WO2021259562A1

WO2021259562A1 - Detection device for an at least partly automated detection of multiple object data sets of at least one object

Info

Publication number: WO2021259562A1
Application number: PCT/EP2021/063449
Authority: WO
Inventors: Darno Alexander KETTERER; Sebastian Schmitt
Original assignee: Robert Bosch Gmbh
Priority date: 2020-06-22
Filing date: 2021-05-20
Publication date: 2021-12-30
Also published as: DE102020207649A1

Abstract

The invention relates to a detection device (10a; 10b; 10c; 10d; 10e) for an at least partly automated detection of multiple object data sets of at least one object (12a; 12b; 12c; 12d; 12e), comprising at least one guiding unit (14a; 14b; 14c; 14d; 14e) for guiding at least one object data detection unit (16a; 16b; 16c, 18a; 18b; 18c; 16d, 18d; 16e, 18e) and comprising at least two object data detection units (16a; 16b; 16c, 18a; 18b; 18c; 16d, 18d; 16e, 18e) for detecting object data of the object (12a; 12b; 12c; 12d; 12e), said object data detection units being arranged on the guiding unit (14a; 14b; 14c; 14d; 14e), wherein the guiding unit (14a; 14b; 14c; 14d; 14e) has at least one guiding element (20a; 20b; 20c; 20d; 20e), in particular an at least partly curved guiding element. According to the invention, at least one object data detection unit (16a; 16b; 16c; 16d; 16e) of the two object data detection units (16a; 16b; 16c, 18a; 18b, 18c; 16d, 18d; 16e, 18e) is arranged on the guiding element (20a; 20b; 20c; 20d; 20e), and the other object data detection unit (18a; 18b; 18c; 18d; 18e) of the two object data detection units (16a; 16b; 16c, 18a; 18b, 18c; 16d, 18d; 16e, 18e) is arranged on another guiding element (22b; 22d; 22e) of the guiding unit (14a; 14b; 14c; 14d; 14e) or at least the two object data detection units (16a; 16b; 16c, 18a; 18b, 18c; 16d, 18d; 16e, 18e) are arranged on opposite sides of the guiding element (20a; 20b; 20c; 20d; 20e).

Description

description

Acquisition device for an at least partially automated acquisition of multiple object data sets of at least one object

State of the art

DE 10 2017 219 407 A1 already discloses a detection device for at least partially automated detection of multiple object data sets at least one object, with at least one guide unit for guiding at least one object data detection unit, and with at least two object data detection units for detection of object data of the object which can be arranged on the guide unit, wherein the guide unit has at least one guide element, has been proposed.

Disclosure of the invention

The invention is based on a detection device for an at least partially automated detection of multiple object data sets of at least one object, with at least one guide unit for guiding at least one object data detection unit, and with at least two object data detection units for detecting object data of the object, which is attached to the guide unit can be arranged, the guide unit having at least one, in particular an at least partially curved, guide element.

It is proposed that at least one object data acquisition unit of the two object data acquisition units is arranged on the guide element and a further object data acquisition unit of the two object data acquisition units is arranged on a further guide element of the guide unit at least the two object data acquisition units are arranged on the guide element on sides facing away from one another. A high flexibility of an object data acquisition unit arrangement for the acquisition of object data can advantageously be realized. The object data acquisition units can advantageously acquire object data simultaneously from an identical height, in particular at different angles. A particularly large number of object data acquisition units and / or further acquisition units can advantageously be guided through the guide unit.

At least the two object data acquisition units are preferably arranged separately from one another on the guide unit. In particular, at least one of the two object data acquisition units is movably arranged on the guide unit. The guide unit is provided in particular to guide at least one of the two object data acquisition units, which is arranged on the guide unit, during a movement, with the guide unit preferably providing a defined trajectory of at least one object data acquisition unit. “Provided” is to be understood as meaning, in particular, specially set up, specially designed and / or specially equipped. The fact that an object is provided for a specific function is to be understood in particular to mean that the object fulfills and / or performs this specific function in at least one application and / or operating state. The guide unit is in particular provided at least to counteract a movement of an object data acquisition unit of the two object data acquisition units arranged on the guide unit along a direction which deviates from the defined movement path. The guide unit can, for example, have at least one multi-axis robot arm, a joint arm, a swivel arm and / or at least the guide element, particularly preferably a plurality of guide elements.

At least one of the two object data acquisition units is preferably movably arranged on the guide element. The guide element is preferably provided at least to guide at least the one object data acquisition unit which is arranged on the guide element during a movement. The guide element has in particular at least one main guide track, with a defined movement path of the at least one on the guide Rung element arranged object data acquisition unit runs at least parallel to the main guide track. The guide element is preferably designed as a rail. The main guide track of the guide element preferably runs at least substantially parallel to a main longitudinal axis of the guide element. “Essentially parallel” should be understood here to mean in particular an alignment of a direction relative to a reference direction, in particular in a plane, the direction having a deviation from the reference direction, in particular less than 8 °, advantageously less than 5 ° and particularly advantageous has less than 2 °. The guide element, in particular designed as a rail, preferably has at least one further main guide track on which, in particular in at least one exemplary embodiment, the further object data acquisition unit of the two object data acquisition units can be arranged and / or moved. In particular, the main guide track and the further main guide track are arranged on the guide element on sides facing away from one another. The main guideway preferably runs parallel to the further main guideway.

The guide unit, in particular in at least one exemplary embodiment, preferably comprises at least the guide element and the further guide element. It is conceivable that the further guide element is designed identically to the guide element or different from the guide element. The guide element is preferably designed separately from the further guide element and / or is arranged at least at a distance from the further guide element. The guide element and the further guide element are particularly preferably arranged along a direction running at least substantially parallel to a surface of a specimen slide unit of the detection device at the same distance from the specimen slide unit, which is particularly preferably provided for positioning the object in an object data detection area of the detection device.

In particular, the two object data acquisition units are mounted so as to be movable relative to one another, in particular along the guide unit. The two object data acquisition units can preferably be moved independently of one another. The two object data acquisition units are preferably, in particular separated from one another, simultaneously at the same acquisition height on the guide entry unit can be arranged, at least viewed along a main guide track of the guide element and / or a main guide track of the further guide element. It is also conceivable that at least the two object data acquisition units are arranged on the main guide track of the guide element or on the wider main guide track of the guide element. Preferably, at least one object data acquisition unit of the two object data acquisition units is arranged laterally on the guide element, at least viewed along a main guide track of the guide element or on the further guide element, in particular laterally, at least viewed along a main guide track of the further guide element. A further object data acquisition unit of the two object data acquisition units is, in particular in at least one exemplary embodiment, preferably arranged laterally on the guide element, at least viewed along a main guide track of the guide element or on the further guide element, in particular laterally, at least viewed along a main guide track of the further guide element. Particularly preferably, in particular in at least one exemplary embodiment, the object data acquisition unit and the further object data acquisition unit are arranged on sides of the guide element facing away from one another.

An “object data acquisition unit” is to be understood in particular as a unit which is provided at least for acquiring one type of object data. The object data acquisition unit is preferably an imaging acquisition unit which in particular comprises a still camera and / or a motion picture camera. The object data acquisition unit preferably has a true color camera. Alternatively, it is conceivable that the object data acquisition unit comprises, for example, an infrared camera, a TOF camera and / or the like. An object data record preferably comprises at least two, particularly preferably at least ten, different recordings from the object data acquisition unit. An “object data record” comprises in particular at least two different object data about the same object. A multiple object data record preferably comprises more than ten different object data, particularly preferably more than a hundred different object data about the same object. A multiple object data set preferably comprises at least two different types of object data about the same object. “Object data” is to be understood as meaning, in particular, information that is suitable for characterizing an object, in particular for distinguishing it from another object. Object data preferably include characteristics inherent in an object. Object data can in particular include appearance, shape, contour, color, symmetry, weight, material and / or another characteristic that appears sensible to the expert. It is also conceivable that situation-related characteristics are recorded, for example a relative arrangement to a further object, in particular a counterpart, a degree of soiling and / or a temporary marking. A “partially automated acquisition” is to be understood in particular to mean that at least one multiple object data set is acquired in at least one operating state in an unattended manner, that is, in particular, without intervention by an operator.

The acquisition device preferably comprises at least one drive unit which is provided at least to generate a defined relative movement between at least one object data acquisition unit of the two object data acquisition units and the object. A “defined relative movement” is to be understood as meaning, in particular, a relative change in position and / or alignment which can be actively controlled at least in a regular operating state of the detection device. In particular, the drive unit is provided for generating a defined relative movement between at least one object data acquisition unit of the two object data acquisition units and the object carrier unit. The drive unit is preferably provided to automatically move at least one object data acquisition unit of the two object data acquisition units arranged on the guide unit, in particular along the defined movement path predetermined by the guide unit. In particular, the two object data acquisition units can be moved independently of one another by means of the drive unit. In particular, object data can be recorded from multiple perspectives by means of the defined relative movement generated by the drive unit. A “perspective” is to be understood in particular as a specific relative arrangement, in particular position and / or orientation, of the object data acquisition unit and the object, in particular the object carrier unit. In particular, multiple perspectives include at least two different relative arrangements of the object data acquisition unit and the object, in particular the object carrier. unit. Multiple perspectives preferably include more than ten different arrangements of the object data acquisition unit relative to the object, in particular the object carrier unit. In particular, two perspectives define a detection plane. Multiple perspectives preferably include at least two different acquisition planes. The entirety of all detection levels possible with the drive unit is preferably space-filling. Alternatively, a distance between two possible acquisition planes is at least less than 1 mm and / or an angular distance between two possible acquisition planes is at least less than 1 °. The drive unit is preferably designed electromechanically and comprises in particular at least one electric motor and / or, for example, at least one piezo element for fine adjustment. Alternatively, it is conceivable that the drive unit is designed pneumatically or hydraulically. At least one object data acquisition unit of the two object data acquisition units is preferably mounted on a guide carriage of the guide unit, which is in particular movably arranged on the guide element or on the wider guide element. The further object data acquisition unit is particularly preferably mounted on a further guide carriage of the guide unit, which is in particular movably arranged on the guide element or on the further guide element. The guide slide is preferably formed separately from the further guide slide. Particularly preferred are / is at least the guide carriage and / or the further guide carriage to enable multi-dimensional mobility with a movable receiving body, which, in particular by means of a ball joint or the like, is movable on one with the guide element and / or the further guide element cooperating base body is arranged.

