Method and unloading station for unloading packaging units of arc- or web-shaped substrates, as well as a system with an unloading station

Abstract

The invention relates to a method for unloading packaging units of arc- or web-shaped substrate from the loading platform of a transport vehicle, wherein a transport vehicle to be unloaded is positioned in an unloading zone in an unloading position and an image encompassing the packaging units to be unloaded is captured by means of at least one optical sensor directed at the loading platform of the transport vehicle in the unloading position. Using image processing means, the packaging units to be unloaded are identified and / or localized on the image captured by the at least one optical sensor. Based on the information obtained by the image processing means regarding the position of the identified packaging units, their position with respect to their horizontal position in the unloading zone is determined, and at least the positions of the packaging units to be unloaded thus determined are transmitted to a control system of an automated guided vehicle (AGV).Using information on the positions of the packaging units to be unloaded, the control system issues transport orders to one or more automated guided vehicles (AGVs) for unloading the material units. Furthermore, the invention relates to an unloading station for unloading packaging units of arc- or web-shaped substrates, and to a system comprising such an unloading station.

Description

[0001] The invention relates to a method and an unloading station for unloading packaging units of arc- or web-shaped substrates, as well as a system with such an unloading station.

[0002] German patent DE 10 2013 226 022 B4 discloses a material supply system for supplying a printing press with printing material, wherein packaging of printing material is transported from a goods receipt or delivery point, e.g., a truck or railcar, directly or via a transfer station through a warehouse for entry into an automated transport path. Transport to the transfer station can be carried out using rail-bound transport vehicles or free-moving transport vehicles such as forklifts or AGVs.

[0003] For the delivery of paper rolls, for example for high-volume newspaper printing, specially equipped trucks are sometimes used. This is feasible due to the high throughput and the largely homogeneous substrate and supplier structures. These trucks are equipped, for example, with special extensions on which the rolls can be unloaded in a defined manner and position, thus making them accessible to driverless transport systems in the case of highly automated systems.

[0004] However, such aids are often unavailable, particularly for applications with lower volumes and / or a heterogeneous supplier and / or substrate structure. This currently applies especially, but not exclusively, to packaging manufacturing plants and factories, particularly those producing paper-based packaging such as cardboard, corrugated board, or corrugated board. For example, these facilities often have a heterogeneous supplier structure, affecting substrate sources and manufacturing plants. Furthermore, non-specialized freight forwarders are sometimes contracted to deliver the substrate and, if applicable, to remove recyclable waste material. These freight forwarders have no interest in expensive modifications or even dedicated trucks. Typically, in such applications, the rolls are unloaded "manually" from the truck using a forklift and personnel and then transferred to the subsequent conveyor system.Depending on the driver's skills, rollers can be damaged or accidents can occur, the latter especially when transporting large, difficult-to-handle rollers from the packaging industry.

[0005] Therefore, it is desirable to be able to automate the unloading of delivered substrates from transport vehicles without special aids, for any order of magnitude of throughput or diversity in the substrate spectrum, without the need for special loading aids.

[0006] German patent DE 102 12 590 A1 relates to an optical device for the automatic loading and unloading of containers onto vehicles. When a transport vehicle is loaded with a container, the vehicle is first identified and the data transmitted to a logistics management system. A camera determines identification points on the loading platform of the transport vehicle and also transmits these points to the logistics management system. A stacker crane, controlled by a computer, moves the container to be loaded into position at designated coordinates. A camera system on the stacker crane ensures that the securing devices of the container and loading platform are aligned before the container is set down.When a container is unloaded, the transport vehicle uses cameras to identify both the container and the transport vehicle itself. A camera system then captures identification points on the container, and the logistics management system uses these points to determine the securing devices and their position coordinates. The camera system on the stacking crane then identifies the securing devices. The lifting device is moved over the container and positioned so that the corresponding securing devices interlock.

[0007] DE 10 2019 004 772 A1 relates to a loading system for unloading a parked transport vehicle with a mobile base unit that is at least partially autonomous and carries at least one robot unit. The distal end of the robot unit is equipped with a loading device for receiving a load carrier and transferring the load to a transfer device. A camera, also located on the distal end, provides a control unit for the loading system with a data set characterizing the current position of a load carrier to be transferred, so that the robot unit can be controlled by the control unit using this data set.

