Device and method for conveying, separating and / or correcting position of products

Abstract

The invention relates to a device (10) configured and adapted to convey and separate and / or correct the position of products, comprising: a conveying device (12) having a rotationally driven transfer element (13) configured and adapted to convey at least one product stream formed from a plurality of products in a conveying direction T in a conveying plane E; at least one detection mechanism (14) for detecting the plurality of products on the conveying element (13); at least one handling device (15) configured and adapted to correct the position of the plurality of products on the conveying element (13) and / or to separate individual products in the conveying plane E, the at least one handling device (15) configured and adapted to establish an operative connection with the plurality of products, the conveying element (13) has a conveying plane E and holds the plurality of products on the advancing conveying element (13) perpendicularly to the conveying plane E from above towards the conveying plane E in a movable manner, and corrects the position of the plurality of products and / or separates the plurality of products only in the conveying plane E of the conveying element (13) transversely to the conveying direction T in a linearly movable manner; and a control device (16) configured and adapted to control the at least one handling device (15) on the basis of data from the detection means (14), characterized in that the control device (16) comprises a program module (17) programmed to control the at least one handling device (15) on the basis of data from the detection means (14). Generating a virtual image (100) of the transport element (13) on which the plurality of products lie, at least in the extent of each product on the transport element (13) in the transport plane E and the coordinates of the plurality of products on the transport element (13), when the conveying device (13) is continuously driven, at least one movement path for collision-free separation and / or correction of the positions of the plurality of products is determined. The invention also relates to a corresponding method.

Description

Technical Field

[0001] This invention relates to an apparatus configured and adapted for conveying and separating and / or correcting the position of products, comprising: a conveying device having a rotary-driven conveying element configured and adapted to convey at least one product stream formed by a plurality of products along a conveying direction T within a conveying plane E; at least one detection mechanism for detecting products on the conveying element; at least one handling device configured and adapted to correct the position of the plurality of products on the conveying element and / or separate individual products in the conveying plane E, the at least one handling device being configured and adapted to establish an operational connection with the plurality of products and to movably hold the products above the advancing conveying element perpendicular to the conveying plane E and to linearly movably correct the position of the plurality of products and / or separate the plurality of products only transverse to the conveying direction T within the conveying plane E of the conveying element; and a control device configured and adapted to control the at least one handling device based on data from the detection mechanism.

[0002] The present invention also relates to a method for conveying and separating and / or correcting the position of products, comprising the steps of: conveying at least one product stream formed by a plurality of products in a conveying plane E along a conveying direction T by means of a conveying device; detecting the plurality of products on a rotary-driven conveying element of the conveying device by means of a detection mechanism; correcting the position of the plurality of products on the conveying element and / or separating individual products in the conveying plane E by means of a handling device, wherein the handling device moves perpendicular to the conveying plane E from above toward the plurality of products to establish an operational connection with the products and hold the products on the moving conveying element, and the handling device moves only linearly transversely to the conveying direction T within the conveying plane E of the conveying element to correct the position of the plurality of products and / or separate the plurality of products, the handling device being controlled by means of a control device based on data from the detection mechanism. Background Technology

[0003] Such equipment and methods are used when products, such as those from the food processing industry, particularly fish or parts thereof, are conveyed and separated and / or their positions on conveying elements are corrected. Products, such as fish or piles of fish, are conveyed along a conveying direction T by means of conveying elements. During operation of the equipment, it may be necessary or desirable to sort or separate individual products or piles of products, particularly including removing products from the conveying elements. Products can be removed from the conveying elements for sorting, transshipment, batching, or other reasons. Alternatively or additionally, products conveyed along the conveying direction T can also be corrected regarding their positions on the conveying elements, for example, to ensure a dorsal or ventral position or a head-tail position. In particular, the equipment is used to align and separate fish conveyed on conveying elements in a product flow regarding their head-tail alignment, by transferring the aligned fish head-first to the side, i.e., laterally to the conveying direction T, to another conveying mechanism. In this case, lateral is not limited to a direction completely perpendicular to the conveying direction T, but also includes separation occurring laterally at an angle (not equal to 90 degrees) to the conveying direction T.

[0004] Products can be conveyed in a single product stream, with the products lying flat and transported one after another along the conveying direction T. Products can also be conveyed in two or more product streams, with the products lying flat, either completely or partially adjacent to each other, transverse to the conveying direction T. To remove individual products from the conveyor belt or correct their position on the conveying element, a handling device moves from a waiting position to above and / or about the position of the product to be removed, and descends onto the product. The handling device can then be placed on the product from the side and / or above. Since the product is subsequently held by the handling device, other products lying flat on the conveying element and conveyed along the conveying direction T will move relative to the held product, meaning that two or more products may collide for this reason alone. In particular, if products are at least partially adjacent to each other transversely to the conveying direction T, especially in the case of conveying two or more product streams, pulling products laterally from the conveying element can also result in collisions with products lying flat as “obstructing paths.”

[0005] Therefore, the conveying devices of the aforementioned and known equipment are constructed and adapted to clamp products to be removed and / or whose position needs to be corrected, and to lift them from the conveying plane, i.e., vertically relative to the conveying element, so as to place them in different positions and / or in the corrected position. On the one hand, during the lifting and lowering of products, collisions may occur with products that continue to be conveyed on the conveying element along the conveying direction T, because no collision control is provided for products moving relative to the held products. On the other hand, the safe and reliable handling of products in space, i.e., the three-dimensional movement of products and the control of possible collisions in space, is complex and therefore unreliable and expensive.

