Load carrier control apparatus, method of operation and use

Abstract

A load carrier control apparatus (1) comprises a control device (50) comprising a sensor device (51) and a computing device (52). The computing device (52) is adapted and designed to check a quality characteristic of the controllable load carrier (100) based on the data captured by the sensor device (51) using an evaluation based on an automation application, including an AI application and / or at least one computer vision application. A method for operating such a load carrier control device (1) comprises inferring at least one quality feature using an automation application and initiating a corresponding predetermined operation. The use relates to an automation application comprising at least one AI application and / or at least one computer vision application for controlling the load carrier (100).

Description

Technical Field

[0001] The invention relates to a load carrier control device comprising at least one control device, wherein the control device comprises at least one sensor device and at least one computing device. The invention also relates to a method for operating the load carrier control device and the use thereof. Background Art

[0002] Load carriers are used to receive objects to be transported, or even multiple objects, to ensure standardized transportation of these objects. Load carriers can be made from a variety of materials and have different shapes and configurations.

[0003] For example, there are wooden flat pallets, so-called Euro pallets (EN 13698-1), which have a specified base area of ​​800 mm x 1200 mm.

[0004] This standardized load carrier offers numerous advantages when it comes to transporting individual objects and / or, for example, stacked individual pieces of goods. This means that generally all industrial trucks can pick up and transport such pallets.

[0005] Furthermore, the standardized bottom area allows for appropriate preselection of predetermined layer patterns and / or bag sizes in relation to subsequent layer patterns when stacking bags on such a pallet.

[0006] The construction of a load carrier is generally relatively simple. The aforementioned Euro pallet consists of wooden slats and blocks connected in a predetermined pattern by means of nails.

[0007] However, the problem with these pallets is that they are also susceptible to damage during transport, with individual slats potentially splintering or even breaking completely, and nails potentially protruding into the loading area.

[0008] Protruding parts, such as wooden slats and / or protruding nails, other foreign objects, and / or deformed wood or slats can damage the goods being transported. In particular, when bags filled with bulk goods are stacked on defective pallets, the bags directly on the pallet can be damaged, and the bulk goods can spill. Depending on the type of bulk material, the resulting dust can contaminate the surrounding area and / or even create a hazardous situation if the bulk material is harmful to health and / or the environment.

[0009] If individual slats and / or blocks of a pallet are missing and / or deformed, the pallet will usually be too unstable to ensure safe transportation.

[0010] Since palletizing operations are largely automated in many regions, only new, and therefore hopefully undamaged, pallets are used in some areas to avoid adverse effects from defects in the shipped goods. For example, in the case of overseas shipments, if the cargo contains bags filled with bulk materials and dust contamination or contaminants are detected when the container is opened, the entire container will not be accepted and will be returned. This can result in high costs, so only new pallets are used as a precautionary measure.

[0011] However, using new pallets in turn results in high costs, and the new pallets may also be defective or damaged shortly before being automatically loaded.

[0012] For example, with collapsible boxes, folding boxes, grid boxes, racks, and / or other such load carrying racks, issues of integrity and / or proper alignment and / or installation are critical. Summary of the Invention

[0013] It is therefore an object of the present invention to avoid damage to the load due to defects and / or improper design of the load carrier, in particular when using used load carriers such as shared pallets, circulation pallets and / or reusable pallets.

[0014] This object is achieved by a load carrier control device having the features of claim 1, a method for operating a load carrier control device having the features of claim 7, and a use according to claim 12. Preferred developments of the invention are the subject matter of the dependent claims. Further advantages and features of the invention will become apparent from the general description and the description of exemplary embodiments.

[0015] The load carrier control device according to the invention comprises at least one control device, wherein the control device comprises at least one sensor device and at least one computing device. The computing device is adapted and designed to check at least one quality feature of at least the upper side of at least one unloaded load carrier to be controlled based on data captured by the sensor device using an evaluation based on at least one automated application, wherein the automated application comprises at least one AI application and / or at least one computer vision application.

[0016] Empty load carriers are controlled in particular meaning that packed load carriers, thus load units comprising a load carrier and packages arranged thereon, are not taken into account, but only empty or unpacked or unloaded or unfilled load carriers, such as pallets, are taken into account.