[0008] DE 10 2006 054 083 A1 discloses a method and navigation system for navigating a means of transport for goods, their applications and uses, as well as a computer program and data storage medium.

[0009] The invention is based on the objective of creating a method and an unloading station for unloading packaging units of arc- or web-shaped substrates, as well as a system with such an unloading station.

[0010] The problem is solved according to the invention by the features of claim 1, 3 or 7.

[0011] In the solution-based method for unloading packaging units of arc- or web-shaped substrate from the loading platform of a transport vehicle, a transport vehicle to be unloaded is positioned in an unloading zone in an unloading position and an image encompassing the packaging units to be unloaded is captured by means of at least one optical sensor, preferably designed as a camera or scanner, directed - in particular from above - onto the loading platform of the transport vehicle in the unloading position.Using image processing equipment, the packaging units to be unloaded are identified and / or located on the image captured by at least one optical sensor. Based on the information obtained by the image processing equipment regarding the position of the identified packaging units, their position relative to their horizontal orientation in the unloading zone is determined, and at least the positions of the packaging units to be unloaded are transmitted to a control unit of an automated guided vehicle (AGV). Using the information on the positions of the packaging units to be unloaded, the control unit issues transport orders to one or more AGVs for unloading the material units.

[0012] According to the invention, the data processing means create an unloading plan for the unloading of the packaging units to be unloaded based on predetermined criteria, which defines a sequence for the transport orders to be processed by the means of transport or transport and relating to the unloading of the respective packaging units.

[0013] As a result, unloading is now carried out by one or more automated guided vehicles (AGVs), with the pickup locations and / or sequence determined by an intelligent system using an optical sensor. Based on the positions determined by the sensor, the system can then determine a pickup strategy, such as an unloading plan that is as efficient as possible based on specific criteria. This results in the fastest or most efficient unloading in terms of distance. Multiple AGVs can also be used simultaneously.

[0014] An unloading station, particularly suitable for this purpose, for unloading packaging units of arc- or web-shaped substrate from the loading platform of a transport vehicle, comprises an unloading zone in which the transport vehicle can be positioned in an unloading position for unloading, at least one optical sensor – particularly stationary and closely arranged in the area of ​​the unloading zone – which is arranged in the area of ​​the unloading station – particularly above the area of ​​the unloading zone – such that it is directed – particularly from above – at the loading platform of a transport vehicle in an unloading position, image processing means which are configured to identify and locate packaging units placed on the loading platform in the image captured by the at least one optical sensor, and an automated guided vehicle system with a control unit and at least one automated guided vehicle receiving transport orders from the control unit.and data processing means connected to the control system, which are connected to or encompassed by the image processing means and are configured to determine, using the information from the image processing by the image processing means, the position of the packaging units to be unloaded in relation to their horizontal position, in particular with regard to a space-fixed coordinate system, in the unloading zone and to transmit at least the positions of the packaging units to be unloaded to the control system.

[0015] In particular, such an unloading station is provided for unloading packaging units of the substrate to be processed and / or manufactured from a loading area of ​​a transport vehicle in a plant for processing and / or manufacturing sheet- or web-shaped substrate, which includes a machine processing and / or manufacturing the substrate with an inlet-side substrate feed, preferably a machine of the paper processing or manufacturing industry, in particular a machine for providing packaging material or a layer of packaging material, e.g. a printing press or a machine for manufacturing cardboard or corrugated board.

[0016] The advantages achievable with the invention lie particularly in the fact that automated unloading is possible without the need for specific loading aids or transport vehicles. For example, transport vehicles with standard loading areas can be used flexibly, and – in further development – ​​different packaging units can be recognized and their differences taken into account during unloading. Due to the use of freely moving transport means in the form of driverless transport systems, the subsequent processes remain unchanged.

[0017] Exemplary embodiments of the invention are shown in the drawings and are described in more detail below.