[0006] Other handling devices are known in the prior art, constructed and adapted to slide products by dragging them laterally in the conveying direction T within a conveying plane E, and to align products by rotating them about an axis A perpendicular to the conveying plane E. The handling device can be controlled by a detection mechanism via a control device, constructed and adapted to detect the position of the products on the conveying element and identify the product's orientation, particularly the ventral and cephalothorax directions. However, since some products are placed close together or even stacked on top of each other, or at least partially adjacent to each other laterally in the conveying direction T, undesirable collisions can occur when separating or correcting positions if the handling device on the conveying element moves the individual products relative to other products located on the conveying element and still conveying along the conveying direction T within the conveying plane. Using known equipment, a correspondingly large number of products cannot be separated and / or their positions corrected, meaning these products will pass through and may require manual removal and further processing. Summary of the Invention

[0007] Therefore, the present invention is based on the following objective: to create a simple device by means of which products can be reliably and without collision removed from a conveyor belt, and / or their positions on the conveyor belt can be corrected. The objective also lies in proposing a corresponding method.

[0008] This task is solved using a device of the type mentioned at the beginning, wherein the control device includes a program module programmed to generate a virtual image of the conveyor element on which the plurality of products lie, based on data from the detection device—namely, the extent of each product on the conveyor element in the conveyor plane E and the coordinates of the plurality of products on the conveyor element—and to determine, based on this, at least one movement path for collision-free separation and / or correction of the position of the plurality of products as the conveyor element is continuously driven. The virtual image allows the control device to quickly and easily create movement plans to at least quickly verify the existence of a collision-free movement path. In other words, it is possible to determine and verify whether a product can be pulled from the side of the conveyor element without colliding with other products. If it can be determined that there is no collision-free movement path, the products continue to be conveyed along the conveyor direction T. By determining the coordinates of the products on the conveyor element, the position of the products is known, making it possible to ultimately determine the spacing between the products, which may also be zero in the case of product stacking. On the one hand, this avoids unnecessary activation of the handling device. On the other hand, it avoids collisions on the conveyor element and effectively prevents product jamming or accumulation when unloading / pulling products across the conveyor direction T. Therefore, manual removal is no longer necessary, and equipment downtime can be effectively prevented. Another advantage of a two-dimensional collision monitoring system that combines two-dimensional separation and / or position correction, knowing at least one collision-free movement path, is that all other products still being conveyed on the conveyor element remain unchanged in their position.

[0009] Advantageously, the at least one conveying device is constructed and adapted to clamp the product from the side and / or place it on the product from above. This presents numerous options for enabling the conveying device descending from above to actively contact the product in order to handle it in particular.

[0010] An advantageous feature of the equipment is that the at least one conveying device is constructed and adapted to operate about an axis A oriented perpendicular to the conveying plane E of the conveying element. With the possibility of rotation about axis A, each product can be individually moved to a corrected position for easy separation.

[0011] A further preferred improvement is that the program module is programmed to calculate, for at least one movement path, the area required for removal from the conveyor element transversely to the conveyor direction T and / or for position correction of the product within the conveyor plane E, based on knowledge of the conveying speed of the conveying element, the linear velocity of the at least one transport device transversely to the conveying direction T, and the rotational speed of the at least one transport device about the axis A, such that the at least one transport device is actuated by the control device only if a collision-free movement path exists. The surface area or extent of this area is practically determined. This approach makes it possible to reliably calculate at least one movement path, but preferably also two or more, at least one of which is collision-free. By including all speeds, different movement paths can be calculated or determined through variable control of a single or all speeds, thereby increasing the chances of collision-free separation and / or product position correction, since different speeds result in different areas occupied by the product as it is pulled from the conveyor element and / or rotates on the conveyor element.

[0012] Advantageously, the program module is programmed to calculate, based on the area covered by the product relative to the conveyor element continuing to move along the conveyor direction T when the product moves laterally to the conveyor direction T and / or rotates about the axis A on the conveyor element, and to calculate at least one movement path for collision-free separation, i.e., removal from the conveyor element laterally to the conveyor direction T, and / or correction of the position of the plurality of products. In other words, the surface area or range of the region required for collision-free separation is determined and / or scanned. Detecting or determining the region is a reliable method for identifying possible movement paths for collision-free separation and / or position correction in the conveyor plane E.

[0013] Advantageously, if two or more collision-free movement paths exist, the program module is programmed to select the shortest movement path and control the at least one conveying device accordingly. The length of the movement path refers to, for example, the distance to be traveled. Optionally, the shortest path can also refer to a time component. In particular, if the product (e.g., a fish) is first pulled laterally in the conveying direction T by the conveying element head, selecting the shortest movement path is preferred. However, the shortest movement path is not always the preferred path. In other variations, the optimal movement path can be determined and selected, which in particular protects the hardware, i.e., especially the drive of the conveying device. Particularly preferably, the programming is selected such that, taking into account the length of the path and the speed at which the conveying device moves, a movement path that reduces the load on the hardware is determined or defined.

[0014] Particularly preferably, the detection mechanism includes at least one camera configured and adapted to capture the plurality of products on the conveyor belt element and their range in the conveying plane E, and to capture the position of the plurality of products on the conveyor belt element. Depending on the selection of the camera and / or camera settings and / or camera resolution, different quality images can be achieved using the camera or each camera to keep the amount of data to be processed to a minimum. Using the camera or each camera, high-resolution images or low-resolution images, including images of the virtual connecting line between the head and tail, can be provided to create a virtual image of the products on the conveyor belt element. Other detection mechanisms (such as height sensors or similar devices) can be used in place of the camera or each camera, or as a supplement to the camera.

