Device and method for monitoring an arrangement of objects

Abstract

Device (30) for monitoring an arrangement of a set of objects (11) relating to a carrier device (13) designed to receive the set of objects (11), comprising: a cover (19) that is in contact with the set of objects (11), at least one sensor (31) for determining an inclination of the cover (19), an evaluation unit (38) which is configured to determine, on the basis of the inclination of the cover (19), an area of ​​the carrier device (13) in which the arrangement of at least one object (11) of the set of objects (11) deviates from a desired position when the set of objects (11) is received or has been received by the carrier device (13), characterized in that the sensor (31) is designed to detect the inclination of the cover (19) in two independent directions (35, 36), the cover (19) comprises several segments (33), each of which is assigned to at least one item (11) of the set of items (11), and the evaluation unit (38) is further trained to: to identify at least one raised segment (33) if the slope of the cover (19) in at least one of the two directions is greater than a positive threshold or less than a negative threshold, and to determine the area of ​​the support device (13) in which the arrangement of at least one item (11) of the set of items (11) deviates from the desired position, based on the at least one raised segment (33).

Description

[0001] The invention relates to a device and a method for monitoring an arrangement of a set of objects, e.g. bottles or containers, in relation to a carrier device.

[0002] When bottles or containers are to be filled in a suitable plant, it is usually necessary to remove the bottles or containers from crates or boxes and / or pack them into such crates or boxes. The equipment provided for this purpose is similar in its operation and is referred to as a packer and a packer.

[0003] These packing and unpacking machines are often designed as gantry robots and comprise one or more so-called packing heads, each equipped with packing tulips that move the bottles or containers during removal or packing. The number and design of the packing heads depend on the number of bottles or containers per crate or package, as well as on the size and format of the respective bottles or containers.

[0004] However, if the crates or containers are damaged or deformed, or if foreign objects such as shards of glass get into the crate or container, the packing head may lift out when removing or inserting bottles or containers. For example, a bottle or container may protrude too far from the crate or container due to foreign objects such as shards of glass, causing the packing head's predetermined insertion depth to hit the crate and lift out. Furthermore, bottles or containers may not be able to be placed down if the resistance encountered when inserting the packing head is too great, for example, due to a deformed crate.

[0005] To detect the lifting of one or more packing heads, the packing heads of the infeed and unpackers in known portal robots are each covered with a metal plate equipped with fins. Furthermore, one or more monitoring light barriers are provided, the light beam of which runs directly above the fins. When the packing head is lifted, corresponding cylinders, to which a packing tulip is attached, are pushed upwards. This pushes the metal plate covering the packing head, which is in contact with the cylinder, upwards along with one or more fins. As a result, at least one fin enters the light beam of the monitoring light barrier and interrupts it. A corresponding control unit then triggers a fault message on the infeed and unpacker.

[0006] With such an installation, featuring fins mounted on a metal sheet covering the packing head, it is not possible to pinpoint the area within the box or container that caused the packing head to lift out. This is because the light barrier monitoring covers the entire area of ​​the sheet covering the packing head. Consequently, precisely identifying, for example, a specific compartment within a container where the malfunction occurred is more complex, as an operator must thoroughly inspect the box or container after the gantry robot has been switched off in order to locate and rectify the cause of the malfunction.

[0007] From US Patent 2008 / 0310947A1, a device and a method with the features according to the respective preamble of claims 1 and 9 are known.

[0008] One object of the invention is to provide a device and a method for monitoring an arrangement of a set of objects, such as bottles or containers, in relation to a carrier device, with which the area of ​​a disturbance during the picking up and removal of the objects can be localized.

[0009] This problem is solved by a device and a method having the features of the independent claims. Advantageous embodiments of the invention are specified in the dependent claims, the description, and the drawings.

[0010] A device according to the invention is provided for monitoring the arrangement of a set of objects relative to a carrier device designed to receive the set of objects. The device comprises a cover that is in contact with the set of objects, at least one sensor for detecting an inclination of the cover, and an evaluation unit. The evaluation unit is designed to determine, based on the inclination of the cover, an area of ​​the carrier device in which the arrangement of at least one object of the set of objects deviates from a desired position when the set of objects is received or has been received by the carrier device.

[0011] The set of items can, for example, comprise a group of containers or bottles, while the carrier device can comprise a package, box, or case. A packing head of a device such as a gantry robot can be used, for example, to pick up and / or remove the set of items.