[0018] They show: Fig. 1 an embodiment of a system with an automatic unloading system and a machine designed as a printing press; Fig. 2 a) a top view of the loading area of ​​a truck loaded with rolls of the same type and b) a view of the image of the load taken by a camera or scanner according to a); Fig. 3 an embodiment of a system with an automatic unloading system and a machine designed as a corrugated board machine; Fig. 4 a) a top view of the loading area of ​​a truck loaded with rolls of different types and b) a view of the image of the load taken by a camera or scanner according to a); Fig. 5 a schematic representation of the unloading control with a display device showing a loading image; Fig. 6. A process flow diagram for the steps to be carried out during automatic unloading.

[0019] A plant for processing and / or manufacturing a substrate S; S1; S2; S3, in particular a sheet-shaped or web-shaped substrate S; S1; S2; S3, comprises a machine 01; 02 for processing and / or manufacturing the substrate, with at least one inlet substrate feed 03; 03.1; 03.2; 03.3, via which substrate S; S1; S2; S3 to be processed and / or manufactured can be or is supplied to the machine 01; 02, as well as an unloading station 04 for unloading packaging units R; R1; R2, R3 of the substrate S; S1; S2; S3 to be processed and / or manufactured from a loading platform of a transport vehicle 06 delivering the packaging units R; R1; R2, R3. The transport vehicles 06 can be rail-bound transport vehicles 06, e.g. B. Wagons of a freight train, as well as preferably road vehicles, especially trucks 06 (lorries).It is particularly advantageous if the loading area of ​​the transport vehicle 06 - at least in the area of ​​the loading area which can be equipped or is equipped by packaging units R; R1; R2, R3 - is open at the top or preferably designed with a roof that can be opened or removed.

[0020] The packaging units R; R1; R2, R3 can, in principle, be formed in any suitable shape. However, in the case of an arc-shaped substrate S; S1; S2; S3, they are, for example, formed as a stack with a plurality of superimposed substrate arcs. In a preferred embodiment, for a web-shaped substrate S; S1; S2; S3, they are formed, for example, as a short web of substrate material S; S1; S2; S3, wound into rolls R; R1; R2; R3. The arc- or web-shaped substrate S; S1; S2; S3 can, in principle, consist of one or more layers of metal, plastic, paper, or a multilayer combination thereof. Preferably, however, the substrate S; S1; S2; S3 is formed of paper or paper-containing material.Accordingly, in an advantageous embodiment, the machine 01; 02 is formed by a machine 01; 02 of the paper processing or manufacturing industry, in particular by a printing press 01 or preferably by a machine 02 for the production of paper-containing or paper-based packaging materials, in particular cardboard or corrugated board, or optionally by an inline arrangement of the aforementioned machines 01, 02. In particular, the machine 01; 02 is designed to provide, in particular, multi-layered packaging material, e.g., cardboard or corrugated board, or to provide a packaging material layer formed by a substrate web S; S1; S2; S3, e.g., printed wrapping paper or a printed top layer for further processing into cardboard or corrugated board.

[0021] In the transport path for packaging units R; R1; R2, R3 between unloading station 04 and machine 01; 02, at least one storage unit 07 may be provided. A conveyor 08 may be connected to the unloading station 04 in the transport path for the packaging units R; R1; R2, R3, through which the packaging units R; R1; R2, R3 can be conveyed directly to machine 01; 02 or to the storage unit 07, if applicable – e.g., automatically. Further stations, not shown here, may be provided in the transport path to machine 01; 02 or to storage unit 07, such as a scanning station where descriptive or individualizing codes on the packaging units R; R1; R2, R3 can be read, and / or an unpacking station where any packaging on the packaging units R; R1; R2, R3 is removed, and / or – especially in the case of rolls R; R1; R2, R3 - a preparation station where an adhesive is applied to the beginning of the track.

[0022] The unloading of the packaging units R; R1; R2, R3 from the transport vehicles 06 and, for example, their transport directly to the machine 01; 02, to a storage facility 07, or to a transfer point of a conveyor system 08 leading away from the unloading station 04, is now carried out automatically and / or driverlessly, in particular via a driverless transport system with one or more driverless transport vehicles 14.1; 14.2, e.g., AGVs 14.1; 14.2 (Automated Guided Vehicles), and a control unit 13 that issues transport orders to this or these transport vehicles 14.1; 14.2. For roll-like packaging units R; R1; R2; R3, suitable transport vehicles 14.1; 14.2 include, for example, AGVs 14.1; 14.2, which can clamp and lift an upright roll R; R1; R2; R3 between two arms.