[0015] Advantageously, the control device is configured and adapted to control the at least one conveying device and / or the transport device. Since movement planning, collision detection, and speed control are all performed within the control device, efficient control can be achieved without inefficient information exchange or transmission.

[0016] A further advantageous improvement is that, in order to separate and / or correct the positions of the plurality of products, the control device is configured and adapted to process at least data from the detection mechanism, the conveying speed of the conveying element, and the movement speed of the at least one transport device. This embodiment ensures individual control of the transport devices for rapid and collision-free separation and / or correction of product positions. The control device, having a program module, is configured and adapted, in particular, to generate collision queries using collected data and information during product position separation and / or correction, and to use these collision queries to control the transport devices. In particular, in addition to determining different movement paths, this embodiment allows selection of the shortest movement path as well as more complex movement paths, along which products initially move, remain in a parking position on the conveying element, and, after passing potentially collided products, further correct their positions and / or be completely pulled off the conveying element after a brief stop.

[0017] Advantageously, the program module is programmed to assign an identifier (ID) to each product and store the identifier in such a way that an association can be established between the product to be separated and / or whose position needs to be corrected and the potentially colliding product. To establish the assignment or association between the product to be separated and / or whose position needs to be corrected and its adjacent potentially colliding products, it is possible to simply count the detected products or even the product stack. It is also possible to assign multiple IDs to the product stack, for example, to each product in the product stack.

[0018] Preferably, the control device includes a storage mechanism, preferably a ring buffer, configured and adapted to store product-related IDs. Besides this simple storage medium, other storage media can also be used, and associations between IDs can be quickly and easily established to determine the movement path.

[0019] A further preferred improvement is that the control device, having the program module, is constructed and adapted, in particular, to determine, based on information detected by the detection mechanism, the optimal clamping point of the at least one conveying device on the product, and accordingly control the at least one conveying device. Safe and reliable handling is ensured by clamping or positioning the conveying device at the center of gravity of the product to be separated and / or whose position needs to be corrected. The control device can include its own computer or similar device, and / or be connected to an external computer, such as a computer that analyzes camera data.

[0020] Advantageously, the at least one conveying device can be actuated by means of a cam plate and / or a linear motor and / or an angle motor. The cam plate can be mechanically and / or electronically actuated to protect the hardware. Of course, other drives and / or actuation mechanisms can also be used.

[0021] Particularly preferably, the at least one conveying device includes a clamping mechanism arranged on a linear guide and configured and adapted to be linear, i.e., transverse to the conveying direction T and perpendicular to the conveying plane E, and rotatable about an axis A perpendicular to the conveying plane E. This configuration ensures a simple design and a stable and precise travel path for reliable handling when separating and / or correcting the position of products along a defined path of movement. Movement transverse to the conveying direction T along the linear guide includes movement at an angle (i.e., not equal to 90 degrees) to the conveying direction T and depends on the alignment of the linear guide. Along the linear guide, the clamping mechanism is movable relative to the linear guide parallel to the conveying plane E. Through continuous or superimposed operation, the clamping mechanism is movable relative to the linear guide while remaining perpendicular to the conveying plane E.

[0022] Advantageously, at least two conveying devices are arranged, one following the other along the conveying direction T. This means that products that cannot be separated due to the lack of a collision-free movement path in the area of ​​the first conveying device and / or whose positions cannot be corrected, can subsequently be automatically separated and / or their positions corrected. With two or more conveying devices connected in series, the conveyor belt is gradually emptied, so that ideally all products can be automatically separated.

[0023] Particularly preferably, the conveying element is constructed and adapted to convey at least two product streams, particularly fish and poultry products. The conveying element can be, for example, a wide, rotary-driven conveyor belt made of plastic. The width is chosen such that at least two product streams, each consisting of multiple products, can be conveyed adjacent to each other along the conveying direction T. A detection mechanism is able to identify products or product stacks spanning the entire width of the conveyor belt in order to collect the necessary data for each product.

[0024] Preferably, the camera is configured and adapted to transmit the product on the transmitting element as a compressed image to the control device, in which one pixel corresponds to an area of ​​approximately 5cm by 5cm. This low image resolution means that only a small amount of data needs to be processed, which ensures short transmission and processing times and enables the use of a simple and therefore cost-effective control device. Instead of the 5cm by 5cm area, other areas can be selected, such as 3cm by 3cm, 10cm by 10cm, or other sizes.

[0025] The task is also solved by the method mentioned at the beginning, with the following steps: determining, by means of the detection element, the extent of each product on the conveying element in the conveying plane E and the coordinates of the plurality of products on the conveying element as data; generating a virtual image of the conveying element on which the plurality of products lie flat, based on the determined data; and determining, accordingly, at least one movement path for collision-free separation and / or correction of the position of the plurality of products, as the conveying element is continuously driven. These method steps combine to make it possible to create a movement plan before actuating the conveying device, thereby ensuring that the conveying device is actuated only if a collision-free movement path exists. If no collision-free path exists, the product simply passes through without activating the conveying device.

[0026] Preferably, in order to establish an operational connection with the product and hold the product, the handling device is placed on the product from the side and / or above.

[0027] Advantageously, the conveying device rotates about an axis A oriented perpendicular to the conveying plane E in order to correct the position of the plurality of products and / or separate the plurality of products.

