revendications précédentes, qui comprend en outre un moniteur d'affichage (15) configuré pour afficher les images obtenues par les moyens de capture d'images (4) et (5), le moniteur (15) étant en outre équipé de boutons et de voyants lumineux (16) qui permettent à différents paramètres de fonctionnement d'être configurés, et de parcourir les différents écrans.
  7. Système selon l'une quelconque des revendications précédentes, dans lequel des capteurs de présence (8) sont en outre prévus dans la zone d'entrée et dans la zone de sortie.
  8. Système selon l'une quelconque des revendications précédentes, dans lequel deux courroies d'alimentation (2) disposées en série l'une avec l'autre sont prévues, un espace étant prévu entre les deux courroies d'alimentation (2) et la ligne de capture d'images (3) se trouvant dans ledit espace.
  9. Système selon la revendication 8, dans lequel un logement supérieur (41) et un logement inférieur (42) sont prévus, dans lesquels le moyen de capture d'images linéaires (4), le moyen de capture d'images hyperspectrales linéaires (5), le moyen d'éclairage hyperspectral linéaire (6) et/ou le moyen d'éclairage linéaire (7) sont contenus.
  10. Système selon l'une quelconque des revendications précédentes, dans lequel le moyen d'éclairage hyperspectral linéaire (6) comprend un bloc thermiquement conducteur (17) couplé à des ailettes de dissipation thermique (18) ; ledit bloc (17) étant équipé d'une cavité interne en forme de parabole (19) avec une finition de surface réfléchissante ; une lampe halogène linéaire (20) étant prévue au centre de ladite parabole de sorte que la lumière émise par la lampe (20) soit réfléchie par la parabole et soit concentrée en une bande de lumière (22) d'une largeur fixe ; une lentille de Fresnel linéaire (21) étant focalisée sur ladite bande de lumière (22), ladite lentille étant configurée pour concentrer la lumière reçue en une ligne (3) d'une largeur prédéfinie.
  11. Système selon la revendication 10, dans lequel le moyen d'éclairage hyperspectral linéaire (6) est équipé d'un mécanisme de déplacement (23) pour la lentille de Fresnel linéaire (21).
  12. Système selon l'une quelconque des revendications précédentes, dans lequel deux moyens d'éclairage hyperspectral linéaires différents (6) sont prévus, symétriquement l'un à l'autre par rapport à la ligne de capture d'images (3).
  13. Procédé de tri de produits emballés (1) à l'aide d'un système de tri selon l'une quelconque des revendications 1 à 12, ledit procédé de tri étant caractérisé en ce qu'il comprend les étapes suivantes :
    - le déclenchement d'au moins une courroie transporteuse (2) afin de transporter les produits emballés (1) d'une zone d'entrée vers une zone de sortie ;
    - le déclenchement du moyen d'éclairage linéaire (7) et du moyen d'éclairage hyperspectral linéaire (6) afin d'éclairer la ligne de capture d'images (3) ;
    - le déclenchement du moyen de capture d'images linéaires (4) afin de capturer des images de la lumière réfléchie ou transmise sur le spectre visible par les produits emballés (1) le long de la ligne de capture d'images (3), et le déclenchement du moyen de capture d'images hyperspectrales linéaires (5) afin de capturer des images hyperspectrales de la lumière réfléchie ou transmise sur le spectre infrarouge (24) par les produits emballés (1) le long de la ligne de capture d'images (3) ;
    - avec le premier moyen de traitement d'images (12), l'analyse de l'intensité de la lumière de chaque pixel (25) des images hyperspectrales (29) sur différentes bandes prédéfinies du spectre de lumière infrarouge, afin d'établir la signature spectrale (26) des images hyperspectrales (29) sur la base de ladite analyse de l'intensité, la comparaison de la signature spectrale (26) des images hyperspectrales (29) avec un motif de référence (27), et la coloration des images hyperspectrales dans une teinte préétablie selon le résultat de la comparaison de la signature spectrale (26) de celles-ci avec le motif de référence (27), afin d'obtenir des images hyperspectrales colorées (30) ;
    - avec le deuxième moyen de traitement d'images (13), l'analyse d'au moins une zone de contrôle prédéterminée (36) de chaque image acquise par le moyen de capture d'images linéaires (4) et de chaque image hyperspectrale colorée (30) obtenue par le premier moyen de traitement d'images (12) ; la comparaison d'au moins une zone de contrôle (36) de chacune desdites images avec au moins un motif de référence ; le tri desdites images selon ladite comparaison avec le motif de référence et l'envoi d'instructions de tri à un moyen de déclenchement (14) ; et
    - la réception des instructions de tri et, avec le moyen de déclenchement (14), le déclenchement du moyen de tri (9) pour les produits emballés (1) sur la base desdites instructions de tri.
  14. Procédé de tri selon la revendication 13, dans lequel la zone de contrôle (36) analysée par le deuxième moyen de traitement d'images (13) comprend une bande thermoscellable (33) de l'emballage de produit (1), une cellule (31) dans laquelle les produits sont déposés (39) ou une zone dans laquelle des codes imprimés du produit emballé (1) sont prévus.
EP20382436.2A 2020-05-22 2020-05-22 Système et procédé de tri de produits conditionnés Active EP3912737B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP20382436.2A EP3912737B1 (fr) 2020-05-22 2020-05-22 Système et procédé de tri de produits conditionnés
ES20382436T ES2973545T3 (es) 2020-05-22 2020-05-22 Sistema y procedimiento de clasificación de productos envasados