The acquisition device preferably comprises at least one main arithmetic unit, which in particular has at least one machine learning module, and which is set up, preferably for training the machine learning module, to at least partially evaluate the object data acquired by means of the object data acquisition units. The main processing unit, in particular the machine learning module, is particularly preferably provided at least to carry out an object learning process. Under an "object learning process", in particular, a processing of the multiple object data records for further use is intended. will stand. For example, an object learning process can include the creation of an all-round 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 pattern recognition. Carrying out the object learning process preferably trains the machine learning module. The main computing unit is preferably designed to be spatially separated from the drive unit and / or at least one object data acquisition unit of the two object data acquisition units. The main processing unit is preferably designed as a server. Alternatively, it is conceivable that the main computing unit is integrated into the object data acquisition unit. A “main computing unit” is to be understood as meaning, in particular, a unit with an information input, information processing and information output. The main processing unit preferably has at least one processor and one memory element. The components of the main computing unit are particularly preferably arranged on a common board and / or very particularly preferably arranged in a common housing. The drive unit and / or at least one object data acquisition unit of the two object data acquisition units are / is preferably controllable by means of the main computing unit. The main processing unit preferably controls at least the defined relative movement, in particular the movement of the object data acquisition units relative to one another and / or the movement of the guide element and the further guide element relative to one another, and at least one acquisition time of at least one object data acquisition unit of the two object data acquisition units. A “machine learning module” is to be understood as meaning, in particular, a computer architecture that is set up to generate knowledge from experience, in particular to learn from examples and to generalize it. The machine learning module preferably comprises at least one self-adaptive algorithm. The machine learning module is preferably designed as a deep learning module, in particular with at least one neural network. A “deep learning module” is to be understood in particular as a machine learning module that is set up to independently specify learning-relevant features. In an alternative embodiment, it is conceivable that the machine learning module is set up to process learning-relevant features specified by a user. A “neural network” is to be understood in particular as a computer architecture that is artificially networked with one another Includes neurons. The neural network can in particular be designed as a layered feedforward network, as a multi-layered feedforward network, as a recurrent network or as another neural network that appears sensible to a person skilled in the art. The machine learning module, in particular the neural network, is preferably set up for training to process the object data. The machine learning module, in particular the neural network, is preferably set up to learn an optical, in particular three-dimensional, appearance of the at least one object on the basis of the object data. The machine learning module trained by means of the object data, in particular a neural network, is preferably able to identify the object on the basis of an individual image of the at least one object. An efficient and resource-saving training of the machine learning module can advantageously be made possible.

The detection device preferably has at least one housing unit which is provided at least to shield an object data detection area at least partially from the outside. At least the two object data acquisition units, the guide unit and / or the drive unit are preferably arranged at least partially in an interior space defined by the housing unit. The housing unit is provided in particular to shield the interior space from dust. The housing unit preferably shields the interior from electromagnetic radiation. The housing unit preferably comprises one, in particular a single, opening for positioning an object in the object data acquisition area. The detection device particularly preferably comprises at least one closure unit for closing and opening the opening, in particular automatically. The locking unit preferably has at least one locking element, which in particular can be designed as a door or the like. The closure element is preferably moveable relative to the opening, in particular movably mounted on the housing unit. It is conceivable that the closure element is rotatably or linearly movably mounted on the housing unit. The closure unit preferably has at least one grip element which is arranged in particular on the closure element. In particular, a maximum length of the grip element extends, at least viewed along a main strut Coverage axis of the grip element at least substantially completely over a maximum extent of the closure element, at least viewed along an axis which lies in a main plane of extent of the closure element. A high level of operating convenience for a user when opening and closing the opening can advantageously be ensured. Operators of different body sizes can advantageously move the closure element with great comfort. A “main axis of extension” of an object is to be understood in particular as an axis which runs parallel to a longest edge of a smallest geometric cuboid which just completely surrounds the object. A “main extension plane” of a structural unit or an element is to be understood in particular as a plane which is parallel to a largest side surface of the smallest possible imaginary cuboid, which just completely encloses the structural unit, and in particular runs through the center of the cuboid. Furthermore, it is conceivable that the handle element has a variable handle thickness, the handle thickness preferably being adjustable. The closure unit particularly preferably has a damping element which is provided at least to brake the closure element in an end position and to close it automatically. Particularly preferred is a movement of the closure element, in particular a closing and opening of the opening by means of the closure element, supported by a motor, preferably by an electric motor or the like. It is also conceivable that the opening and / or closing of the opening can be controlled by the main computing unit, in particular automatically, by means of the closure element. The closure unit preferably has at least one sealing element which is provided at least to seal an area between the opening and the closure element in a closed state, at least the sealing element being arranged and / or fastened to the closure element or the opening. At least a high level of protection of the object data acquisition area from dust can advantageously be ensured.

The detection device comprises in particular at least one connection unit which is provided at least to connect at least the individual components of the detection device at least partially to one another, preferably electrically, and / or to connect them to further units and / or elements. The connection unit can in particular have at least one compressed air connection, a power connection with 400V, a power connection with 230V, a protective contact 230V with residual current circuit breaker and a grounding, a fire protection switch (AFDD), a water connection, a gas connection, a media connection (HDMI, VGA, Displayport, Lightning and / or the like ), a LAN connection (gigabit LAN, gigabit fiber optics and / or the like), a communication connection (LTE module, 5G module, antenna, WLAN module, Bluetooth, NFC), a card reader, a connection for a external scales, a communication connection for an external robot, camera systems, weighing unit, USB 3.0 or higher for a keyboard, a barcode / QR code scanner, a mouse, a hard drive, a SATA connection, an eSATA connection, a A collective connection, a camera connection and / or the like, which are preferably arranged at different positions on the detection device, in particular on the housing unit.

The connection unit is in particular provided at least to enable external access to the detection device, preferably at least by means of the LTE module and / or 5G module. At least remote maintenance of the detection device can preferably be carried out through the external access. It is conceivable that at least one camera image of the detection device can be transmitted by means of the connection unit, in particular at least to remote maintenance. It is conceivable that the detection device, in particular the main computing unit, can be controlled at least partially by means of the connection unit through the external access. Particularly preferably, the external access to the detection device can be activated and blocked by means of a hardware switch of the connection unit. Alternatively or additionally, it is conceivable that the external access is at least password-protected. The connection unit preferably comprises at least one connection element for external access, which is formed separately, in particular for example by means of a VLAN, from further elements of the connection unit. It is conceivable that the connection unit comprises at least one software firewall and / or one hardware firewall.

Furthermore, it is conceivable that the detection device comprises at least one transport unit at least for transporting the detection device. The transport unit is preferably on the detection device, particularly ders preferably on the housing unit, arranged, in particular fastened. The transport unit preferably has at least one transport element, particularly preferably at least two and very particularly preferably at least four transport elements, the transport elements being arranged in particular uniformly on one side of the housing unit of the detection device. The transport element can for example be designed as a roller, a chain and / or the like. Preferably, at least the trans port element can be locked in order to counteract at least an unintentional movement of the detection device. In particular, it is conceivable that at least the transport element is driven in order to generate a transport movement of the detection device or at least to support the transport movement of the detection device, the transport movement being particularly preferably controllable by means of a transport control unit. The transport control unit can preferably be designed as a remote control, the main computing unit, the mobile detection unit or the like. It is also conceivable that the transport unit has a receptacle designed as a recess at least for a fork of a forklift and / or a hook or the like for connection to a crane. As an alternative or in addition, it is conceivable that the transport unit comprises a maneuvering aid, which is formed in one piece with the housing unit of the detection device or can be releasably fastened to the housing unit. Furthermore, it is conceivable that the transport unit has a trailer coupling which, in particular, is designed in one piece with the housing unit or can be detachably attached to the housing unit. The trailer hitch is particularly preferably arranged in a retractable housing unit on the Ge.

It is further proposed that the guide unit have at least one limiting element for subdividing one, in particular the previously mentioned, main guide track of the guide element into at least two separate movement areas along the main guide track. Advantageously, when a large number of object data acquisition units and / or further units are arranged on the guide unit, damage to the latter can be counteracted. The limiting element is preferably arranged on the main guide track of the guide element, the limiting element being releasably attachable to at least the guide element, in particular to the main guide track of the guide element, or being formed in one piece with the guide element. It is conceivable that the main guide track and the further main guide track can each be subdivided into movement areas by means of a single delimiting element. The delimitation element is provided at least to limit a movement of the guide carriage to a movement area along the main guide path of the guide element. The guide carriage is preferably movable up to a stop with the delimiting element. The range of motion of the guide carriage is preferably variable by means of a variable arrangement of the delimiting element. Alternatively, however, it is also conceivable that at least the main guide track is free of a limiting element. The guide unit preferably comprises at least one further delimiting element. Particularly preferred is the delimitation element to subdivide the main guide track of the guide element into at least two separate movement areas and the further limitation element to subdivide the further main guide path of the guide element into at least two separate movement areas. Alternatively, it is conceivable that the delimitation element and the further delimitation element on the main guide track are arranged to subdivide the main guide track into three separate movement areas. The further delimitation element is preferably designed identically to the delimitation element. In particular, it is conceivable that the main guide track has areas of movement that are different from areas of movement of the further main guide track. Alternatively or additionally, it is conceivable that additional delimiting elements are arranged on the guide element and / or on the further guide element.