[0028] Preferably, the time for separating and / or correcting the positions of the plurality of products is determined based on the conveying speed of the conveying element, the moving speed of the handling device, and the range and position of the plurality of products on the conveying element. The time derived from the selected speed is a possible parameter to ensure collision-free handling of the products in the conveying plane E.

[0029] Optionally, alternatively, or cumulatively, the conveying speed of the conveying element, the moving speed of the handling device, and the range and position of the plurality of products on the conveying element are used to determine the area covered by the products when they are separated, i.e. removed, transverse to the conveying direction T in the conveying plane E during continuous driving of the conveying element, and / or when the position of the plurality of products in the conveying plane E is corrected by rotation about the axis A. This area is another parameter, either alone or in combination with time, to ensure collision-free handling of the products in the conveying plane E.

[0030] A further advantageous improvement is that this information, namely the determined time and / or the determined area, is processed in the control device in such a way that at least one movement path is determined, but preferably at least two movement paths, and at least one movement path is questioned as to whether it is collision-free, wherein, if at least one movement path is collision-free, the conveying device is activated to separate the product and / or correct its position, and if no movement path is collision-free, the product is further conveyed on the conveying element along the conveying direction T.

[0031] Advantageously, when two or more movement paths are collision-free, the shortest movement path is determined by means of the control device, and the conveying device is controlled accordingly. This selection is particularly necessary if the product needs to be separated head-on laterally from the conveying direction T. The shortest movement path can be understood based on physical distance and / or time components.

[0032] Advantageously, each product is assigned an identifier (ID), which is considered when determining each movement path and checked when controlling the handling device to separate the product and / or to correct the product's position based on other IDs related to products that may collide. This ensures a rapid and effective association between the products to be handled and the products that may collide.

[0033] Preferably, the data determined by the detection mechanism is used to determine the optimal clamping point for each product and to control the conveying device. Particularly preferably, this data, and especially data relating to the range of each product in the conveying plane E and the coordinates of the plurality of products on the conveying element, is transmitted to the control device as a compressed image.

[0034] Particularly preferably, the method is performed using the apparatus described in one or more of claims 1 to 17.

[0035] Other advantages derived from the above method steps have been described for this device, so please refer to the above paragraphs to avoid repetition. Attached Figure Description

[0036] Further useful and / or advantageous features and improvements to the apparatus and method can be seen in the dependent claims and the description. Particularly preferred embodiments of the subject matter of the invention are explained in more detail with reference to the accompanying drawings. The drawings illustrate: Figure 1 A perspective view shows a schematic diagram of a device with two conveying devices according to the present invention. Figure 2 It is based on Figure 1 Top view of the equipment, Figure 3 An enlarged view of the conveying device is shown in perspective, and Figure 4 It is a schematic representation of a virtual image of a fish on a transmission element, indicating the area required to separate the fish and to correct it relative to its position. Detailed Implementation

[0037] like Figures 1 to 3 The device shown is used to separate (i.e. remove) fish from the conveyor belt and correct the position of the fish on the conveyor belt. The device is also constructed and adapted to correct only the position of the fish on the conveyor belt, or simply separate the fish from the conveyor belt, i.e., remove it. Of course, other products can also be handled and / or corrected relative to their position on the conveyor belt or any other conveying mechanism in the same manner via the conveyor belt or any other conveying mechanism in the conveyor plane E.

[0038] Figures 1 to 3 A device 10 is shown, configured and adapted to convey, separate, and position fish 11. Specifically, the device 10 is configured and adapted to position salmon 11 with at least a defined head-to-tail orientation, such that the fish 11 can be separated with a defined head-to-tail orientation, preferably head forward, transverse to the conveying direction T. The device 10 includes a conveying device 12 with a rotary-driven conveying element 13 configured and adapted to convey at least one product stream formed by a plurality of fish 11 in the conveying plane E along the conveying direction T. The device 10 further includes: at least one detection mechanism 14 for detecting fish 11 on the conveying element 13; at least one handling device 15 configured and adapted to correct the position of the fish 11 on the conveying element 13 and separate individual fish 11 in the conveying plane E, the handling device 15 being configured and adapted to establish an operational connection with the fish 11 and to movably hold the fish 11 above the advancing conveying element 13 perpendicular to the conveying plane E, and to linearly move only within the conveying plane E of the conveying element 13, transverse to the conveying direction T, to correct the position of the fish 11 and separate the fish 11. The device 10 also includes a control device 16 configured and adapted to control the (or each) handling device 15 based on data from the detection device 14.

[0039] According to the present invention, the device 10 is characterized in that the control device 16 includes a program module 17, which is programmed to generate a virtual image 100 of the conveying element 13 on which the fish 11 lie flat, based on data from the detection mechanism 14, namely, the range of each fish 11 in the conveying plane E and the coordinates of the fish 11 on the conveying element 13. Figure 4 The detection mechanism can be used to plot the dimensions of each fish 11 in the conveying plane E, as well as the position of the fish 11 on the conveying element 13 and its relationship to adjacent fish 11. Using this knowledge, the program module 17 can determine or calculate at least one movement path. In other words, a movement plan can be created to check whether the fish 11 can be pulled laterally to the conveying direction T by the conveying element 13 without collision. The handling device 15 is activated only if this is the case. Otherwise, the fish 11 continues to be conveyed on the conveying element 13.