[0023] It is particularly advantageous if no transport vehicles 06, loading areas or loading aids specially adapted to the packaging units R; R1; R2, R3 are required for the delivery of the packaging units R; R1; R2, R3, so that there is great freedom with regard to potentially usable transport vehicles 06 and / or forwarding companies.

[0024] Since driverless transport vehicles 14.1; 14.2 are generally unable to "search" for target objects to be collected over longer distances, an intelligent and "seeing" system is provided to locate the target objects, here the packaging units R; R1; R2; R3, and to control or guide the transport vehicles 14.1; 14.2 to defined locations in a suitable manner in order to unload the loading area safely and preferably as efficiently as possible.

[0025] For this purpose, the unloading station 04 comprises an unloading zone in which a delivering transport vehicle 06 can be positioned, or is positioned, in an unloading position for unloading. In the area of ​​the unloading station 04, particularly in an area above the unloading position or unloading zone, at least one optical sensor 09, e.g., a scanner 09 or a camera 09, is designed and arranged such that it is directed – preferably from above – onto the loading platform of a transport vehicle 06 located in an unloading position in the unloading zone of the unloading station 04 and provides image information about the loading platform loaded with packaging units R; R1; R2; R3. The unloading zone can, for example, be designed as an unloading deck or an unloading ramp, which defines the desired unloading position by marking or by appropriate spatial design, such as a fixed driving channel.The at least one sensor 09 is permanently installed in the unloading station 04 – although it may be adjustable – meaning it is not transported by a vehicle or means of transport. For example, it is attached or arranged – directly or indirectly – to a crossbeam, hall ceiling, or roof extending above the unloading position.

[0026] By means of at least one optical sensor 09, preferably directed from above onto the loading platform of the transport vehicle 06 in the unloading position, image information is captured that at least locates the packaging units R; R1; R2, R3 to be unloaded, in particular an image encompassing the packaging units R; R1; R2, R3. While the at least one sensor 09 can also be directed onto the loading platform from the side or from an oblique angle above, it is preferably positioned above the loading platform when viewed in a projection onto the horizontal plane. If several such sensors 09, e.g., cameras 09, are provided, the entirety of the packaging units R; R1; R2, R3 to be unloaded can be captured by several consecutive or possibly overlapping images. The captured, recorded, or possibly composited image of the loading platform can be displayed, for example, on a display device 16.a screen 16, also be visualized or be.

[0027] The single or possibly composite image is then evaluated using image processing means 11, e.g., a software-based, possibly even AI-supported image processing system 11. In this process, the packaging units R; R1; R2, R3 to be unloaded are identified and localized on the image captured by the at least one camera 09 – e.g., by shape comparison. Based on the information obtained by the image processing regarding the position of the identified packaging units R; R1; R2, R3, the position of the packaging units R; R1; R2, R3 with respect to their absolute, at least horizontal, position in the unloading zone is then determined, e.g., by data processing means 12 encompassed by or signal-technically connected to the image processing system 11. This determination is made, in particular, based on the position of the packaging units R; R1; R2, R3 on the image and the known position of the detection range of the at least one sensor 09 in the plane of the unloading zone.These positions relating to the location of the packing units R; R1; R2, R3 can, for example, be coordinates in a space-fixed, i.e., stationary, coordinate system to vertices or to a center of gravity of the packing units R; R1; R2, R3 to be unloaded. In the figures... Fig. 2, Fig. 4 and Fig. Figure 5 shows such a coordinate system as an example of a rasterized background behind the visualization of the recorded loading image on the display device 16.

[0028] The positions of the packaging units R, R1, R2, R3 to be unloaded, determined in this way and relating to their absolute position in the system or in the unloading station 04, are then transmitted – directly or, if necessary, as part of the transmission of an unloading plan described in more detail below – to the control unit 13 of the automated guided vehicle (AGV) system. Using this information on the positions of the packaging units R, R1, R2, R3 to be unloaded, the control unit issues transport orders for unloading the packaging units R, R1, R2, R3 to one or more AGVs 14.1; 14.2, specifying the respective storage location, e.g., the corresponding coordinates. The sequence for transporting the packaging units R, R1, R2, R3 via corresponding transport orders can, in this configuration, be random or according to fixed criteria or rules in the control unit 13 itself or in the data processing equipment 12 encompassed by or upstream of it.In the case of a fixed specification, for example, unloading can take place sequentially - e.g. from front to back or vice versa.