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EP20382436.2A EP3912737B1 (fr) 2020-05-22 2020-05-22 Système et procédé de tri de produits conditionnés

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EP3912737C0 EP3912737C0 (fr) 2023-12-27
EP3912737B1 true EP3912737B1 (fr) 2023-12-27

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CN114653596B (zh) * 2022-04-07 2023-05-23 陈皓 一种药物组合物生产制备用检验装置

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DE3416594C2 (de) 1984-05-04 1986-03-13 Alexander Schoeller & Co AG, Volketswil, Schwerzenbach Verfahren zum Bestimmen von oxidationsabhängigen Eigenschaften gleichartiger Kunststoffkörper sowie Verwendungen des Verfahrens und Vorrichtung zum Ausführen des Verfahrens an Spritzgußgroßteilen, insbesondere Flaschenkästen
JPS61170367A (ja) 1985-01-23 1986-08-01 Kaiyo Kagaku Kk スツポンを含有する甘露煮及びその製造方法
DE4036201A1 (de) 1990-11-14 1992-05-21 Bayer Ag Spektroskopisches analyseverfahren fuer kunststoffgemische
JPH07111397B2 (ja) 1993-01-14 1995-11-29 東亜電波工業株式会社 プラスチックの種類判定方法
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JP3252682B2 (ja) 1995-11-13 2002-02-04 株式会社豊田中央研究所 赤外分光分析法による樹脂の高速同定方法およびそのシステム
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DE19601923C1 (de) 1996-01-12 1997-07-24 Inst Chemo Biosensorik Verfahren und Vorrichtung zum Erkennen organischer Substanzen
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US20060244954A1 (en) * 2005-03-29 2006-11-02 Daley Wayne D System and method for inspecting packaging quality of a packaged food product
FR2938067B1 (fr) 2008-11-05 2010-12-31 Edixia Dispositif pour inspecter des soudures d'emballage.
CA2688805C (fr) * 2008-11-18 2013-07-02 John F. Green Methode et installation de tri d'articles heterogenes
FR2977939B1 (fr) 2011-07-11 2013-08-09 Edixia Procede d'acquisition de plusieurs images d'un meme objet a l'aide d'une seule camera lineaire
FR3011935B1 (fr) 2013-10-11 2017-06-23 Luceo Procede et dispositif pour inspecter les soudures d'emballages

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EP3912737A1 (fr) 2021-11-24
EP3912737C0 (fr) 2023-12-27
ES2973545T3 (es) 2024-06-20

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