[0040] The features and further modifications described below, whether individually or in combination, represent preferred embodiments. It is explicitly stated that features summarized in the claims and / or specification and / or drawings, or described in common embodiments, may also functionally and independently further form the aforementioned device 10.

[0041] The conveying device 15 is also configured and adapted to clamp the product from the side and / or place it on the product from above. In the preferred and illustrated embodiment, the conveying device 15 is also configured and adapted to operate about an axis A perpendicular to the conveying plane E of the conveying element 13.

[0042] Program module 17 is programmed to calculate, based on knowledge of the conveying speed of conveying element 13, the linear velocity of conveying device 15 transverse to the conveying direction T, and the rotational speed of conveying device 15 about axis A, the desired area 18 (see in particular) of each product (in the example, fish 11) to be removed transverse to the conveying direction T from the conveying element in the conveying plane E and to be corrected for at least one movement path with respect to its position in the conveying plane E. Figure 4 This ensures that the conveying device 15 is actuated by the control device 16 only when a collision-free movement path exists. Based on this information, simple and complex movement paths are determined in order to select the optimal and preferred shortest movement path.

[0043] Program module 17 is programmed to calculate the area 18 covered by the product relative to the conveyor element 13, which continues to move along the conveyor direction T, when the product moves laterally to the conveyor direction T on the conveyor element 13 and when it rotates about axis A on the conveyor element 13, and accordingly calculates at least one movement path for collision-free separation (i.e., removal from the conveyor element 13 laterally to the conveyor direction T) and correction of the product's position. Rotating the fish 11 about axis A and pulling them laterally to the conveyor direction T requires an area 18 in which other fish 11 cannot lie flat and cannot cross due to the continuous conveying of other fish 11. Optionally, multiple movement paths can be determined. If two or more collision-free movement paths exist, program module 17 is programmed to select the shortest movement path and control the conveying device 15 accordingly.

[0044] The detection mechanism 14 includes at least one camera 19 configured and adapted to capture the products on the conveyor element 13, in this case, fish 11, and their extent in the conveying plane E, and to capture the position of the fish 11 on the conveyor element 13. In the example shown, a single camera 19 is arranged on a gantry 20, which is positioned above and across the conveyor element 13. The camera 19 is configured and adapted to capture all fish 11 conveyed in one or more product flows across the entire width of the conveyor element 13 along the conveying direction T. Preferably, the camera 19 is configured and adapted to transmit the fish 11 on the conveyor element 13 as a compressed image to the control device 16, in which one pixel corresponds to an area of ​​approximately 5 cm by 5 cm. The camera 19 is detachably attached to the gantry 20 and points generally vertically downward toward the conveyor element 13. The number, position, and orientation of the cameras 19 can vary. Each camera is connected to the control device 16 via a line 21, which may also be wireless.

[0045] Control device 16 is configured and adapted to control conveying device 15 and / or conveying device 12. For this purpose, conveying device 12 is connected to control device 16 via line 22, and each conveying device 15 is connected to control device 16 via line 23. Control device 16 is configured and adapted to process at least data from detection mechanism 14, conveying speed of conveying element 13, and moving speed of conveying device 15 to separate products and correct the position of fish 11. Furthermore, control device 16 includes storage mechanism 24, preferably a ring buffer. Program module 17 is programmed to assign an identifier (ID) to each fish 11. These IDs are stored in storage mechanism 24 in such a way that an association can be established from the fish 11 to be separated and / or whose position needs to be corrected to potentially colliding products (i.e., other fish 11 conveyed on conveying element 13). Storage mechanism 24 is accordingly configured and adapted to store product-related IDs.

[0046] The control device 16, having program module 17, is configured and adapted, in particular, to use information detected by detection mechanism 14 to determine the optimal clamping point of the conveying device 15 on the fish 11 and to control the conveying device 15 accordingly. Movement of the conveying device 15 can be actuated by means of a cam plate and / or a linear motor and / or an angle motor. In the illustrated embodiment, the conveying device 15 includes a clamping mechanism 25 arranged on a linear guide 26 and configured and adapted to be linear, i.e., transverse to the conveying direction T and perpendicular to the conveying plane E, and rotatable about an axis A perpendicular to the conveying plane E. The linear guide 26 spans the entire width of the conveying element 13. A bracket 27 capable of moving transversely to the conveying direction T is arranged on the linear guide 26. The clamping mechanism 25 is arranged on the bracket 27, i.e., rotatably mounted about axis A. In addition to movement transversely to the conveying direction T, the linear guide 26 or preferably the bracket 27 is configured and adapted to be vertically movable relative to the conveying plane E. The clamping mechanism 24 preferably comprises several, preferably four, retaining paddles, configured and adapted to hold the fish 11 lying flat on its side. The fish 11 can be pressed from above onto the conveying element 13 via the clamping mechanism 25, thereby holding the fish 11 while the conveying element 13 continues to move below it. The clamped fish 11 can then be rotated and pulled laterally in the conveying direction T, preferably head-first, from the conveyor belt 13 toward the chute 28, belt, or similar downstream device.

[0047] In the illustrated embodiment, two conveying devices 15 are arranged one after the other along the conveying direction T. However, the number of conveying devices 15 can vary. Fish 11 can be conveyed below the detection mechanism 14 and below each conveying device 15 via a conveying element 13, which identifies individual fish 11 as well as fish piles. The conveying element 13 is constructed and adapted to convey at least two product streams formed from food products, particularly fish and poultry products, and can be a simple conveyor belt 29 made of plastic, such as a perforated one, guided around deflecting and / or drive rollers 30 and driven by a drive mechanism 31.