[0029] In an advantageous embodiment, however, the data processing means 12 first generate an unloading plan for the unloading of the packaging units R; R1; R2, R3 based on predefined criteria. This plan, taking into account certain predefined criteria, establishes a sequence for the transport orders to be processed by the means of transport 14.1; 14.2 and relating to the unloading of the respective packaging units R; R1; R2, R3. The data processing means 12 are configured—for example, by appropriately implemented software—to generate an efficient unloading plan for the packaging units R; R1; R2, R3 based on predefined criteria such as a minimum total distance or minimum unloading time. This plan is efficient, for example, with regard to time or distance, and applies to the packaging units R; R1; R2, R3 and / or each of the available means of transport 14.1; 14.2.2 defines a sequence for the relevant transport orders. The creation of such an unloading plan can be carried out, for example, using fixed rules, fuzzy rules, or, in particular, AI-supported, i.e., using AI-supported algorithms. The unloading plan is then implemented by the control controller 13 by generating and issuing corresponding transport orders. Preferably, the entire unloading plan can be transmitted to the control controller 13 and implemented there. However, instead, the control controller 13 can also receive successive information about the next packaging units R, R1, R2, R3 to be unloaded with the respective means of transport 14.1; 14.2, which is then implemented by the control controller 13 by generating a corresponding transport order.

[0030] The image processing means 11, together with the data processing means 12, the control unit 13, and the optional display unit 16, are hereinafter also referred to collectively as the discharge control unit 17. Image processing means 11 and data processing means 12 can be configured separately as independent processes, but be interconnected via signals, or be interwoven as routines in a complex process. The image processing means 11, the data processing means 12, and the control unit 13 can be housed in distributed data processing units that are interconnected via signals 19, or—as illustrated by way of example—in several or all of them in a common data processing unit 18, e.g., a suitably configured computer 18. The image captured by the optical sensor 09, in particular the camera 09, is transmitted via a—e.g.,The signal is transmitted via a wired or wireless connection 19 to the discharge control 17, and in particular initially to the image processing equipment 11 responsible for image evaluation. The image processing can be carried out entirely or partially, if necessary, already in the image processing equipment 11, which together with the sensor 09 form a sensor system as a single unit and deliver (pre-)processed image information via the signal connection 19.

[0031] In Fig. 1 and Fig. Section 2 describes the operation and configuration of such an unloading station 04 with an automated unloading system, which includes a sensor 09 designed as a camera 09, an unloading control unit 17, and a driverless transport system 14.1; 14.2, using the example of a system with a machine 01. This system is based, for example, on a delivery with a homogeneous load on the transport vehicle 06, i.e., with packaging units R that do not differ in the type or properties of the web-shaped substrate S. The machine 01 in this context is, for example, at least one machine 01 designed as a printing press 01, in particular a web-fed printing press 01. However, it could also be another type of paper-processing machine 01, such as a die-cutting machine, gluing machine, or other finishing machine.

[0032] The printing machine 01, designed in the example as a roll-to-roll printing machine 01, has a roll unwinder 03 as its substrate feed 03, through which the substrate S formed by a substrate web S is fed to the machine 01, a printing unit 21, preferably an inkjet printing unit 21, with several printing points 22 arranged one after the other in the substrate path, in particular inkjet printheads 22, by which the substrate web S can be printed, e.g., in multiple colors, a dryer 23 advantageously provided for drying the printed substrate web S, and a roll rewinder 24, by which the printed substrate web S is rewound as a product of the machine 01. Instead of the roll rewinder 24, a cross cutter and a stack delivery unit could also be provided to deliver sheet-shaped products at the output of the machine 01.The machine is supplied with transport units R designed as rollers R on the input side, which were originally automatically unloaded at the unloading station 04 by a transport vehicle 06 using the above unloading control 17.