[0012] The cover can be in indirect contact with the set of objects, for example, if a packing head of a device for moving the objects is located between the objects and the cover. Furthermore, the cover can be, for example, a sheet metal plate arranged on the packing head of such a device. The evaluation unit can be designed as a programmable logic controller (PLC) or a similar electronic device.

[0013] The arrangement of at least one object, such as a bottle, can deviate from the desired position if, for example, the object protrudes beyond the top of the support device. However, the deviation from the desired position can also occur for the arrangement of at least one object even before it is received in the support device. For example, a damaged or deformed support device can prevent the object from being received and thus cause it to deviate from the desired position, for example, within a set of objects, if the set of objects is not yet completely received in the support device.The desired position of the respective items in the set can therefore be a static position, for example in relation to the carrier device, or a dynamic position during the insertion or removal of the items, which is defined, for example, in relation to the other items in the set or in relation to a packing head of a device for inserting and / or removing the items.

[0014] The device is characterized by its ability to identify, based on the inclination of the cover, the area of ​​the carrier that causes a malfunction when inserting or removing items from the carrier, thus preventing the desired placement or removal of the items. The device not only detects that a malfunction has occurred, but also pinpoints the specific area of ​​the carrier responsible for it. For example, it can identify the area of ​​a box or container where a packing head for inserting bottles or containers has been dislodged by damage or foreign objects, causing the item to protrude beyond the carrier.

[0015] The localized area of ​​interference can be output by the evaluation unit in the form of one or more electrical signals to visualize the identified area, for example, on a display. By pinpointing the area of ​​interference, it can be eliminated more easily than with devices that can only indicate the presence of an interference. This makes the entire process of inserting and / or removing items, such as bottles or other containers, into boxes or containers more efficient compared to previous devices.

[0016] According to one embodiment, the evaluation unit can further be configured to identify an elevated surface area of ​​the cover when the absolute value of the cover's inclination exceeds a predetermined inclination threshold, and to determine, based on this elevated surface area, the area of ​​the support structure in which the arrangement of at least one item in the set of items deviates from the desired position. Thus, a specific elevated surface area of ​​the cover can be uniquely assigned to a particular area within the support structure, for example, below the cover and below a packing head for inserting and / or removing the items, and vice versa. Determining the elevated surface area facilitates the identification of the specific area of ​​the support structure responsible for a malfunction during the insertion or removal of the items.

[0017] The evaluation unit can further be configured to output a signal indicating the area of ​​the support device in which the arrangement of at least one item of the set of items deviates from the desired position. The evaluation unit can also be configured to output the signal only if the absolute value of the cover's inclination exceeds the predetermined inclination threshold for a period of time longer than a predetermined duration.

[0018] Consequently, a minimum duration is defined for which the cover's inclination must exceed the inclination threshold value, for example, relative to a horizontal plane in a positive or negative direction (e.g., upwards or downwards), for the signal output by the evaluation unit to be accepted as valid. This prevents short-term electrical or mechanical fluctuations, such as those occurring during the raising or lowering of the entire system for inserting and / or removing items, from triggering a false signal from the evaluation unit that identifies a specific area of ​​the support structure, even though one or more items are correctly positioned within that area.

[0019] According to the invention, the sensor is further configured to determine the inclination of the cover in two independent directions. The cover comprises several segments, each of which is assigned to at least one item of the set of items. Accordingly, the evaluation unit is further configured to identify at least one raised segment when the inclination of the cover in at least one of the two directions is greater than a positive threshold or less than a negative threshold, and to determine, based on the at least one raised segment, the area of ​​the support device in which the arrangement of at least one item of the set of items deviates from the desired position.

[0020] One or more compartments or sections within the carrier system, designed to hold a specific number of items such as bottles or containers, can thus be assigned to a specific segment of the cover. This assignment can be made in such a way that the segments assigned to different items or to their respective designated areas within the carrier system do not overlap. Assigning the respective segments and items facilitates the identification of the area within the carrier system responsible for any malfunctions during the insertion or removal of items.

[0021] Exceeding or falling below the positive or negative threshold for the cover's inclination in one or both directions can be attributed to a specific segment or group of segments where, for example, a packing head lifts out because one or more items cannot be positioned correctly within the carrier or are not in the correct position. The positive and negative thresholds can be the same value, particularly for both directions. Alternatively, the respective positive and negative thresholds for the same direction can differ, and the respective positive and negative thresholds for the two directions can also differ. This depends, among other things, on the specific design of the items and the carrier, as well as the desired position of the items within the carrier.