It is further proposed that the guide unit have at least one, in particular special multi-axis, robot arm, the guide element being designed as an at least partially curved rail. A multiplicity of object data acquisition units and / or other units can advantageously be arranged on the guide unit. A high degree of flexibility can be advantageous object data acquisition can be guaranteed. Object data acquisition can particularly advantageously be carried out particularly quickly.

The movement path defined by the guide unit preferably runs at least partially curved and / or at least partly straight, particularly preferably the defined movement path runs in the shape of a circular arc. The movement path or the guide path preferably form an arc of a circle. In particular, the circular arc comprises a central angle of 90 °, preferably of more than 90 °, particularly preferably of more than 180 °. It is also conceivable that the path of movement or the guide path writes a complete circle. In particular, a center point of a circular arc of the at least partially curved movement path or the at least partially curved guide path defines a center point of an object data acquisition area which is provided to receive an object for acquisition. In this context, a “curvature” at a point of a curve that is different from zero is to be understood in particular as a quadratic deviation from a straight line that increases with a distance from the point of the curve. The main guide track of the guide element runs in particular at least partially curved, it also being conceivable that the main guide track runs at least partially in a straight line. At least the main guide track of the guide element is preferably rigid. Alternatively, it is conceivable that the main guide track of the guide element is variable, the guide element being formed, for example, from parts that can be moved relative to one another. The two object data acquisition units can be arranged, for example, on the guide element or on the multi-axis robot arm, where in particular it is also conceivable that one of the two object data acquisition units is arranged on the guide element and another object data acquisition unit of the two object data acquisition units is arranged on the multi-axis robot arm. The multi-axis robot arm can preferably be controlled by means of the main computing unit. Preferably, an object data acquisition unit and / or other unit arranged on the multi-axis robot arm can be moved flexibly within the housing unit by means of the multi-axis robot arm.

It is also proposed that the guide unit have at least one further, in particular the further, guide element, the guide element ment and the further guide element are designed as an at least partially curved rail and, in particular in at least one embodiment, are movable relative to one another. An acquisition of multiple object data records from multiple perspectives can advantageously be realized particularly quickly. A high degree of flexibility in the acquisition of the multiple object data records by means of the object data acquisition units can be achieved in a particularly advantageous manner.

At least the guide element can in particular be moved at least transversely to a main guide track of the guide element. Preferably, at least the guide element and / or the further guide element are / is mounted movably relative to the specimen carrier unit. Particularly preferably, the guide element and / or the further guide element are / is movably supported on a circular path around the specimen carrier unit, preferably on the housing unit. Particularly preferably, the guide element and the further guide element can be moved independently of one another. Alternatively, it is also conceivable that the movement of the guide element and the further guide element are dependent on one another. The drive unit is preferably provided at least to move at least the guide element and / or the further guide element relative to the object and / or relative to one another. The movement of the guide element and / or of the further guide element is particularly preferably controllable by means of the main computing unit. It is also conceivable that at least the guide element and / or the further guide element can be moved by a user. The specimen carrier unit is preferably mounted rotatably about an axis of rotation, with a rotation of the specimen carrier unit particularly preferably being able to be generated by means of the drive unit. The rotation of the specimen carrier unit can be controlled in particular by means of the main computing unit.

It is further proposed that the guide unit have at least one further, in particular the further, guide element, the guide element and the further guide element being designed as an at least partially curved rail, with a curvature of the further guide element being different, in particular in at least one exemplary embodiment is from a curvature of the guide element. A high data quality can advantageously be achieved when detecting objects of different sizes.

It is conceivable that the curvature of the guide element is smaller or greater than the curvature of the further guide element. The curvature of the guide element is preferably different, at least in sections, from the curvature of the further guide element, at least viewed along a main guide path of the guide element and the further guide element. In particular, at least one main guideway of the guide element has a curvature that is different from a curvature of a main guideway of the further guide element. In particular, the guide element and / or the further guide element has a constant curvature. Alternatively, it is conceivable that the guide element and / or the further guide element have / has a different curvature, at least when viewed along a main guide track. It is also conceivable that the guide element and / or the further guide element have a variable curvature, the curvature of the guide element and / or the further guide element being adjustable in particular by the main computing unit and / or by an operator. In an alternative embodiment of the guide unit, the curvature of the guide element is identical to the curvature of the further guide element. It is conceivable that a maximum length of a main guide track of the guide element is different, in particular larger or smaller, or is identical to a maximum length of a main guide track of the further guide element.

It is further proposed that the guide unit has at least one further, in particular the further, guide element, the guide element and the further guide element being designed as an at least partially curved rail, with a main plane of extent of the guide element at least in one object data acquisition state angled to a main plane of extent of the further guide element runs. Object data can advantageously be recorded simultaneously from different perspectives. A high object data quality can advantageously be guaranteed when using several guide elements. The main extension plane of the guide element and / or the main extension plane of the further guide element preferably cut / intersects the specimen slide unit, particularly preferably a center point of the specimen slide unit. The main extension plane of the guide element and the main extension plane of the further guide element preferably intersect in a straight line that preferably runs parallel to an axis of rotation of the object carrier unit and / or intersects the center of the object carrier unit. In particular, the main extension plane of the guide element and / or the main extension plane of the further guide element run / runs perpendicular to a positioning plane of the slide unit. In particular, the main plane of extension of the guide element is arranged at an angle of at least 5 °, preferably of at least 10 °, preferably of at least 45 ° to the main plane of extension of the further guide element. In at least one embodiment in which the guide element and the further guide element can be moved relative to one another, the line of intersection of the main extension plane of the guide element with the main extension plane of the further guide element is in particular independent of an angle between the main extension plane of the guide element and the main extension plane of the further guide element. The angle between the main extension plane of the guide element and the main extension plane of the further guide element can be changed by the relative movement of the guide element to the further guide element, in particular on the circular path. The angle between the main plane of extension of the guide element and the main plane of extension of the further guide element is particularly preferably adjustable at least substantially from 0 ° to 360 °. The fact that the angle between the main extension plane of the guide element and the main extension plane of the further guide element is "at least substantially adjustable from 0 ° to 360 °" should be understood in particular to mean that the angle setting is at least dependent on the dimensions of the guide element and further guide element can be limited. It is additionally or alternatively also conceivable that at least the guide element and / or the further guide element are / is pivotably mounted, preferably are / is pivotably mounted in multiple dimensions. It is also proposed that the guide unit have at least one further, in particular the further, guide element, the guide element being at least partially curved and the further guide element being at least substantially free of curvature. The guide element preferably has a main guide track along which an object data acquisition unit on the guide element can be moved. The main guide track of the guide element, which is at least partially curved, preferably describes at least partially, particularly preferably largely, an arc of a circle or a plurality of arcs of a circle in a row. The guide element is preferably designed to be curved along the main extension axis of the guide element. The main guide track of the guide element preferably corresponds to a main extension line of the guide element. A main guide track of the at least partially curvature-free further guide element, along which an object data acquisition unit on the further guide element can be moved, runs in particular at least partially, preferably at least largely, linearly, in particular rectilinearly. A movement path of an object data acquisition unit arranged on the further guide element, defined by the further at least partially curvature-free guide element, runs preferably in a straight line and particularly preferably parallel to the main guide path of the further guide element. The further guide element, viewed along the main extension axis of the further guide element, is preferably designed to be curvature-free. The main guide track of the further guide element preferably corresponds to a main extension line of the wider guide element. The main guide track of the further guide element preferably runs at least substantially parallel to the main extension axis of the further guide element. The object data acquisition unit is preferably arranged on the at least partially curved guide element and the further object data acquisition unit is arranged on the further guide element, which is at least essentially free of curvature. In at least one embodiment, the guide element is preferably designed as an at least partially curved rail and the further guide element is designed as an at least partially, in particular at least essentially completely, curvature-free rail. A main axis of extension of the at least partially curvature-free further guide elements preferably runs at least substantially perpendicular to a main extension axis of the at least partially curved guide element. The expression “essentially perpendicular” is intended to define in particular an alignment of a direction relative to a reference direction, the direction and the reference direction, particularly in a projection plane, including an angle of 90 ° and the angle a maximum deviation of, in particular, smaller than 8 °, advantageously less than 5 ° and particularly advantageously less than 2 °. However, it is also conceivable that the main extension axis of the at least partially curved guide element runs at least substantially parallel or neither parallel nor perpendicular to the main extension axis of the at least partially curved guide element. In particular, the at least partially curved guide element and / or the at least partially curvature-free further guide element relative to the object carrier unit is arranged in a fixed or moveable position relative to the object. It is conceivable that the object data acquisition unit is mounted in a fixed position or movably on the guide element, which is at least partially curved. The further object data acquisition unit is preferably mounted movably on the further guide element, which is at least partially free of curvature. It is conceivable that the detection device comprises at least one object measurement unit which is set up to determine at least one object dimension parameter of the object. The object measurement unit is preferably arranged on the at least partially curvature-free white direct guide element. Alternatively, it is also conceivable that the object measuring unit is arranged on the guide element or in another position relative to the object carrier unit that appears sensible to a person skilled in the art. The object measuring unit can have at least one sensor element for determining the at least one object dimension parameter, in particular for measuring the at least one object. The sensor element can be designed in particular as a range finder, in particular as a laser range finder, as a stereoscopic camera, as a laser scanner, as an ultrasound scanner, as a time-of-flight camera or as another sensor element that appears sensible to a person skilled in the art being. As an alternative or in addition to determining the at least one object dimension parameter by means of the object measurement unit, it is conceivable that the object data acquisition unit is set up to acquire a machine-readable code, such as a QR code, a barcode or the like, wherein the machine-readable code includes information, in particular a data record, in relation to object dimension parameters of an object. The at least one object dimension parameter can in particular be designed as a maximum extension of the at least one object or as another object dimension parameter that appears sensible to a person skilled in the art. The object data acquisition units can advantageously be moved and / or arranged particularly flexibly, in particular in order to achieve a particularly suitable data acquisition configuration.