[0017] In this context, load carriers specifically refer to standardized load carriers, such as so-called Euro pallets. Depending on their configuration, such load carriers can be made of different materials and have certain other characteristics, such as shape, height, and / or container for industrial trucks. For example, Euro pallets are typically made of wood and are constructed so that conventional industrial trucks (such as forklifts and / or pallet jacks) can drive under or inside the pallet and then lift it for further transport. However, other load carriers can also be made of or include other materials and their shapes and other characteristics may also vary.

[0018] However, load carriers are also to be understood as including pallets made of other materials and load carriers having different shapes or designs, such as collapsible boxes, folding boxes, lattice boxes, racks and / or the like.

[0019] The computing means preferably comprises and / or is provided by at least one computer and / or similar device.

[0020] Quality characteristics refer in particular to the integrity of the load carrier or at least the upper side of the load carrier on which the goods or load to be transported are placed. For example, depending on the design, a quality characteristic is preferably to check whether all parts of the load carrier are present, intact or undamaged, and / or whether any foreign objects protrude from the loading surface or the upper surface of the load carrier. For example, in the field of Euro pallets, it can be checked whether all slats or blocks are present, whether any individual slats are broken or splintered, or whether any slat parts are tilted and could pierce the goods to be loaded, and / or whether any nails or other foreign objects or parts of previous loads protrude from the upper side of the load carrier, potentially damaging the load. Depending on the configuration, it is often necessary to check in particular whether planks, boards, and / or surfaces are deformed and / or missing, and whether this could render the load carrier and / or the load unstable or potentially damage the load.

[0021] At least the upper side of the load carrier is checked or controlled and subsequent loads are placed on the upper side. Preferably, however, the side and / or bottom side of the load carrier is also controlled for damage by means of the load carrier control device.

[0022] The load carrier control device according to the invention can be used in particular in the field of loading bags filled with bulk material.

[0023] In particular, an automation application is at least a processor-based application or a computer-based application, which processes or further processes or analyzes data captured by the sensor device.

[0024] According to the invention, the automation application is at least one AI application and / or at least one computer vision application and / or comprises at least one of these applications.

[0025] Computer vision refers in particular to the analysis of images and videos using computer programs. The goal of this analysis is, in particular, to extract information contained in the images. Depending on the configuration, probabilistic methods, image processing methods, projective geometry, deep learning, and computer graphics are preferably used.

[0026] In the field of AI applications any application in the field of artificial intelligence can be used which can be advantageously used for monitoring with regard to the control of the load carrier.

[0027] In particular, the use of machine learning (ML), a subfield of artificial intelligence (AI), is advantageous here. The core components of machine learning are algorithms and methods that enable programs to learn from data without being explicitly programmed. This means that these programs can preferably make decisions independently. In particular, a distinction is made between supervised, unsupervised, and semi-supervised learning. Supervised learning methods include, but are not limited to, convolutional neural networks (also known as spatially invariant artificial neural networks) and their further developments, such as region-based convolutional neural networks. These improvements over traditional neural networks are particularly suitable for image processing applications because, depending on the configuration, one or more preprocessing steps, such as a convolution operation, are performed before the neural network.

[0028] Specifically, sensors (e.g., optical sensors, cameras such as color or black and white, thermal imaging, etc.) are used to record data about a specific state. These images are then associated with their states by assigning a corresponding label (marker) to each state (image = information matrix).

[0029] Defects in the load carrier detected by the control device can also be used as a further data basis for training.

[0030] This declared information is then preferably transferred / learned into a CNN (Convolutional Neural Network) using a machine learning or AI method or AI application.

[0031] For example, as sensors observe a load carrier, data is continuously passed through a CNN, which directly evaluates the state, which is then further processed by the controller (e.g., defective load carrier detected = discard load carrier).

[0032] For example, the sensor device may be and / or include a camera device, or, depending on the configuration, may also include or be configured as an acoustic sensor, a temperature sensor and / or at least another suitable sensor.

[0033] The load carrier control device according to the invention offers numerous advantages. One significant advantage is that an empty load carrier can be automatically checked before use or before loading, packaging or filling, thereby ensuring that the load carrier itself is in good condition or not damaged or intact during subsequent loading.

[0034] Whether a load carrier packed with a load has predetermined properties or quality characteristics and / or is not damaged can preferably be controlled using a device provided for this purpose or, depending on the configuration, preferably also in a separate step using the device according to the invention.

[0035] By reliably checking the integrity of load carriers with the aid of AI applications or computer vision applications, it is possible to further use already used load carriers, in particular for sensitive loads or transporting sensitive areas, thus eliminating the need for new and therefore very expensive load carriers.