[0033] An unloading plan generated by the data processing equipment 12 and / or specified in the control unit 13 stipulates that the packaging units R, designed here as rollers R, are unloaded from both sides of the transport vehicle 06 by at least one transport device 14.1; 14.2 each and / or sequentially from the rear end of the transport vehicle 06. This is exemplified in Fig. The numbering 1.1 and 1.2 indicates the first two rolls of material (R) to be transported by the first means of transport 14.1 on the first side of the transport vehicle 06, and the numbering 2.1, 2.2, and 2.3 indicates the first three rolls of material (R) to be transported by the second means of transport 14.2 on the second side of the transport vehicle 06. The first digit represents the first or second means of transport 14.1 or 14.2, respectively, and the second digit following the decimal point represents the number of the transport run of the respective means of transport 14.1 or 14.2, e.g., "1.2" as the second transport run of the first means of transport 14.1. However, an unloading plan based on other criteria or defined in a different way could also exist or have been created. Instead of two means of transport 14.1 or 14.2, only one or more than two means of transport 14.1 or 14.2 may be used.

[0034] In Fig. 3 and Fig. Section 4 describes the operation and configuration of an unloading station 04 with an optical sensor 09 designed as a camera 09 and an unloading control unit 17, as well as at least one driverless transport vehicle 14.1; 14.2, using the example of a system with a machine 02. This system is based on an example of a delivery with an inhomogeneous load on the transport vehicle 06, i.e., with packaging units R1; R2; R3 that differ in the type or condition of the web-shaped substrate S. The different conditions can be due, for example, to different pretreatments, e.g., printed or unprinted, to different substrate materials, to different substrate dimensions, or to other distinguishing features.

[0035] As in the first example, machine 01; 02 can also be a printing press 01, to which, for example, different substrates S1; S2; S3 can be fed for different production runs. However, the above example is particularly advantageous for an unloading control 17 with regard to inhomogeneous loading for systems or machines 02 that simultaneously process several substrate webs S1; S2; S3 with at least partially different types or properties. Such a machine 02 is, in particular, a machine 02 for the production of paper-containing or paper-based packaging materials, e.g., corrugated board, or in short, a corrugated board machine 02. Here, for example, at least three substrate webs S1; S2; S3 are processed simultaneously into a product strand P.

[0036] Such a corrugated board machine 02 comprises, on the input side, several, e.g., at least three, unwind rolls 03.1; 03.2; 03.3, a so-called corrugation unit 26, in which the corrugation is introduced between two correspondingly corrugated rollers into the substrate web S2, which later forms the inner corrugated layer, a first gluing device 27, by which glue is applied to one side of the corrugated substrate web S2 in order to join and bond it downstream with the first substrate web S1, and a second gluing device 28, by which glue is applied to the other side of the corrugated substrate web S2 in order to bond the substrate composite already formed from the first and the corrugated second substrate web S1; S2 downstream with the third substrate web S3. Downstream, a dryer (not shown) and one or more further units (not shown) for further processing and / or, if necessary,Further processing units serving a delivery of the product strand P are provided. In the example, the rolls R1; R2; R3 can be, for example, a first substrate web S1 forming the later outer cover layer, e.g. printed; a second substrate web S2 forming the later corrugated layer, possibly with a different paper quality than the first substrate web S1; and a third substrate web S3 forming the later back layer of a package, e.g. unprinted. In the figures... Fig. 3 and Fig. The three different types of roles R1; R2; R3 are indicated for better understanding by different colors (white, grey and black).

[0037] An unloading plan generated by the data processing equipment 12 and / or specified in the control system stipulates that the packaging units R1, R2, R3, designed here as rolls R1, R2, R3 of different types or properties, are to be unloaded separately, i.e., one type of roll R1, R2, R3 after the other, for example, from both sides of the transport vehicle 06 by at least one transport device 14.1; 14.2 on each side, whereby in the example, first the first type of roll R1, then the second, and finally the third type of roll R2, R3 are unloaded, each in sequence, coming from the rear end of the transport vehicle 06. This is exemplified in Fig.4. The numbering 1.1, 1.2, 1.3, 1.4, and 1.5 on the first side of transport vehicle 06 indicates the rolls R1, R2, and R3 to be transported by the first means of transport 14.1, and the numbering 2.1, 2.2, 2.3, 2.4, and 2.5 indicates the rolls R1, R2, and R3 to be transported by the second means of transport 14.2 on the second side of transport vehicle 06. However, an unloading plan based on other criteria or determined in another way could also exist or have been drawn up. Here, too, only one or more than two means of transport 14.1 and 14.2 may be provided.