Furthermore, it is proposed that the detection device comprises one, in particular the previously mentioned, object carrier unit for positioning the object in an object data detection area of the two object data detection units, with a further, in particular the further, guide element of the guide unit being one, in particular the one previously said main axis of extension, which runs at least substantially parallel to an object support surface of the object carrier unit. The further guide element, whose main axis of extension runs at least essentially parallel to the object support surface of the object carrier unit, is preferably at least partially free of curvature. However, it is also conceivable that the further guide element, whose main axis of extension runs at least essentially parallel to the object support surface of the object carrier unit, is at least partially curved. In at least one exemplary embodiment, the further guide element is particularly preferably at least partially free of curvature, in particular at least substantially completely free of bends, and the main extension axis of the further guide element runs at least substantially parallel to the object support surface and at least substantially perpendicular to the main extension axis of the guide element . The further guide element is preferably arranged above the slide unit, particularly preferably centrally above a center point of the object support surface. A position of an object data acquisition unit arranged on the wider guide element can advantageously be particularly simple and precise for a centered acquisition of object data of the object be adjusted.

It is further proposed that the detection device comprises an object carrier unit, in particular the previously mentioned, object carrier unit for positioning the object in an object data detection area of the two object data detection units, the guide unit having at least one further, in particular the further, guide element, and wherein a value of a minimum distance between the further guide element and the slide unit is different from a value of a minimum distance between the guide element and the slide unit. In particular, a value of a minimum distance between the guide element and a center point of the object support surface is different from a value of a minimum distance between the further guide element and the center point of the object support surface. Preferably, a value of the minimum distance of the guide element to the specimen slide unit, in particular to the center point of the specimen support surface, is greater than a value of the minimum distance of the further guide element to the specimen slide unit, in particular to the center point of the specimen support surface. A value of a minimum distance of the guide element to the center of the object support surface of the object carrier unit is, for example, at least 60% greater than a value of a minimum distance of the further guide element to the center of the object support surface of the object carrier unit. However, alternatively, other relationships are also conceivable from a value of a minimum distance between the guide element and the center point of the object support surface to a value of a minimum distance between the further guide element and the center point of the object support surface. A particularly suitable detection configuration for objects of different sizes can advantageously be achieved.

It is further proposed that the two object data acquisition units each have a fixed focal length lens and the guide unit has at least one, in particular the further, guide element, the fixed focal length lenses of the two object data acquisition units differing at least in one focal length, one, in particular the, object data acquisition unit of the two Object data acquisition units on the guide element and a further, in particular the further, object data acquisition unit of the two object data acquisition units is arranged on the further guide element. Preferably, a value of the minimum distance of the guide element at which the object data acquisition unit is arranged, which has the fixed focal length lens with a focal length that is smaller than a focal length of the fixed focal length lens of the further object data acquisition unit, is greater than a value of the minimum distance of the further guide element on which the further object data acquisition unit is arranged. The fixed focal length lens of the object data acquisition unit is preferably designed as a 50 mm fixed focal length lens. The fixed focal length lens of the further object data acquisition unit is preferably designed as a 100 mm fixed focal length lens. However, it is also conceivable that the fixed focal length lens of the object data acquisition unit or the further object data acquisition unit is designed as a 35 mm fixed focal length lens, an 85 mm fixed focal length lens or another fixed focal length lens that appears useful to a person skilled in the art. It is also conceivable that a central axis of the slide unit lies in the main plane of extent of the guide element on which the object data acquisition unit with the fixed focal length lens is arranged, which has a focal length that is smaller than a focal length of the fixed focal length lens of the further object data acquisition unit. Alternatively, it is also conceivable that the main extension plane of the guide element on which the object data acquisition unit with the fixed focal length lens is arranged, which has a focal length that is smaller than a focal length of the fixed focal length lens of the further object data acquisition unit, runs at an angle to the central axis. The central axis preferably runs at least substantially parallel to the object support surface and preferably through the center point of the object support surface. The detection device preferably comprises at least one background unit. The background unit is preferably designed separately from the slide unit. The background unit extends in particular at least in sections transversely to the object support surface of the object carrier unit. The central axis particularly preferably runs at least substantially perpendicular to a background surface of the background unit facing the slide unit. The main plane of extent of the further guide element, on which the further object data acquisition unit with the fixed focal length lens is arranged, which has a focal length which is greater than a focal length of the fixed focal length wide objective of the object data acquisition unit, runs for example at an angle of at least 20% angled to the main plane of extent of the guide element and / or the central axis of the object carrier unit. Alternatively, however, other angles of arrangement of the main plane of extension of the further guide element relative to the central axis and / or the main plane of extension of the guide element are also conceivable. A guide unit can advantageously be provided which enables a particularly flexible and suitable arrangement of object data acquisition units with different fixed focal length lenses.

It is also proposed that the detection device comprises an object carrier unit, in particular the previously mentioned, object carrier unit for positioning the object in an object data acquisition area of the two object data acquisition units and a lighting unit for active lighting of the object carrier unit, the lighting unit and / or at least one of the two Object data acquisition units are / is arranged in a fixed position on the guide unit. In particular, the lighting unit comprises at least one, preferably several, lighting elements. The at least one Be lighting element preferably has a polygonal, preferably a rectangular, or a circular luminous area. The at least one lighting element is designed, for example, as an LED panel, as a light bulb, as a luminescent screen or the like. In particular, the at least one lighting element is arranged in the vicinity of one of the at least two object data acquisition units. It is conceivable that the at least one lighting element is arranged in a fixed or movable position relative to at least one of the at least two object data acquisition units, the at least one of the at least two object data acquisition units preferably being arranged in a fixed or movable manner on the guide unit. The at least one lighting element is arranged, for example, on the guide element or on the further guide element. Alternatively, it is also conceivable that the at least one lighting element is arranged at a different position / component of the detection device relative to the specimen carrier unit that appears sensible to a person skilled in the art. It is also conceivable that at least two lighting elements of the lighting unit on the guide element and / or the further guide element are arranged, wherein the at least two light elements are particularly preferably arranged on mutually facing sides of the guide element and / or the wide Ren guide element, in particular at least along a transverse axis of the guide element and / or the further guide element.

The at least one lighting element is preferably arranged on the guide unit, directed towards the center point of the object support surface. A main emission direction of the at least one lighting element preferably intersects the object support surface, particularly preferably the center point of the object support surface. A particularly high quality of lighting can advantageously be achieved with, at the same time, little construction effort for the detection device. A flexible object data acquisition can advantageously be realized with an at least partially positionally fixed and therefore particularly long-life lighting unit.

Furthermore, a system is provided with at least one, in particular the aforementioned, acquisition device, which comprises at least one, in particular the aforementioned, main computing unit on which at least some of the data records generated with the acquisition device are stored, and with at least one mobile acquisition unit, wherein the main processing unit is provided at least to evaluate data recorded with the mobile recording unit, at least taking into account the data records stored on the main processing unit, proposed. An object can advantageously be identified with simple means. Additional information can advantageously be called up particularly easily via an object.

The main processing unit preferably has at least the memory element on which at least the multiple object data records can be stored at least temporarily. A “mobile registration unit” is to be understood in particular to mean that the mobile registration unit can be carried by hand in an intended operating state, in particular can be operated in a location-independent manner. Before given, the mobile detection unit can be worn directly or indirectly on the body by a person, for example as a bracelet and / or in a pocket of clothing. For example, the mobile detection unit can be designed as a smartphone, tablet, smartwatch and / or as a peripheral head-mounted display (PHMD). The mobile detection unit is intended in particular to record object data to capture. In addition, the mobile input unit has a communication unit for communication with the main processing unit. The communication unit can be wired or wireless. Alternatively, it is conceivable that the main processing unit comprises a data interface, in particular a memory card reader or the like, at least for one memory element of the mobile acquisition unit, to which the storage element of the mobile acquisition unit can be connected for data transmission. The main processing unit is provided at least to identify the object on the basis of the object data recorded by the mobile detection unit, taking into account the data records stored in the memory element. It is also conceivable that the main processing unit is provided to identify the object on the basis of the multiple object data records acquired by the acquisition device, taking into account the data records stored in the storage unit. As an alternative or in addition, it is conceivable that the object data of the object acquired by means of the mobile acquisition unit can be used for the object learning process.