[0036] The additional costs of such a load carrier control device can therefore usually be offset very quickly, since, on the one hand, it is cheaper to use a used load carrier and, on the other hand, damage to a new load carrier can be avoided, particularly in the area of ​​automatic loading or palletizing.

[0037] The control device is preferably operatively connected to at least one controller, to which the evaluation of the automated application can be transmitted. In particular, such a controller can be part of the load carrier control device or incorporated therein. However, depending on the configuration, the controller can also be a separate component or assigned to another system, for example, for transporting load carriers. Since the controller can preferably initiate predetermined actions based on the evaluation of the automated application, for example, defective or damaged load carriers can be removed from an automated load carrier transport system.

[0038] Particularly preferably, the sensor device comprises at least one camera device. With this camera device, images or image data can be recorded, in particular of the upper side of the load carrier to be controlled, so that reliable conclusions can be drawn about damage to the load carrier by evaluating the images with the aid of an automated application. In particular, depending on the configuration, the camera detection area captures not only the upper side of the load carrier but also at least the side surfaces of the load carrier.

[0039] Preferably, such camera means may comprise any suitable type of camera. In particular, conventional webcams may also be used here.

[0040] In a suitable configuration, at least one conveyor device is included for the load carrier to be controlled. For example, such a conveyor device or transport system for the load carrier can be included in the load carrier control device and / or assigned to the load carrier control device. In this way, pallets can be transported to a loading or palletizing location using the conveyor device and, in particular, automatically controlled during transport to prevent damage.

[0041] In an advantageous refinement, the conveying device is adapted and designed to at least partially and / or at least temporarily release the underside of the conveyed load carrier for control. This allows, in particular, the load carrier to be inspected from below for damage. Depending on the configuration and design of the load carrier control device, the entire load carrier can be controlled.

[0042] Preferably, the control device is adapted and designed to detect protruding nails, broken and / or splintered laths, foreign objects, deformed and / or damaged surfaces, and / or missing parts as quality features. In particular, it is possible to detect, check, or assess whether the load carrier complies with predetermined requirements or quality regulations. It is therefore also possible to check whether the correct type of pallet is being used.

[0043] The method according to the invention is suitable for operating a load carrier control device as described above. In this case, the control device uses an automation application to infer at least one quality characteristic based on the evaluation of data from the sensor device and to initiate a corresponding predetermined action, wherein the automation application includes at least one AI application and / or at least one computer vision application.

[0044] In particular, the predetermined action may be at least one error message, a warning and / or the ejection or non-use or removal of the load carrier detected as defective.

[0045] The definitions of artificial intelligence and computer vision described previously for the load carrier control device according to the invention also apply here.

[0046] The method according to the invention also offers the advantages described previously with respect to the load carrier control device.

[0047] Preferably, the automated application examines the data online. For example, the data may be used to distribute computing processes across multiple computing stations or computing applications available online to identify predetermined events.

[0048] The automation application is particularly preferably trained and / or can be used offline on a computing device. Depending on the configuration, the automation application can first be trained online to provide the most extensive and powerful computing power possible for training. Depending on the configuration, any further functions and further learning can also be performed locally.

[0049] When improvements are appropriate, the automated application can be retrained. This can be done online, offline, or using other methods and procedures.

[0050] Particularly preferably, protruding nails, broken and / or chipped slats, foreign objects, and / or missing parts are checked as quality features. In particular, the load carrier is checked to see whether it meets predetermined requirements or quality features. It is also preferably possible to check, for example, whether the correct type of pallet is being used. For foldable boxes, lattice boxes, and / or folding boxes, for example, it is possible to check whether these boxes are correctly unfolded, positioned, and / or aligned, and / or whether there are missing or defective parts, and / or whether damage and / or foreign objects in the area of ​​the loading surface could cause damage to the load.

[0051] The use according to the invention relates to the use of an automation application comprising at least one AI application and / or at least one computer vision application for the control of a load carrier.

[0052] The use according to the invention also provides the advantages as described above with respect to the load carrier inspection device according to the invention and the method according to the invention.