[0038] Preferably, transport between unloading station 04 and machine 01; 02 or between unloading station 04 and a possibly provided storage area 07 is also automated and / or driverless within the system. The transport between unloading station 04 of machine 01; 02 or between the possibly provided storage area 07 and machine 01; 02 can, for example, also be carried out or configured via a driverless transport system with driverless transport vehicles 29. These can be equipped with lifting and / or gripping tools to enable the transport of rollers R; R1; R2; R3 in a horizontal position. The system is then equipped with at least one further corresponding transport vehicle 29, e.g., an AGV 29, and a control unit 13 that controls this transport vehicle 29. If necessary, the control of the transport vehicles 14.1; operating in the area of ​​unloading station 04 can be carried out by a control unit 13. 14.2 and of the substrate supply 03 or supplies 03.1; 03.2; 03.3 supplying means of transport 29 are controlled by the same central control system 13. Reference symbol list 01 Machine, printing press, rotary printing press 02 Machine, corrugated board machine 03 Substrate feed, roll unwinder 03.x Substrate feed, roll unwinder (x = 1,2,3) 04 Unloading station 05 - 06 Transport vehicle, truck (lorry) 07 Warehouse 08 Conveyor system, linear conveyor 09 Sensor, scanner, camera 10 - 11 Image processing equipment, image processing system 12 Data processing tools 13 Control system 14.1 Driverless transport vehicle, AGV 14.2 Driverless transport vehicle, AGV 15 - 16 Display setup, screen 17 Discharge control 18 Data processing equipment, computers 19 Signal connection 20 - 21 printing units 22 print points, inkjet printhead 23 dryers 24 roll winders 25 - 26 shaft assembly 27 Glue device, first 28 Glue device, second 29 driverless transport vehicle, AGV P product line R packaging unit R1 packaging unit R2 packaging unit R3 packaging unit S Substrate, substrate path S1 Substrate, substrate lane S2 substrate, substrate lane S3 substrate, substrate lane