[0048] The present invention also relates to a method for conveying and separating and / or correcting the position of products. Separation and / or correction can be performed in or from a product flow. It may involve only separation. It may involve only correction. In the method described by way of example, fish 11 are conveyed in a dual product flow lying flat on their sides along the conveying direction T. Each product flow is formed by multiple fish 11. The position of the fish 11 is first corrected by the handling device 15 in such a way that the fish 11 is head-first and pointing to the side, i.e., transverse to the conveying direction T, toward the left edge of the conveying element 13 in the conveying direction T. During the alignment process, the fish 11 are separated, i.e., pulled from the conveying element 13 by the handling device 15, and it is also possible to superimpose rotational alignment on the lateral movement of the fish 11.

[0049] In this method, fish 11 are conveyed along the conveying direction T in the conveying plane E by means of a conveying device 12 in a disordered product flow. Fish 11, conveyed by means of a rotary-driven conveying element 13, pass through the effective range of the detection mechanism 14 and are inevitably detected. If fish 11 are in an undesirable position on the conveying element 13, they are corrected by a handling device 15 with respect to their position in the conveying plane E, and they are also separated in the conveying plane E. Thus, fish 11 are handled in two dimensions. For this purpose, the handling device 15 or its components move from above, perpendicular to the conveying plane E, toward the fish 11 to establish an operational connection with the fish 11 and hold the fish 11 on the advancing conveying element 13. To separate the fish 11, i.e., to pull them laterally in the conveying direction T, the fish 11 only move linearly in the conveying direction T within the conveying plane E of the conveying element, i.e., move vertically or at an angle not equal to 90 degrees. For this purpose, the handling device 15 is controlled by means of a control device 16 based on data from the detection mechanism 14.

[0050] The method according to the invention is characterized in that, by means of the detection element 14, the range of each fish 11 in the transport plane E and the coordinates of the fish 11 in the transport element 13 are determined as data, a virtual image 100 of the transport element 13 on which the fish 11 lies is generated based on the determined data, and at least one movement path for collision-free correction of the position of the fish 11 and separation of the fish 11 is determined accordingly when the transport element 14 is continuously driven.

[0051] To establish an operational connection with and hold the product, the conveying device 15 is placed on the product from the side and / or above. The fish 11 held in this manner rotates about an axis A oriented perpendicular to the conveying plane E of the conveying element 13 to correct the product's position and / or separate the product. The direction of rotation is optional and provides the shortest path to the desired final position; preferably, it is head-first, facing sideways, i.e., transverse to the conveying direction T, pointing towards the left edge of the conveying element 11 in the conveying direction T. The shortest path in terms of physical distance and / or time components is not necessarily always the optimal route.

[0052] Correcting the position of fish 11 and separating fish 11 requires time. During this time, other fish 11 continue to be conveyed along the conveying direction T and may traverse the area in which the position of fish 11 held by the handling device 15 and moving relative to the conveying element 13 is corrected and separated. The time for separating fish 11 and correcting the position of fish 11 is determined based on the conveying speed of the conveying element 13 and the moving speed of the handling device 15, as well as the range and position of fish 11 on the conveying element 13. The knowledge of the required time makes it possible to examine the movement plan associated with another fish 11 and determine possible movement paths, thereby achieving collision-free position correction and separation, allowing the control device 16 to actuate the handling device 15 accordingly.

[0053] Correcting the position of fish 11 and separating fish 11 requires area 18. Other fish 11 continue to be conveyed along the conveying direction T and may traverse the area 18 covered by fish 11 held by the handling device 15 and moving relative to the conveying element 13 during position correction and separation. The conveying speed of the conveying element 13 and the moving speed of the handling device 15, as well as the range and position of the fish 11 on the conveying element 13, are used to determine the area 18 covered by the fish during separation (i.e., removal) in the conveying plane E transverse to the conveying direction T when the conveying element 13 is continuously driven, and when the position of the fish 11 in the conveying plane E is corrected by rotating about axis A. Knowledge of the required area 18 makes it possible to examine the movement plan associated with another fish 11 and determine possible movement paths, thereby achieving collision-free position correction and separation, allowing the control device 16 to control the handling device 15 accordingly.

[0054] This information, namely the determined time and / or the determined area 18, is processed in the control device 16 in such a way that at least one movement path is determined, but preferably at least two movement paths, and it is inquired whether at least one movement path is collision-free. If at least one movement path is collision-free, the conveying device 15 is actuated to separate the fish 11 and correct their positions. If no movement path is collision-free, the fish 11 are further conveyed on the conveying element 13 along the conveying direction T. Fish 11 that have not been corrected and separated with respect to their positions by the first conveying device 15 along the conveying direction T, or that cannot be separated, can then be corrected with respect to their positions by the second conveying device 15 in a corresponding manner and then separated, for example, the second conveying device 15 being arranged after the first conveying device 15 along the conveying direction T. It is also possible to correct the position of a single fish 11 solely by means of the first conveying device 15, since the time and / or area 18 are sufficient for this purpose and no collisions occur. In contrast, due to the lack of time and / or area 18, collision-free separation is no longer possible and can only be performed by means of the second conveying device 15. When two or more movement paths are collision-free, the shortest movement path is determined by means of the control device 16, and the conveying device 15 is controlled accordingly. Different movement paths can be generated by means of the control device 16, for example, by changing the conveying speed of the conveying element 13 and / or the movement speed of the conveying device 15. Different speeds result in different movement paths.