[0022] Furthermore, one or more raised segments may form the aforementioned raised area, which corresponds to the area where the packing head has lifted out, since the arrangement of at least one object deviates from the desired position. Conversely, if the slope of the cover lies between the positive and negative threshold values ​​in both directions, it can be assumed that no lifting of the packing head has occurred.

[0023] The evaluation unit can further be configured to determine the position of the highest point of the cover relative to a reference position and to assign the position of the highest point to one or more segments of the cover. The position of the highest point of the cover can, in turn, be determined, for example, by detecting the inclination of the cover in two directions using the sensor. The position of the highest point of the cover is then further linked, via its assignment to one or more segments of the cover, to the area of ​​the support structure responsible for the malfunction during the insertion or removal of objects. In addition, the position of the highest point of the cover can be visualized using appropriate electrical signals and a display, thus simplifying the localization and resolution of the malfunction.

[0024] The sensor can include at least one tilt sensor that is in contact with the cover and is, for example, located on its upper surface. Furthermore, each tilt sensor can be assigned to a specific packing head of the device for inserting and / or removing the items, if this device includes multiple packing heads for a given carrier.

[0025] The tilt sensor can also be configured as a biaxial tilt sensor, in which the two axes, about which the biaxial tilt sensor determines the tilt of the cover, are arranged at an angle to each other. Preferably, the two axes are arranged at right angles to each other. Such a biaxial tilt sensor can output two separate signals for the tilt or rotation about each of the two axes. Based on the respective limit values ​​for the two signals, it can be identified whether the absolute value of the cover's tilt is greater than the predetermined tilt threshold value, or whether it is greater than the respective positive threshold value or less than the respective negative threshold value in at least one of two directions.

[0026] Alternatively, the sensor can comprise multiple distance sensors, each detecting a specific distance relative to the cover, in order to determine the cover's inclination based on these distances. For example, the sensing range of a distance sensor can be used to identify and display a faulty packing head and thus the affected area within the carrier system. While a distance sensor may be less expensive than an inclination sensor, a single distance sensor cannot identify a specific faulty segment within a packing head if multiple items, and therefore segments, are assigned to that packing head.

[0027] A further object of the invention is a portal robot for inserting and / or removing a set of objects into or from a carrier device, wherein the portal robot comprises a device for monitoring an arrangement of the set of objects relative to the carrier device, as described above. Thus, the preceding descriptions of the device according to the invention also apply to the portal robot according to the invention, in particular with regard to the disclosure, advantages, and preferred embodiments.

[0028] The gantry robot can comprise one or more packing heads, each assigned to a respective carrier device. In a gantry robot with multiple packing heads, each packing head can be assigned its own device according to the invention. The evaluation unit of such a gantry robot can then additionally be configured to identify the packing head in which at least one object deviates from the desired position when that packing head has been lifted. This also makes it possible to determine in which area of ​​the packing head the malfunction occurs.

[0029] Furthermore, another aspect of the invention is a method for monitoring the arrangement of a set of objects relative to a carrier device designed to receive the set of objects. According to the method, the inclination of a cover in contact with the set of objects is determined by means of at least one sensor. Subsequently, based on the inclination of the cover, an area of ​​the carrier device is identified in which the arrangement of at least one object of the set of objects deviates from a desired position when the set of objects is received or has been received by the carrier device.

[0030] According to the invention, the inclination of the cover is determined in two independent directions. The cover comprises several segments, each of which is assigned to at least one item of the set of items. Furthermore, at least one raised segment is identified if the inclination of the cover in at least one of the two directions is greater than a positive threshold or less than a negative threshold, and the area of ​​the support structure in which the arrangement of at least one item of the set of items deviates from the desired position is determined based on the at least one raised segment.

[0031] The steps of the method can therefore be carried out using the device described above, which comprises the cover, the sensor for determining the inclination of the cover, and the evaluation unit. The preceding descriptions of the device according to the invention therefore also apply to the method according to the invention, in particular with regard to the disclosure, the advantages, and the preferred embodiments.

[0032] The invention is described below by way of example with reference to an advantageous embodiment and the accompanying figures. These show, schematically: Fig. 1 a packing and unpacking robot in the form of a portal robot comprising a device according to the invention, Fig. 2 a device in accordance with the state of the art, Fig. 3 a device according to the invention and Fig. 4 and Fig. 5 Illustrations of results output by the device according to the invention.

[0033] Fig. Figure 1 shows a packing and unpacking robot designed as a portal robot 10. The portal robot 10 is designed to place objects 11 into a carrier device 13, or to place them into and / or remove them from the carrier device 13. In this example, the objects 11 are bottles or other containers, while the carrier device 13 is a box or container for receiving the bottles or containers.