Furthermore, a method for capturing multiple object data records of an object with a, in particular the aforementioned, acquisition device or with a, in particular the aforementioned, system is proposed, wherein in at least one method step at least the object data acquisition unit is moved along the guide element and the further object data acquisition unit is moved along the further guide element or that at least the two object data acquisition units are moved along the guide element on sides facing away from one another on the guide element. An object data record can advantageously be recorded particularly quickly. A high degree of flexibility in the acquisition of an object data record can advantageously be guaranteed.

The two object data acquisition units are preferably moved by the drive unit at least in the method step, object data of the object being acquired at least from different perspectives by at least the two object data acquisition units. The movement of at least the two object data acquisition units and the acquisition of object data are preferably carried out by the main computing unit at least in the process step. controls. Operating parameters, at least for the drive unit and at least the two object data acquisition units, are preferably automatically established by means of the main computing unit, in particular on the basis of a pre-acquisition of object parameters. In particular, a list is created with positions at least for the object data acquisition units and the object carrier unit, in which an acquisition of object data takes place at least by means of an object data acquisition unit of the two object data acquisition units. Particularly preferably, in at least one method step, one object data acquisition unit of the two object data acquisition units, in particular at least the two object data acquisition units and preferably also the object carrier unit, is controlled to the positions of the list, with at least one object data acquisition unit of the two object data acquisition units on the respective position, particularly preferably, at least by means of the two object data acquisition units, object data of the object are acquired.

It is also proposed that by means of the at least two object data acquisition units, which differ in particular in at least one camera-specific parameter, in at least one, in particular in the method step of the method already mentioned above, object data from a detection height, at least viewed along a main guideway of the guide element, simultaneously , are recorded. A data record can advantageously be acquired particularly quickly from an acquisition position. A high degree of flexibility in the acquisition of object data can advantageously be guaranteed.

Preferably, at least in the method step, object data of the object are acquired by means of the at least two object data acquisition units, in particular simultaneously, from the same acquisition height, at least viewed along a main guideway of the guide element formed as an at least partially curved rail, with, in particular in at least one embodiment, an object data acquisition unit of the two object data acquisition units is arranged on the main guide track of the guide element and a further object data acquisition unit of the two object data acquisition units is arranged on the further main guide track of the guide element. The camera-specific parameter can in particular be a focal length, an aperture setting, a resolution, a focus point, a color setting and / or the like. Furthermore, it is proposed that in at least one, in particular the previously mentioned, method step of the method, in particular in at least one embodiment of the detection device, the guide element designed as an at least partially curved rail and the further guide element designed as an at least partially curved rail to one Acquisition of a multiple object data set are moved relative to one another. Object data of the object can advantageously be acquired particularly quickly from different perspectives. A high degree of flexibility in the acquisition of object data can advantageously be guaranteed.

Preferably, at least the guide element and / or the further guide element are / is moved by the drive unit at least in the method step. The movement of the guide element and / or of the further guide element is particularly preferably regulated by the main computing unit, at least in the method step. Preferably, object data of the object are acquired from different perspectives at least in the method step, the arrangement of the guide element and the further guide element being changed at least relative to one another. In particular, a list is created with positions at least for the object data acquisition units, the object carrier unit, the guide element and / or the further guide element in which object data is acquired at least by means of one object data acquisition unit of the two object data acquisition units. Particularly preferably, in at least one method step, an object data acquisition unit of the two object data acquisition units, in particular at least the two object data acquisition units, the guide element and / or the further guide element and preferably also the object carrier unit, is controlled to the positions of the list, with the respective position object data of the object are acquired at least by means of one object data acquisition unit of the two object data acquisition units, particularly preferably at least by means of the two object data acquisition units.

It is further proposed that in at least one method step, at least one of the at least two object data acquisition units in one of the movement areas delimited by the delimitation element for acquisition of a multiple object data set is moved. Damage to at least the two object data acquisition units can advantageously be counteracted.

Preferably, at least in the method step, object data are acquired from different acquisition positions within the movement area by means of at least one object data acquisition unit of the two object data acquisition units, which is arranged in a movement area delimited by the delimitation element. In particular, the main computing unit and / or the drive unit are / is provided to detect a stop of the guide carriage and / or of the at least one object data acquisition unit on the delimiting element. The movement of the guide carriage is particularly preferably stopped when the stop is recognized by the drive unit and / or the main computing unit.

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 restricted to the application and embodiment described above. In particular, 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 that differs from a number of individual elements, components and units as well as method steps mentioned herein for fulfilling a mode of operation described herein. In addition, in the case of the value ranges specified in this disclosure, values lying within the stated limits should also be deemed disclosed and can be used as required.

drawing

Further advantages emerge from the following description of the drawings. Exemplary embodiments of the invention are shown in the drawing. The drawing, the description and the claims contain numerous features in combination. The person skilled in the art will expediently also consider the features individually and combine them into meaningful further combinations. Show it:

1 shows a system according to the invention with a detection device according to the invention in a schematic representation,

Fig. 2 the detection device according to the invention in a side view in a schematic representation in a first imple mentation,

3 shows a schematic sequence of a method according to the invention for capturing multiple object data sets by means of the capturing device according to the invention,

4 shows a schematic sequence of a method with the system according to the invention for recognizing objects,

Fig. 5 shows a detection device according to the invention in a seitli chen view in a schematic representation in a two th embodiment,

6 shows a detection device according to the invention in a side view in a schematic representation in a third embodiment,

Fig. 7 shows a detection device according to the invention in a seitli chen view in a schematic representation in a four-th embodiment and

Fig. 8 shows a detection device according to the invention in a plan view in a schematic representation in a fifth imple mentation.

Description of the exemplary embodiments

FIG. 1 shows a system 26a with at least one detection device 10a for at least partially automated detection of multiple object data sets of at least one object 12a. The acquisition device 10a comprises at least one main processing unit 28a on which at least some of the data records generated with the acquisition device 10a are stored. The system 26a also includes a mobile acquisition unit 30a, the main computing unit 28a being provided at least to process data acquired with the mobile acquisition unit 30a, at least taking into account the data on the main computing unit 28a evaluate stored data sets. The main arithmetic unit 28a preferably comprises at least one machine learning module (not shown in detail), the main arithmetic unit 28a being set up at least to evaluate the object data acquired by means of the acquisition device for training the machine learning module. In addition, the main processing unit 28a, in particular the machine learning module, is provided at least to carry out an object learning process. . The machine learning module preferably comprises at least one self-adaptive algorithm. The machine learning module is preferably designed as a deep learning module, in particular with a neural network. In an alternative embodiment, it is conceivable that the machine learning module is set up to process learning-relevant features specified by a user. The neural network can in particular be designed as a single-layer forward-directed network, as a multi-layered forward-directed network, as a recurrent network or as another neural network that appears sensible to a person skilled in the art. The machine learning module, in particular the neural network, is preferably set up for training to process the object data. The machine learning module, in particular the neural network, is preferably set up to learn an optical, in particular three-dimensional, appearance of the at least one object 12 on the basis of the object data. The machine learning module 22, in particular a neural network, trained by means of the object data is preferably able to identify the object 12 on the basis of a single image of the at least one object 12. The detection device 10a comprises a housing unit 56a, which is provided at least to shield an object data detection area at least partially from the outside, the main computing unit 28a being arranged on the housing unit 56a. The main processing unit 28 has at least one storage element 42a at least for the temporary storage of the multiple object data records. It is conceivable that the main processing unit 28a is designed as a server. The mobile detection unit 30a is designed as a smartphone, whereby it is also conceivable that the mobile detection unit 30a is designed as a smartwatch, a tablet, a digital camera and / or a peripheral head-mounted display (PHMD). The mobile acquisition unit 30a is provided at least to acquire object data of the object 12a. The mobile detection unit 30a has at least one communication unit (not shown in more detail) for communication with the main processing unit 28a. The main arithmetic unit 28a is provided at least to identify the object 12a on the basis of the object data acquired by the mobile acquisition unit 30a, taking into account the data records stored in the memory element 42a of the main arithmetic unit 28a.

The housing unit 56a comprises an opening 60a for positioning the object 12a in the object data acquisition area. The detection device 10a comprises at least one closure unit 62a for closing and opening the opening 60a by an operator, FIG. 1 showing the opening 60a in a closed state. The locking unit 62a comprises a locking element 64a which is designed as a door. The closure element 64a is movably supported relative to the opening 60a on the housing unit 56a by means of a linear guide. The closure element 64a can alternatively be at least also rotatably mounted on the housing unit 56a. The locking unit 62a also has a grip element 66a for an operator, which is arranged on the locking element 64a. A maximum length of the grip element 66a, viewed along a main extension axis of the grip element 66a, extends at least essentially completely over a maximum extension of the closure element 64a, at least viewed along an axis that lies in a main extension plane of the closure element 64a. It is additionally or alternatively conceivable that the closure unit 62a can be automatically controlled and / or driven for closing and opening the opening 60a.

The detection device 10a also has at least one transport unit 68a at least for transporting the detection device 10a. The transport unit 68a has at least two transport elements 70a, which are designed as receptacles for a fork of a forklift truck. It is also conceivable that the transport elements 70a are designed as rollers, chains, hooks for connection to a crane or the like. Alternatively or additionally, it is at least conceivable that the transport unit 68a comprises a maneuvering aid and / or a trailer coupling.