Claims

Method for unloading a plurality of packaging units (R; R1; R2, R3) of arc- or web-shaped substrate (S; S1; S2; S3) from the loading platform of a transport vehicle (06), wherein: - a transport vehicle (06) to be unloaded is positioned in an unloading zone in an unloading position, - an image encompassing the packaging units (R; R1; R2, R3) to be unloaded is acquired by means of at least one stationary optical sensor (09) directed towards the loading platform of the transport vehicle (06) in the unloading position, - the packaging units (R; R1; R2, R3) to be unloaded are identified and localized on the image acquired by the at least one optical sensor (09) by means of image processing means (11), - the information on the position of the identified packaging units (R; R1;R2, R3) whose position is determined in relation to their horizontal position in the unloading zone, - at least the positions of the packaging units (R; R1; R2, R3) to be unloaded determined in this way are transmitted directly or indirectly to a control unit (13) of an automated guided vehicle system, - by means of data processing means (12) in signal communication (19) with the image processing means (11) an unloading plan for the unloading of the packaging units (R; R1; R2, R3) to be unloaded, which establishes a sequence for the unloading of the packaging units (R; R1; R2, R3) to be processed by the means of transport (14.1; 14.2) and the unloading of the respective packaging units (R; R1;Transport orders concerning R2, R3) are defined, created, and assigned to the control system (13) for processing; the most efficient unloading with regard to distance and / or the fastest unloading is considered as a criterion; and the control system (13), using the information on the positions of the packaging units (R; R1; R2, R3) to be unloaded, assigns transport orders to one or more driverless transport vehicles (14.1; 14.2), wherein the specified unloading plan provides that the packaging units (R) are unloaded from both sides of the transport vehicle (06) by at least one transport vehicle (14.1; 14.2) each and / or sequentially from the rear end of the transport vehicle (06); and wherein, in the case of an inhomogeneous load on the transport vehicle (06) with packaging units (R; R1; S2; S3) that differ in the type or nature of the substrate (S; S1; S2; S3), the following applies:R2, R3) based on the image data evaluated by the image processing means (11), the packaging units (R; R1; R2, R3) which differ in the type or nature of the substrate (S; S1; S2; S3) are recognized as such and their difference in type or nature is taken into account when creating the unloading plan, wherein the specified unloading plan provides that the packaging units (R1, R2; R3) are each unloaded separately. Method according to claim 1, characterized in that rolls (R; R1; R2, R3) of paper are delivered and unloaded as packaging units (R; R1; R2, R3) and subsequently processed and / or manufactured in a paper processing machine (01; 02). Unloading station (04) for unloading a plurality of packaging units (R; R1; R2, R3) of arc- or web-shaped substrate (S; S1; S2; S3) from the loading platform of a transport vehicle (06) comprising: - an unloading zone in which the transport vehicle (06) can be positioned in an unloading position in order to be unloaded, - at least one optical sensor (09) which is fixedly arranged in the area of ​​the unloading station (04) such that it is directed towards the loading platform of the transport vehicle (06) in the unloading position, - image processing means (11) which are configured to identify and locate packaging units (R; R1; R2, R3) placed on the loading platform in the image captured by the at least one optical sensor (09), - an automated guided vehicle system with a control unit (13) and at least one automated guided vehicle (14.1; 14.2) which receives transport orders from the control unit (13).2)- and data processing means (12) in signal communication (19) with the control unit (13), which are in signal communication (19) with or encompassed by the image processing means (11) and are equipped to:- determine, using the information from the image processing by the image processing means (11), the position of the packaging units (R; R1; R2, R3) to be unloaded in relation to their horizontal position (coordinates) in the unloading zone and to transmit at least the positions of the packaging units (R; R1; R2, R3) to the control unit (13);- create an unloading plan for the packaging units (R; R1; R2, R3) to be unloaded based on predefined criteria, which is suitable for the or each of the available means of transport (14.1; 14.2) establishes a sequence of the packaging units (R; R1; R2, R3) to be unloaded, and when creating the unloading plan, consider as a criterion the most efficient unloading with regard to distance and / or the fastest unloading, whereby the specified unloading plan provides that the packaging units (R) are to be unloaded from both sides of the transport vehicle (06) by at least one means of transport (14.1; 14.2) and / or are unloaded successively from the rear end of the transport vehicle (06) and wherein the data processing means (12) are set up to recognize, in the event of an inhomogeneous loading of the transport vehicle (06) with packaging units (R; R1; R2, R3) differing in the type or nature of the substrate (S; S1; S2; S3), the packaging units (R; R1; R2, R3) differing in the type or nature of the substrate (S; S1; S2; S3) and to take their difference in type or nature into account when creating the unloading plan, wherein the specified unloading plan provides that the packaging units (R1, R2; R3) are each unloaded separately. Unloading station (04) according to claim 3 for carrying out the method according to one of claims 1 to 2 . Unloading station (04) according to one of claims 3 to 4, characterized in that the arc- or web-shaped substrate (S; S1; S2; S3) is formed by paper or paper-containing material. Unloading station (04) according to one of claims 3 to 5, characterized in that the packing units (R; R1; R2, R3) are formed by rolls (R; R1; R2, R3) of paper. A system for processing and / or handling sheet-shaped or web-shaped substrate (S; S1; S2; S3), comprising: an unloading station (04) for unloading packaging units (R; R1; R2, R3) of the substrate (S; S1; S2; S3) to be processed and / or handled from a loading platform of a transport vehicle (06); and a machine (01; 02) for processing and / or handling the substrate (S; S1; S2; S3) with an input-side substrate feed (03; 03.x), characterized by the design of the unloading station (04) according to one of claims 3 to 4. The system according to claim 7, characterized in that the machine (01; 02) is formed by a machine of the paper processing or manufacturing industry. The system according to claim 7 or 8, characterized in that the machine (01; 02) is formed by a printing machine (01) or by a machine (02) for the production of cardboard or corrugated board, and / or by a machine for providing packaging material or a layer of packaging material. The system according to claim 7, 8 or 9, characterized in that the sheet-shaped or web-shaped substrate (S; S1; S2; S3) is formed by paper or paper-containing material. Plant according to claim 7, 8, 9 or 10, characterized in that the packaging units (R; R1; R2, R3) are formed by rolls (R; R1; R2, R3) of paper.

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