[0053] Other advantages and features of the present invention will become apparent from the following exemplary embodiments described with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In the attached figure:

[0055] Figure 1 A purely schematic illustration of an exemplary embodiment of a load carrier control device according to the invention with an undamaged load carrier is shown in a perspective view;

[0056] Figure 2 Shown according to Figure 1 A purely schematic diagram of an exemplary embodiment of a load-bearing frame having a defect;

[0057] Figure 3 Shown according to Figure 1 A purely schematic diagram of an exemplary embodiment of a load-bearing frame having another defect;

[0058] Figure 4 Shown according to Figure 1 A purely schematic diagram of an exemplary embodiment of a load carrier having another defect; and

[0059] Figure 5 A purely schematic illustration of another exemplary embodiment of a load carrier control device according to the invention is shown in the form of a perspective view. DETAILED DESCRIPTION

[0060] Figure 1 A load carrier control device 1 according to the invention is shown purely schematically in a (partial) perspective view with a load carrier 100 to be checked.

[0061] In the exemplary embodiment shown, the integrity of a load carrier 100, in particular its upper side 101, is checked with the aid of a load carrier control device according to the invention. In the exemplary embodiment shown, the load carrier is a so-called Euro pallet 103, which is a special or standardized wooden flat pallet.

[0062] In the exemplary embodiment shown here, the load carrier control device 1 comprises a control device 50, which in this case comprises a sensor device 51 and a computing device 52. In the exemplary embodiment shown here, the computing device 52 is a computer 53, which is online or connected to the Internet, as indicated by the corresponding reference numerals.

[0063] In the exemplary embodiment shown here, the sensor device 51 comprises a camera device 54, which is designed here as a conventional webcam 55. With the aid of this sensor device 51 or camera device 54, an empty load carrier 100 to be controlled or a corresponding detection area 56 can be recorded and / or set.

[0064] Depending on the configuration, the detection area 56 corresponds to the entire recording area of ​​the camera device 54. However, it is generally also possible to reduce a larger image area to a specific detection area 56 as part of image processing by the computing device 52 and / or the user.

[0065] The computing device 52 or the computer 53 checks the images or image data captured by the sensor device 51 or the camera device 54 or the webcam 55 for defects by means of automated applications including at least one AI application and / or computer vision application. In particular, compliance with certain quality characteristics is checked or, conversely, compliance with all predefined quality requirements of at least the upper side 101 of the empty load carrier 100 or the pallet 103 is checked by detecting any defects.

[0066] Furthermore, a controller 30 is provided, which in the exemplary embodiment shown here is included in the load carrier control device 1. This controller 30 is operatively connected to the control device 50 or to the computing device 52, so that the evaluations generated by the computing device 52 can be transmitted to the controller 30.

[0067] In the exemplary embodiment shown, the controller 30 can perform predetermined actions based on the evaluation of the computing device 52. For example, a warning signal can be output, or in the case of an automated transport system for load carriers, the transport system can be stopped, or, for example, a detected defective pallet or a defective load carrier 100 can be ejected from the transport system or conveyor so that it is no longer used.

[0068] Figure 2 Again, it is shown that Figure 1 An exemplary embodiment of the invention, wherein load carriers 100 or Euro pallets 103 which do not meet quality requirements are controlled here.

[0069] The exemplary embodiment shown here shows that the detection area 56 can also be used to detect that not all components are present in the pallet 103 or the load carrier 100, which would impair stability. In the exemplary embodiment shown, two corner pieces 104 are missing and therefore the slats 105 connected thereto lack sufficient stability.

[0070] Figure 3 Shown again Figure 1 An exemplary embodiment of a load carrier control device 1 according to the invention is shown, wherein a further defect of a pallet 103 or a load carrier 100 is shown in purely schematic form.

[0071] In the exemplary embodiment shown here, the slat 105 is broken or partially broken, so that larger fragments 106 protrude upwards, which could damage the load to be picked up. The broken area is also shown in an enlarged view.

[0072] Especially when loading bags filled with bulk materials, the bags may become damaged, causing the bulk material to spill, which may cause contamination or even be dangerous.

[0073] Figure 4 Again, the Figure 1 1 , wherein another detectable defect of a load carrier 100 or a pallet 103 is shown by way of example.

[0074] In the exemplary embodiment shown here, in particular as shown in the enlarged view, a protruding nail 107 is detected. Such a nail 107 or other foreign objects protruding from the upper side 101 of the load carrier 100 can also cause damage, in particular to bags filled with bulk material, and thus can lead to the above-mentioned defects.

[0075] Figure 5 A purely schematic diagram shows another exemplary embodiment of a load carrier control device 1 according to the invention, the basic structure of which corresponds to the exemplary embodiment described above.