FIG. 2 shows the acquisition device 10a with a guide unit 14a for guiding at least one object data acquisition unit in a first configuration. guidance in a side view. The guide unit 14a has a guide element 20a which is designed as an at least partially curved rail. The acquisition device 10a has at least two object data acquisition units 16a, 18a for acquiring object data of the object 12a, which are arranged on the guide unit 14a. The two object data acquisition units 16a, 18a are arranged on the guide element 20a on sides facing away from one another. It is conceivable that further detection units 72a are arranged on the guide unit 14a, in particular on the guide element 20a, which can be configured, for example, as additional object data detection units, as lighting units, contrast units and / or the like. The two object data acquisition units 16a, 18a are movably arranged on the guide element 20a, the guide element 20a being provided at least to guide the two object data acquisition units 16a, 18a during a movement. The guide element 20a has at least two main guide paths, a defined movement path of the object data acquisition units 16a, 18a arranged on the guide element 20a running at least parallel to one of the two main guide paths. One object data acquisition unit 16a of the two object data acquisition units 16a, 18a is arranged on the main guide track of the guide element 20a and another object data acquisition unit 18a is arranged on another main guide track of the two main guide tracks of the guide element 20a. The main guide track and the further main guide track are arranged on opposite sides of the guide element 20a, the main guide track running parallel to the further main guide track.

The detection device 10a has an object carrier unit 46a, which is provided for positioning the object 12a in the object data detection area of the detection device 10a. A main extension plane of the guide element 20a runs perpendicular to a positioning plane of the object carrier unit 46a and intersects an axis of rotation 74a of the object carrier unit 46a.

The two object data acquisition units 16a, 18a can be moved relative to one another, in particular independently of one another, and are simultaneously and in particular They can be arranged separately from one another at the same detection height on the guide unit 14a, at least viewed along a main guide track of the two main guide tracks of the guide element 20a. The acquisition device 10a comprises at least one drive unit (not shown in detail) which is provided at least to generate a defined relative movement between the two object data acquisition units 16a, 18a and the object 12a two object data acquisition units 16a, 18a and the object carrier unit 46a are provided. The drive unit is provided to automatically move the two object data acquisition units 16a, 18a along the defined movement path predetermined by the guide unit 14a. By means of the defined trajectory generated by the drive unit, object data can be recorded from multiple perspectives. The drive unit can be designed electromechanically, for example, the drive unit having at least one electric motor. Alternatively, it is conceivable that the drive unit is designed pneumatically or hydraulically. The object data acquisition units 16a, 18a are each mounted on a guide carriage (not shown in more detail) of the guide unit 14a, which are separate from one another and are movably arranged on the guide unit 14a. It is conceivable that the guide carriages are designed to enable multidimensional mobility with a movable receiving body which, in particular by means of a ball joint or the like, is movably arranged on a base body cooperating with the guide element 20a.

The main computing unit 28a is set up at least to control the drive unit and the object data acquisition units 16a, 18a. At least the movement of the object data acquisition units 16a, 18a and at least one acquisition time of the two object data acquisition units 16a, 18a can be controlled by means of the main processing unit 28a. The drive unit, the two object data acquisition units 16a, 18a and the guide unit 14a are at least partially arranged in an interior space defined by the housing unit 56a.

The guide unit 14a has at least one delimitation element 24a to subdivide the main guide track of the guide element 20 into at least two separate movement areas along the main track. The limiting element 24a is attached to the main guide track of the guide element 20a. It is conceivable that the delimitation element 24a can be arranged variably at least along the main guide track of the guide element 20a. It is also conceivable that the guide unit 14a has further delimiting elements which can be arranged on the guide unit 14a.

FIG. 3 schematically shows a sequence of a method for acquiring multiple object data records of an object 12a with the acquisition device 10a or with the system 26a.

In at least one method step 32a, the two object data acquisition units 16a, 18a are moved on the guide element 20a along the guide element 20a on sides facing away from one another. In the method step 32a, the object data acquisition unit 16a is moved in one of the movement areas delimited by the delimiting element 24a in order to acquire a multiple object data record. Operating parameters for at least the drive unit and at least the two object data acquisition units 16a, 18a are automatically established in at least one method step 54a by means of the main computing unit 28a, in particular on the basis of a pre-acquisition of object parameters. In method step 54a, a list of positions is created at least for the object data acquisition units 16a, 18a and the object carrier unit 46a, in which object data is acquired by means of the object data acquisition units 16a, 18a. In method step 32a, at least the object data acquisition units 16a, 18a and the object carrier unit 46a are controlled to the positions of the list, with object data of the object 12a being acquired on the respective position in a method step using at least one of the object data acquisition units 16a, 18a. In method step 32a, using the two object data acquisition units 16a, 18a, which differ in particular in at least one camera-specific parameter, object data of the object 12a are simultaneously acquired from the same acquisition height, at least viewed along the main guide path of the guide element 20a. FIG. 4 shows a schematic sequence of a method with the detection device 10a or with the system 26a for recognizing an object 12a. The object data records created, in particular by means of the method described in the description of FIG. 3, are evaluated in at least one method step 40a for machine learning. A distinction is preferably made between a learning phase and a recognition phase. In a first method step 38a, in particular an analog method step of the method described in the description of FIG. 3, a multiple object data set of at least one object 12a is recorded with the recording device 10a and stored on the memory element 42a of the main processing unit 28a. In the learning phase, the created object data records are evaluated in method step 40a for machine learning, in particular for training the machine learning module, the data records resulting from machine learning being stored on memory element 42a. It is also conceivable that object data that are acquired by means of the mobile acquisition unit 30a are evaluated for machine learning. After the learning phase has been completed, the system 26a can be used to recognize previously detected objects 12a.

Object data about an object to be recognized are acquired with the mobile acquisition unit 30a in a method step 44a, the object data being fed to the main processing unit 28a.

In at least one method step 58a, the created object data records and the data acquired with the mobile acquisition unit 30a are evaluated to identify the object 12a. In particular, it is checked whether the object data records created with the acquisition device 10a in method step 38a and / or the data acquired with the mobile acquisition unit 30a in process step 44a after an evaluation by the main processing unit 28a at least partially match the data records created in the learning phase. Preferably, two data sets partially coincide if one data set is a subset of the other. In a further method step 48a, it is checked whether the recognition in method step 58a was successful, in particular whether at least one match could be found. The recorded object data could not be matched with any previously recorded object a decision of an operator is queried in an optional method step 50a as to whether the acquired object data should be used for machine learning in order to expand the list of recognizable objects and / or to add the data record for an already known object stored on the memory element 42a to modify. In the event of a negative decision, the object data are preferably deleted in the optional method step 50a. If there is a partial match, information about the corresponding object, for example a name, an identification number and / or order number or the like, is output in a final process step 52a.

In FIGS. 5 to 8, further exemplary embodiments of the invention are shown. The following descriptions and the drawings are essentially limited to the differences between the exemplary embodiments, whereby with regard to identically labeled components, in particular with regard to components with the same reference numerals, in principle also to the drawings and / or the description of the other exemplary embodiments, in particular FIGS to 4, can be referenced. To distinguish the exemplary embodiments, the letter a is placed after the reference numerals of the exemplary embodiment in FIGS. 1 to 4. In the exemplary embodiments of FIGS. 5 to 8, the letter a is replaced by the letters b to e. In particular, the methods for the further exemplary embodiments run analogously to the previously described methods, the methods being able to differ from the previously described exemplary embodiment due to the differences described in relation to technical configurations of the detection devices of the further exemplary embodiments.

FIG. 5 shows a detection device 10b according to the invention with a guide unit 14b in a second embodiment. The guide unit 14b has at least one, in particular at least partially curved, guide element 20b and at least one, in particular at least partially curved, further guide element 22b. An object data acquisition unit 16b is arranged on the guide element 20b and a further object data acquisition unit 18b is arranged on the further guide element 22b of the guide unit 14b. orderly. The guide element 20b and the further guide element 22b are designed separately from one another and are arranged at a distance from one another. The guide element 20b and the further guide element 22b are arranged along a direction running at least substantially parallel to a surface of an object carrier unit 46b of the detection device 10b at the same distance from the object carrier unit 46b. The guide element 20b and the further guide element 22b are each designed as an at least partially curved rail, a main guide track of the guide element 20b and a main guide track of the further guide element 22b extending at least partially curved. A main extension plane of the guide element 20b extends at least in an object data acquisition state at an angle to a main extension plane of the further guide element 22b. The main extension plane of the guide element 20b and the main extension plane of the further guide element 22b intersect in a straight line that is identical to an axis of rotation 74b of the object carrier unit 46b. The main extension plane of the guide element 20b and the main extension plane of the further guide element 22b run perpendicular to a positioning plane of the specimen carrier unit 46b. The guide unit 14b has at least one delimitation element 24b and at least one further delimitation element 36b. The delimitation element 24b is arranged on the guide element 20b and the further delimitation element 36b is arranged on the white direct guide element 22b. It is conceivable that the guide unit 14b has additional delimiting elements which can be arranged on the guide element 20b and / or on the further guide element 22b.

Alternatively or additionally, it is conceivable that a curvature of the guide element 20b is different from a curvature of the further guide element 22b, the curvature of the guide element 20b being greater or smaller than the curvature of the guide element 22b.

It is additionally or in an alternative exemplary embodiment conceivable that the guide element 20b and the further guide element 22b can be moved relative to one another. The guide element 20b is at least transverse to the main guide track of the guide element 20b and the further guide element 22b is at least transverse to the main guide track of the further guide elements 22b movable. The guide element 20b and the further guide element 22b are movably mounted on a housing unit 56b relative to the specimen carrier unit 46b, in particular on a circular path around the specimen carrier unit 46b. It is conceivable that the guide element 20b can be moved independently of the further guide element 22b. The movement of the guide element 20b and the further guide element 22b can be generated manually at least by a drive unit (not shown in more detail, cf. description of FIG. 2) or by an operator. A main arithmetic unit 28b is at least set up to control the drive unit and the object data acquisition units 16b, 18b, the main arithmetic unit 28b at least one movement of the object data acquisition units 16b, 18b, the movement of the guide element 20b and the further guide element 22b and at least one acquisition time Object data acquisition units 16b, 18b controls.