[0055] Each fish 11 is inspected by the inspection unit 14. For example, each fish 11 can be assigned an identifier (ID) by simply counting, which is taken into account when determining each movement path and checked when the handling device 15 is controlled to separate the fish 11 from other IDs related to products that may collide with it to correct the position of the fish 11. The unique identity of the fish 11 on the conveyor belt 13 makes it particularly easy to establish associations with other fish 11.

[0056] Essentially, the conveying device 15 can clamp each fish 11 at any point. However, preferably, data determined by the detection mechanism 14 is used to determine the optimal clamping point for each fish 11, ideally at the center of gravity, and is used to control the conveying device 15. When determining the data for each fish 11, i.e., particularly regarding the range of each fish 11 in the conveying plane E and the coordinates of the fish 11 on the conveying element 13, a camera 19 is preferably used, and the captured images are transmitted to the control device 16 as compressed images.

[0057] More particularly preferably, the method is performed using the device 10 according to one or more of claims 1 to 17.

[0058] Movement paths can be created and formulated in different ways. In particular, different movement paths can be determined and generated by variations related to the conveying speed of the conveying element 13 and / or the linear speed of the handling device 15 or the clamping mechanism 25 and / or the rotational speed of the handling device 15 or the rotational speed of the clamping mechanism 25. The rotational direction of the handling device 15 or the clamping mechanism 25 provides additional options for the movement path, which can vary with the length of the path and / or the time required to separate the products.

[0059] The generation of a virtual image of the product lying flat on the conveyor element 13 is based on an algorithm for detecting the position and / or range and / or location of the product (specifically, a fish) on the conveyor element 13. This algorithm includes steps such as color segmentation, background subtraction, contour extraction, determining multiple fish points to generate a simplified representation of the connecting lines or contours, and determining the product length in the absence of a head and tail.

Claims

1. An apparatus (10) configured and adapted to convey and separate and / or correct the position of products, comprising: A conveying device (12) having a rotary-driven conveying element (13) configured and adapted to convey at least one product stream formed by a plurality of products in a conveying plane E along a conveying direction T; at least one detection mechanism (14) for detecting the plurality of products on the conveying element (13); at least one handling device (15) configured and adapted to correct the position of the plurality of products on the conveying element (13) and / or separate individual products in the conveying plane E, the at least one handling device (15) configured and adapted to establish an operational connection with the plurality of products and to hold the plurality of products on the advancing conveying element (13) from above in a movable manner perpendicular to the conveying plane E and toward the conveying plane E, and to correct the position of the plurality of products and / or separate the plurality of products only in the conveying plane E of the conveying element (13) in a linearly movable manner transverse to the conveying direction T. And a control device (16) configured and adapted to control the at least one conveying device (15) based on data from the detection mechanism (14), characterized in that the control device (16) includes a program module (17) programmed to generate a virtual image (100) of the conveying element (13) on which the plurality of products lie flat, based on data from the detection mechanism (14), namely the range of each product on the conveying element (13) in the conveying plane E and the coordinates of the plurality of products on the conveying element (13), and thereby determine at least one movement path for collision-free separation and / or correction of the position of the plurality of products when the conveying device (13) is continuously driven.

2. The device (10) according to claim 1, characterized in that, The at least one handling device (15) is configured and adapted to hold the product from the side and / or place it on the product from above.

3. The device (10) according to claim 1 or 2, characterized in that, The at least one conveying device (15) is constructed and adapted to operate around an axis A oriented perpendicular to the conveying plane E of the conveying element (13).

4. The device (10) according to one or more of claims 1 to 3, characterized in that, The program module (17) is programmed to calculate, for at least one movement path, the required area (18) of the product to be removed from the conveyor element (13) transverse to the conveying direction T and / or corrected for its position in the conveying plane E, based on knowledge of the conveying speed of the conveyor element (13), the linear velocity of the at least one conveying device (15) transverse to the conveying direction T, and the rotational speed of the at least one conveying device (15) about the axis A, such that the at least one conveying device (15) is actuated by the control device (16) only if there is a collision-free movement path.

5. The device (10) according to one or more of claims 1 to 4, characterized in that, The program module (17) is programmed to calculate the area (18) covered by the product relative to the conveying element (13) which continues to move along the conveying direction T when the product moves laterally to the conveying direction T and / or rotates about the axis A on the conveying element (13), and accordingly calculate at least one movement path for collision-free separation, i.e. removal from the conveying element (13) laterally to the conveying direction T, and / or correction of the position of the plurality of products.

6. The device (10) according to one or more of claims 1 to 5, characterized in that, If there are two or more collision-free movement paths, the program module (17) is programmed to select the shortest movement path and control the at least one transport device (15) accordingly.

7. The device (10) according to one or more of claims 1 to 6, characterized in that, The detection mechanism (14) includes at least one camera (19) configured and adapted to capture the plurality of products on the conveying element (13) and their range in the conveying plane E, and to capture the position of the plurality of products in the conveying element (13).

8. The device (10) according to one or more of claims 1 to 7, characterized in that, The control device (16) is configured and adapted to control the at least one conveying device (15) and / or the conveying device (12).

9. The device (10) according to one or more of claims 1 to 8, characterized in that, In order to separate the plurality of products and / or correct the position of the plurality of products, the control device (16) is configured and adapted to process at least the data from the detection mechanism (14), the conveying speed of the conveying element (13) and the moving speed of the at least one handling device (15).