[0076] In the exemplary embodiment shown, it is also shown that the load carrier control apparatus 1 can comprise a conveying device 60 or be assigned to such a conveying device 60 .

[0077] A load carrier 100 (in the exemplary embodiment shown, a pallet or Euro-pallet 103) is transported, for example, from a warehouse to a loading location by means of such a conveyor device 60. Here, too, the upper side 101 and the side surfaces of the load carrier 100 are inspected by means of a first sensor device 51 or a camera device 54 (in this example, a webcam 55).

[0078] In contrast to the exemplary embodiments shown previously, the control device 50 here comprises a second sensor device 51 or a camera device 54 or a webcam 55. The second camera device 54 is arranged such that its detection area 56 can record at least a portion of the underside 102 of the load carrier 100 or the Euro pallet 103.

[0079] In the exemplary embodiment shown here, the conveyor device 60 has a groove 61 so that when corresponding parts of the pallet 103 are conveyed through the groove 61 of the conveyor device 60, the camera device 54 can inspect or control the bottom side 102 of the load carrier 100 in sections while it is conveyed by the conveyor device 60.

[0080] Optionally, such a load carrier control device 1 can also include a rotation device or be assigned to a rotation device in order to check all freely accessible surfaces, in particular the surface 101 and the sides, from one camera position (thus using only one camera). The bottom side 102 can then be controlled, for example, by completely turning the load carrier 100 over and / or lifting or tilting the load carrier 100 at least temporarily (for example, by 90° about a longitudinal side).

[0081] Reference Signs List

[0082] 1 Load carrier control device

[0083] 30 controllers

[0084] 50 control devices

[0085] 51 sensor device

[0086] 52 computing devices

[0087] 53 Computer

[0088] 54-camera device

[0089] 55 webcams

[0090] 56 detection areas

[0091] 60 conveying device

[0092] 61 grooves

[0093] 100 load carrier

[0094] 101 upper side

[0095] 102 bottom side

[0096] 103 pallet / Euro pallet

[0097] 104 yuan

[0098] 105 laths

[0099] 106 fragments

[0100] 107 nails

Claims

1. A load carrier control device (1) comprising at least one control device (50), wherein the control device (50) comprises at least one sensor device (51) and at least one calculation device (52), It is characterized in that The computing device (52) is suitable and designed for checking at least one quality feature of at least the upper side (101) of at least one empty load carrier (100) to be controlled based on the data captured by the sensor device (51) using an evaluation based on at least one automated application, wherein the automated application includes at least one AI application and / or at least one computer vision application.

2. The load carrier control device (1) according to claim 1, wherein the control device (50) is operatively connected to at least one controller (30), wherein the evaluation of the automation application can be transmitted to the controller (30).

3. Load carrier control device (1) according to any one of the preceding claims, wherein the sensor means (51) comprises at least one camera means (54).

4. Load carrier control apparatus (1) according to any one of the preceding claims, comprising at least one conveying device (60) for the load carrier (100) to be controlled.

5. Load carrier control arrangement (1) according to the preceding claim, wherein the conveying device (60) is adapted and designed to at least partially and / or at least temporarily release the bottom side (102) of the conveyed load carrier (100) for control.

6. Load carrier control device (1) according to any of the preceding claims, wherein the control means (50) is adapted and designed to detect protruding nails, broken and / or chipped laths, foreign objects, deformed and / or damaged surfaces and / or missing parts as quality features.

7. A method for operating a load carrier control device (1) according to any one of the preceding claims, It is characterized in that The control device (50) infers at least one quality feature of the unladen load carrier (100) to be controlled based on an evaluation of the data of the sensor device (51) using an automation application, wherein the automation application comprises at least one AI application and / or at least one computer vision application, and initiates a corresponding predetermined action.

8. The method according to the preceding claim, wherein the automated application checks the data online.

9. The method of any one of the two preceding claims, wherein the automation application is trained and / or run offline on the computing device.

10. The method according to any of the preceding claims 7 to 9, wherein the automation application is retrained.

11. Method according to any of the preceding claims 7 to 10, wherein protruding nails, broken and / or chipped laths, foreign objects, deformed and / or damaged surfaces and / or missing parts are detected as quality features.

12. Use of an automation application comprising at least one AI application and / or at least one computer vision application for the control of an empty load carrier (100).

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