Figure 6 shows a detection device 10c according to the invention with a guide unit 14c in a third embodiment. The guide unit 14c has at least one, in particular multi-axis, robot arm 34c and at least one guide element 20c, the guide element 20c being designed as an at least partially curved rail. The two object data acquisition units 16c, 18c are arranged on the guide element 20c on sides facing away from one another. Another detection unit 72c is arranged on the robot arm 34c. Object data acquisition unit 18c is arranged on robot arm 34c. At least one movement of the robot arm 34c can be controlled by means of a main computing unit 28c of the detection device 10c. The object data acquisition unit 72c, which is arranged on the robot arm 34c, can be moved flexibly within a housing unit 56c (see FIG. 1) of the acquisition device 10c.

FIG. 7 shows a detection device 10d for an at least partially automated detection of multiple object data sets of at least one object 12d.

The acquisition device 10d comprises at least one guide unit 14d for guiding at least one object data acquisition unit 16d, 18d, 100d. The acquisition device 10d comprises a plurality of object data acquisition units 16d, 18d, 100d for acquiring object data of the object 12d. The several object data acquisition units 16d, 18d, 100d are on the guide unit 14d arranged. The guide unit 14d comprises at least one, in particular at least partially curved, guide element 20d. At least three object data acquisition units 16d, 100d of the plurality of object data acquisition units 16d, 18d, 100d are arranged on the guide element 20d. At least one further object data acquisition unit 18d of the plurality of object data acquisition units 16d, 18d, 100d is arranged on a further guide element 22d of the guide unit 14d.

The guide element 20d is at least partially curved and the further guide element 22d is at least partially free of bends, preferably at least substantially completely free of bends. The guide element 20d is designed as an at least partially curved rail. The further guide element 22d is designed as an at least partially, in particular at least substantially completely, curvature-free rail. A main extension axis 76d of the further guide element 22d runs at least substantially perpendicular to a main extension axis 98d of the guide element 20d. Alternatively, it is also conceivable that the main extension axis 76d of the further guide element 22d runs at least substantially parallel or neither parallel nor perpendicular to the main extension axis 98d of the guide element 20d. The guide element 20d and the further guide element 22d are arranged in a fixed position relative to an object carrier unit 46d of the detection device 10d. Alternatively, it is also conceivable that the guide element 20d and the further guide element 22d are movably mounted relative to the specimen carrier unit 46d. At least two object data acquisition units 16d of the at least three object data acquisition units 16d, 100d are arranged in a fixed position on the guide element 20d. Alternatively, it is also conceivable that the object data acquisition units 16d are movably arranged on the guide element 20d. An additional object data acquisition unit 100d of the at least three object data acquisition units 16d, 100d is movably arranged on the guide element 20d. The additional object data acquisition unit 100d is preferably provided for acquiring e-commerce data of the object 12d. The further object data acquisition unit 18d is movably mounted on the further guide element 22d. A guide track of the further guide element 22d runs in a straight line. The guideway of the further guide element 22d runs at least essentially parallel to the main extension axis 76d of the further guide element 22d. A path of movement of the further object data acquisition unit 18d arranged on the further guide element 22d, which is defined by the further guide element 22d, runs in a straight line.

It is conceivable that the detection device 10d comprises an object measuring unit (not shown here) which is set up to determine at least one object dimension parameter of the object 12d. The object dimension measuring unit is preferably arranged on the further guide element 22d. Alternatively, it is also conceivable that the object measurement unit is arranged on the guide element 20d or on another position / component of the detection device 10d relative to the object carrier unit 46d that appears to be sensible to a person skilled in the art. The object measuring unit can have at least one sensor element for determining the at least one object dimension parameter, in particular for measuring the at least one object 12d. The sensor element can be designed in particular as a range finder, in particular as a laser range finder, as a stereoscopic camera, as a laser scanner, as an ultrasound scanner, as a time-of-flight camera or as another sensor element that appears useful to a person skilled in the art. As an alternative or in addition to determining the at least one object dimension parameter by means of the object measurement unit, it is conceivable that the object data acquisition unit 16d is set up to acquire a machine-readable code, such as a QR code, a barcode or the like, the machine-readable code being information, in particular comprises a data record relating to object dimension parameters of the object 12d. The at least one object dimension parameter can, in particular, be designed as a maximum extension of the at least one object 12d or as another object dimension parameter that appears sensible to a person skilled in the art. The main extension axis 76d of the further guide element 22d runs at least substantially parallel to an object support surface 78d of the object carrier unit 46d. The further guide element 22d is arranged above the object carrier unit 46d, in particular centrally above a center point of the object support surface 78d. The detection device 10d comprises an illumination unit 82d for active illumination of the specimen slide unit 46d. The lighting unit 82d and / or at least one of the multiple object data acquisition units 16d,

18d, 100d are / is arranged in a fixed position on the guide unit 14d. The lighting unit 82d comprises a plurality of lighting elements 84d. It is also conceivable that the lighting unit 82d comprises only one lighting element 84d. The lighting elements 84d each have at least one polygon-shaped, in particular rectangular, luminous area. Alternatively, it is also conceivable that the lighting elements 84d at least partially have a circular luminous area. The lighting elements 84d are designed as LED panels. Alternatively, it is conceivable that the lighting elements 84d are designed as light bulbs, luminous screens or the like. The lighting elements 84d are each arranged in the vicinity of at least one of the plurality of object data acquisition units 16d, 18d, 100d. The lighting elements 84d are arranged in a fixed position relative to the guide unit 14d. Alternatively, it is also conceivable that at least one of the lighting elements 84d is movably mounted on the guide unit 14d. At least one lighting element 84d is arranged on the guide element 20d and / or on the further guide element 22d. At least one lighting element 84d is arranged on the guide element 20d on sides of the guide element 20d facing away from one another. The object data acquisition units 16d and the further object data acquisition unit 18d are each assigned two lighting elements 84d. Alternatively, it is also conceivable for the object data acquisition units 16d and / or the further object data acquisition unit 18d to be assigned one of two different numbers of lighting elements 84d. Furthermore, it is alternatively conceivable that the at least one of the lighting elements 84d is / is arranged at a different position / component of the detection device 10d relative to the specimen carrier unit 46d that appears to be sensible to a person skilled in the art. At least one of the lighting elements 84d is aimed at the center point of the object support surface 78d, a main direction of radiation of the at least one lighting element 84d in particular intersecting the object support surface 78d, particularly preferably the center point of the object support surface 78d.

Figure 8 shows a detection device lOe for an at least partially automated th acquisition of multiple object data sets of at least one object 12e.

The acquisition device 10e comprises at least one guide unit 14e for guiding at least one object data acquisition unit 16e, 18e. The acquisition device 10e comprises at least two object data acquisition units 16e, 18e for acquiring object data of the object 12e. The at least two object data acquisition units 16e, 18e are arranged on the guide unit 14e. The guide unit 14e comprises at least one, in particular at least partially curved, guide element 20e. An object data acquisition unit 16e of the at least two object data acquisition units 16e, 18e is arranged on the guide element 20e. Another object data acquisition unit 18e of the at least two object data acquisition units 16e, 18e is arranged on a further guide element 22e of the guide unit 14e.

The object data acquisition unit 10e comprises at least one object carrier unit 46e for positioning the object 12e in an object data acquisition area of the two object data acquisition units 16e, 18e. A value of a minimum distance 88e of the further guide element 22e to the slide unit 46e is different from a value of a minimum distance 86e of the guide element 22e to the slide unit 46e. The guide element 20e and the further guide element 22e are designed as an at least partially curved rail, in particular with an identical curvature. However, it is also conceivable that the guide element 20e and / or the further guide element 22e are / is at least partially free of curvature. A value of a minimum distance of the guide element 20e to a center point 90e of an object support surface 78e of the object carrier unit 46e is different from a value of a minimum distance of the further guide element 22e to the center point 90e of the object support surface 78e. A value of the minimum distance 88e of the further guide element 22e to the center point 90e of the object support surface 78e is smaller than a value of the minimum distance 86e of the guide element 20e to the center point 90e. A value of the minimum distance 86e of the guide element 20e to the center point 90e of the object support surface 78e of the object support unit 46e is at least 60% greater than a value of the minimum distance 88e of the further guide element 22e to the center point 90e of the object support surface 78e. However, there are also other alternatives Relations from a value of the minimum distance 86e between the guide element 20e to the center point 90e of the object support surface 78e to a value of the minimum distance 88e between the further guide element 22e to the center point 90e of the object support surface 78e are conceivable.

The two object data acquisition units 16e, 18e each have a fixed focal length objective 80e, the fixed focal length objectives 80e differing in at least one focal length. The fixed focal length lens 80e of the object data acquisition unit 16e, which is arranged in particular on the guide element 20e, has a focal length that is smaller than a focal length of the fixed focal length lens 80e of the further object data acquisition unit 18e, which is arranged in particular on the further guide element 22e.

The fixed focal length lens 80e of the object data acquisition unit 16e is designed as a 50 mm fixed focal length lens. The fixed focal length lens 80e of the further object data acquisition unit 18e is designed as a 100 mm fixed focal length lens. However, it is also conceivable that the fixed focal length lens 80e of the object data acquisition unit 16e or of the further object data acquisition unit 18e is designed as a 35mm fixed focal length lens, as an 85mm fixed focal length lens or another fixed focal length lens 80e that appears useful to a person skilled in the art. A central axis 92e of the specimen carrier unit 46e lies in a main plane of extent of the guide element 20e. Alternatively, it is also conceivable that the main plane of extension of the guide element 20e extends at an angle to the central axis 92e.