10. The device (10) according to one or more of claims 1 to 9, characterized in that, The program module (17) is programmed to assign an identifier (ID) to each product and store the identifier in such a way that it is possible to establish an association between products that need to be separated and / or whose positions need to be corrected and potential collision products.

11. The device (10) according to claim 10, characterized in that, The control device (16) includes a storage device (24), preferably a ring buffer, which is configured and adapted to store product-related IDs.

12. The device (10) according to one or more of claims 1 to 11, characterized in that, The control device (16) having the program module (17) is constructed and adapted, in particular, to determine the optimal clamping point of the at least one handling device (15) on the product based on information detected by the detection mechanism (14), and to control the at least one handling device (15) accordingly.

13. The device (10) according to one or more of claims 1 to 12, characterized in that, The at least one conveying device (15) can be actuated by means of a cam plate and / or a linear motor and / or an angle motor.

14. The device (10) according to one or more of claims 1 to 13, characterized in that, The at least one conveying device (15) includes a clamping mechanism (25) arranged on a linear guide (26) and configured and adapted to be linear, i.e., transverse to the conveying direction T and perpendicular to the conveying plane E, and rotatable about the axis A perpendicular to the conveying plane E.

15. The device (10) according to one or more of claims 1 to 14, characterized in that, At least two conveying devices (15) are provided, with one conveying device (15) arranged after the other along the conveying direction T.

16. The device (10) according to one or more of claims 1 to 15, characterized in that, The conveying element (13) is constructed and adapted to convey at least two product streams formed from food products, particularly fish and poultry products.

17. The device (10) according to one or more of claims 5 to 14, characterized in that, The camera (19) is constructed and adapted to transmit the product on the transmission element (13) as a compressed image to the control device (16), in which one pixel corresponds to an area of ​​approximately 5 cm by 5 cm.

18. A method for conveying and separating and / or correcting the position of products, comprising the following steps: - By means of a conveying device (12), at least one product flow consisting of multiple products is conveyed in the conveying plane E along the conveying direction T; - The plurality of products on the rotary-driven conveying element (13) of the conveying device (12) are detected by means of the detection mechanism (14); - The position of the plurality of products on the conveying element (13) is corrected by means of the conveying device (15) and / or individual products are separated within the conveying plane E. - wherein the conveying device (15) moves perpendicular to the conveying plane E from above toward the plurality of products to establish an operational connection with the products and hold the products on the advancing conveying element, and the conveying device (15) moves only laterally linearly to the conveying direction T within the conveying plane E of the conveying element (13) to correct the position of the plurality of products and / or separate the plurality of products. - Wherein, the conveying device (15) is controlled by the control device based on data from the detection mechanism. The feature is that, by means of the detection element (14), the range of each product on the conveying element (13) in the conveying plane E and the coordinates of the plurality of products on the conveying element (13) are determined as data, a virtual image (100) of the conveying element (13) on which the plurality of products lie flat is generated based on the determined data, and at least one movement path is determined accordingly for collision-free separation and / or correction of the position of the plurality of products when the conveying element (13) is continuously driven.

19. The method according to claim 18, characterized in that, In order to establish an operational connection with the product and hold the product, the handling device (15) is placed on the product from the side and / or from above.

20. The method according to claim 18 or 19, characterized in that, The conveying device (15) rotates about an axis A oriented perpendicular to the conveying plane E in order to correct the position of the products and / or separate the products.

21. The method according to one or more of claims 18 to 20, characterized in that, The time for separating the plurality of products and / or correcting the position of the plurality of products is determined based on the conveying speed of the conveying element (13) and the moving speed of the handling device (15), as well as the range and position of the plurality of products on the conveying element (13).

22. The method according to one or more of claims 18 to 21, characterized in that, The conveying speed of the conveying element (13) and the moving speed of the conveying device (15), as well as the range and position of the plurality of products on the conveying element (13), are used to determine the area (18) covered by the products when they are separated, i.e. removed, transverse to the conveying direction T in the conveying plane E during continuous driving of the conveying element (13), and / or when the position of the plurality of products in the conveying plane E is corrected by rotating about the axis A.

23. The method according to claim 22, characterized in that, This information, namely the determined time and / or the determined area, is processed in the control device (16) in such a way that at least one movement path is determined, but preferably at least two movement paths, and at least one movement path is asked whether it is collision-free, wherein, if at least one movement path is collision-free, the conveying device (15) is activated to separate the product and / or correct its position, and if no movement path is collision-free, the product is further conveyed on the conveying element (13) along the conveying direction T.

24. The method according to one or more of claims 18 to 23, characterized in that, In the case that two or more movement paths are collision-free, the shortest movement path is determined by means of the control device (16), and the conveying device (15) is controlled accordingly.

25. The method according to one or more of claims 18 to 24, characterized in that, Each product is assigned an identifier (ID), which is considered when determining each movement path and is checked when controlling the handling device (15) to separate the product and / or to correct the position of the product with other IDs that may collide with the product.

26. The method according to one or more of claims 18 to 25, characterized in that, The data determined by the detection device (14) is used to determine the optimal clamping point for each product and to control the handling device (15).

27. The method according to one or more of claims 18 to 26, characterized in that, Data relating to the range of each product in the conveying plane E and the coordinates of the plurality of products on the conveying element (13) are transmitted as a compressed image to the control device (16).

28. The method according to one or more of claims 18 to 27, characterized in that, The method is performed using the apparatus (10) according to one or more of claims 1 to 17.

Images