The central axis 92e runs at least substantially parallel to the object support surface 78e and in particular through the center point 90e of the object support surface 78e. The detection device 10e comprises at least one background unit 94e. The background unit 94e is formed separately from the slide unit 46e. The background unit 94e extends at least in sections transversely to the object support surface 78e of the object carrier unit 46e. The central axis 92e runs at least substantially perpendicular to a background surface 96e of the background unit 94e facing the slide unit 46e. A main extension plane of the further guide element 22e runs at an angle of at least 20% angled to the main extension plane of the guide element 20e and / or the central axis 92e of the Slide unit 46e. Alternatively, however, other angles of arrangement of the main plane of extension of the further guide element 22e relative to the central axis 92e and / or the main plane of extension of the guide element 20e are also conceivable.

Claims

Expectations

1. Detection device (10a; 10b; 10c; lOd; lOe) for at least partially automated detection of multiple object data records of at least one object (12a; 12b; 12c; 12d; 12e), with at least one guide unit (14a; 14b; 14c; 14d ; 14e) for guiding at least one object data acquisition unit (16a, 18a; 16b, 18b; 16c, 18c; 16d, 18d; 16e, 18e), and with at least two object data acquisition units (16a, 18a; 16b, 18b; 16c, 18c; 16d, 18d; 16e, 18e) for the acquisition of object data of the object (12a; 12b; 12c; 12d; 12e) which are arranged on the guide unit (14a; 14b; 14c; 14d; 14e), the guide unit (14a ; 14b; 14c; 14d; 14e) has at least one, in particular at least partially curved, guide element (20a; 20b; 20c; 20d; 20e), characterized in that at least one object data acquisition unit (16a; 16b; 16c; 16d; 16e) of the two object data acquisition units (16a; 16b; 16c, 18a; 18b, 18c; 16d, 18d; 16e, 18e) on the guide element (20a; 20b; 2 0c; 20d; 20e) and a further object data acquisition unit (18a; 18b; 18c; 18d; 18e) of the two object data acquisition units (16a; 16b; 16c, 18a; 18b, 18c; 16d, 18d; 16e, 18e) on a further guide element (22b; 22d; 22e) of the guide unit (14a; 14b; 14c; 14d; 14e) is arranged or that at least the two object data acquisition units (16a; 16b; 16c, 18a; 18b, 18c; 16d, 18d; 16e, 18e) on opposite sides of the Guide element (20a; 20b; 20c; 20d; 20e) are arranged.

2. Detection device (10a; 10b; 10c; 10d; lOe) according to claim 1, characterized in that the guide unit (14a; 14b; 14c; 14d; 14e) has at least one delimiting element (24a; 24b; 24c) for a subdivision of a Main guide track of the guide element (20a; 20b; 20c; 20d; 20e) in at least two separate movement areas along the main guide track.

3. Detection device (10a; 10b; 10c; lOd; lOe) according to claim 1 or 2, characterized in that the guide unit (14a; 14b; 14c; 14d; 14e) has at least one, in particular multi-axis, robot arm (34c), wherein the guide element (20a; 20b; 20c; 20d; 20e) is designed as an at least partially curved rail.

4. Detection device (10a; 10b; 10c; 10d; 10e) according to one of the preceding claims, characterized in that the guide unit (14b) has at least one further, in particular the further, guide element (22b), the guide element (20a; 20b; 20c) and the wider guide element (22b) are designed as an at least partially curved rail and are movable relative to one another.

5. Detection device (10a; 10b; 10c; 10d; 10e) according to one of the preceding claims, characterized in that the guide unit (14b) has at least one further, in particular the further, guide element (22b), the guide element (20a; 20b; 20c) and the further guide element (22b) are designed as an at least partially curved rail, a curvature of the further guide element (22b) being different from a curvature of the guide element (20a; 20b; 20c).

6. Detection device (10a; 10b; 10c; 10d; lOe) according to one of the preceding claims, characterized in that the guide unit (14b; 14e) has at least one further, in particular the further, guide element (22b; 22e), wherein the guide element (20a; 20b; 20c; 20e) and the further guide element (22b; 22e) are designed as an at least partially curved rail, a main plane of extension of the guide element (20a; 20b; 20c; 20e) at least in an object data acquisition state runs at an angle to a main plane of extension of the further guide element (22b; 22e).

7. detection device (10a; 10b; 10c; lOd; lOe) according to one of the preceding claims, characterized in that the guide unit (14d) has at least one further, in particular the further, guide element (22d), the guide element (20d) is formed at least partially curved and the further guide element (22d) is formed at least substantially free of curvature.

8. Detection device (10a; 10b; 10c; 10d; lOe) according to one of the preceding claims, characterized by an object carrier unit (46a; 46b; 46c; 46d; 46e) for positioning the object (12a; 12b; 12c; 12d; 12e) in an object data acquisition area of the two object data acquisition units (16a, 18a; 16b, 18b; 16c, 18c; 16d, 18d; 16e, 18e), where a further, in particular the further, guide element (22d) of the guide unit (14a; 14b ; 14c; 14d; 14e) has a main extension axis (76d) which runs at least substantially parallel to an object support surface (78d) of the object carrier unit (46a; 46b; 46c; 46d; 46e).

9. Detection device (10a; 10b; 10c; 10d; 10e) according to one of the preceding claims, characterized by an object carrier unit (46a; 46b; 46c; 46d; 46e) for positioning the object (12a; 12b; 12c; 12d; 12e) in an object data acquisition area of the two object data acquisition units (16a, 18a; 16b, 18b; 16c, 18c; 16d, 18d; 16e, 18e), where the guide unit (14a; 14b; 14c; 14d; 14e) has at least one further, in particular the further guide element (22e), and wherein a value of a minimum distance between the further guide element (22e) and the specimen slide unit (46e) is different from a value of a minimal distance between the guide element (20e) and the specimen slide unit (46e).

10. Detection device (10a; 10b; 10c; 10d; lOe) according to one of the preceding claims, characterized in that the two object data detection units (16e, 18e) each have a fixed focal length lens (80e) and the guide unit (14e) at least one further , in particular the further, guide element (22e), the fixed focal length lenses (80e) of the two object data acquisition units (16e, 18e) differ at least in one focal length, one, in particular the, object data acquisition unit (16e) of the two object data acquisition units (16e, 18e) on the guide element (20e) and another, in particular the further, object data acquisition unit (18e) of the two object data acquisition units (16e, 18e) are arranged on the further guide element (22e).

11. Detection device (10a; 10b; 10c; 10d; 10e) according to one of the preceding claims, characterized by an object carrier unit (46a; 46b; 46c; 46d; 46e) for positioning the object (12a; 12b; 12c;

12d; 12e) in an object data acquisition area of the two object data acquisition units (16a, 18a; 16b, 18b; 16c, 18c; 16d, 18d; 16e, 18e) and an illumination unit (82d) for active illumination of the object carrier unit (46d), the illumination unit (82d) and / or at least one of the two object data acquisition units (16d, 18d) are / is arranged in a fixed position on the guide unit (14d).

12. System (26a; 26b; 26c) with at least one detection device (10a; 10b; 10c; lOd; lOe) according to one of the preceding claims, which comprises at least one main processing unit (28a; 28b; 28c) on which at least partially with the acquisition device (10a; 10b; 10c; 10d; 10e) he testified data records are stored, and with at least one mobile acquisition unit (30a; 30b; 30c), the main computing unit (28a; 28b; 28c) is provided at least to to evaluate data acquired with the mobile acquisition unit (30a; 30b; 30c) at least taking into account the data records stored on the main computing unit (28a; 28b; 28c).

13. A method for the acquisition of multiple object data sets of an object (12a; 12b; 12c; 12d; 12e) with a detection device (10a; 10b; 10c; 10d; 10e) according to one of claims 1 to 11 or with a system (26a ; 26b; 26c) according to claim 12, characterized in that in at least one method step (32a; 32b; 32c) at least the object data acquisition unit (16a; 16b; 16c) is moved along the guide element (20a; 20b; 20c) and the further object data acquisition unit (18b) is moved along the further guide element (22b) or that at least the two object data acquisition units (16a; 16b; 16c, 18a; 18b; 18c) are moved on sides facing away from one another on the guide element (20a; 20b; 20c) along the guide element (20a; 20b; 20c).

14. The method according to claim 13, characterized in that by means of the at least two object data acquisition units (16a; 16b; 16c, 18a; 18b; 18c), which differ in particular in at least one camera-specific parameter, in at least one method step (32a; 32b; 32c) simultaneously object data from a detection height, at least viewed along a main guideway of the guide element (20a; 20b; 20c), he is detected.

15. The method according to claim 13 or 14, characterized in that in at least one method step (32a; 32b; 32c) the guide element (20a; 20b; 20c) formed as an at least partially curved rail and the further guide element formed as an at least partially curved rail (22b) are moved relative to one another in order to acquire a multiple object data record.

16. The method according to claim 13 to 15, characterized in that in at least one method step (32a; 32b; 32c) at least one object data acquisition unit (16a; 16b; 16c) of the at least two object data acquisition units (16a; 16b; 16c, 18a; 18b ; 18c) is moved in one of the movement areas delimited by the delimitation element (24) for a detection of a multiple object data record.