[0034] In the present example, the bottles or containers 11 enter the portal robot 10 from the left, as illustrated by arrow 12. The packages or boxes 13 enter the portal robot 10 laterally, i.e., in a direction perpendicular to the plane of the drawing. Fig. 1. The respective carrier device 13, in the form of a container or box, is positioned relative to the portal robot 10 by a centering frame and then filled with the objects 11, in the form of containers or bottles, via the portal robot. For this purpose, an upper section of the portal robot 10 is movable in the direction in which the objects 11 enter the portal robot 10, and vice versa, as illustrated by the double arrow 14.

[0035] To move a set of objects 11, i.e., to lift and then place the set of objects 11 into the carrier device 13, the portal robot 10 has a packing head 15. The packing head 15 comprises so-called packing tulips 16, which are designed to grasp a respective object 11, and respective cylinders 17, which are connected to the respective packing tulips 16. For lifting and placing the objects 11, the packing head 15 is movable in an upward and downward direction, as illustrated by the double arrow 18. The portal robot 10 can also have several packing heads 15, which are shown in the view of Fig. 1, i.e., arranged one behind the other in the direction perpendicular to the plane of the drawing. In this case, several rows of objects 11 run parallel to each other in the direction of arrow 12 into the portal robot 10. In principle, several rows of packing heads can also be arranged side by side in the plane of the drawing for the simultaneous filling or emptying of several rows of carrier devices that are arranged side by side in the plane of the drawing (not shown).

[0036] Additionally, a cover 19 is provided on the top of each packing head 15, which forms part of a device 20 or 30 (see Figure 1). Fig. 2 and Fig. 3) for monitoring an arrangement of the set of items 11 relating to the carrier device 13, as is described in detail below.

[0037] Fig. Figure 2 illustrates a prior art device 20 for monitoring the correct operation of the portal robot 10. Fig. 1 is provided. The device 20 comprises the cover 19, which is located in the Fig. The portal robot 10 shown in Figure 1 is located on the top of a packing head 15. Furthermore, the device 20 comprises fins 21, which are attached to the top of the cover 19.

[0038] When the items 11, such as bottles, are placed in or removed from the carrier device 13 by means of the packing head 15, a so-called lifting of the packing head 15 can occur, in which part of the packing head 15, i.e. one or more cylinders 17 with one or more respective packing tulips 16, is moved upwards in a vertical direction (cf. Fig. 1) Such lifting occurs when the carrier device 13 is deformed or damaged, or when foreign objects such as shards are present in the carrier device 13. In this case, one or more items 11 cannot be correctly placed in the carrier device 13 or protrude beyond the carrier device 13 before removal. This causes the corresponding packing tulip 16 to be moved vertically upwards together with the cylinder 17.

[0039] The device 20 according to the prior art is designed to detect such lifting of a packing head 15 of the portal robot 10. The fins 21 (cf. Fig. 2) form part of a light barrier monitoring system, in which a light beam from the light barrier (not shown) runs directly above the fins 21. When one or more packing heads 15 are lifted, the fins 21 are also displaced by the vertical movement of the packing tulip 16 and the cylinder 17 and a corresponding tilt of the cover 19, such that at least one fin 21 interrupts the light beam of the light barrier. If the light barrier is interrupted by one or more fins 21, an electronic control unit, which is functionally connected to the light barrier monitoring system, issues a fault message. When the fault message occurs, the gantry robot is stopped by an operator to rectify the fault by manual intervention.

[0040] If the in Fig. When the device 20 shown in Figure 2 triggers a fault message, it is not apparent at what point under the cover 19 the packing head 15 has become dislodged, since it is only known that at least one of the fins 21 has moved and thereby interrupted the light beam of the light barrier. This means that the entire carrier unit 13 must be inspected for damage, deformation, or foreign objects in order to rectify the fault. This reduces the availability and efficiency of the portal robot 10.

[0041] A device 30 according to the invention, as described in Fig. As shown schematically in Figure 3, this problem is avoided. Using the device 30, it can be determined in which of several segments 33 (see Figure 3) Fig. 3) or in which area 41 (see Fig. 4) the cover 19 has been dislodged, at least one pack head 15 has been dislodged.

[0042] The device 30 comprises a two-axis tilt sensor 31, to which an x-axis 35 and a y-axis 36 are permanently assigned (see figure). Fig. 3A and Fig. 3B). The y-axis 36 is aligned along an electrical line 37 of the tilt sensor 31, and the x-axis 35 runs perpendicular to the line 37 through the longer side of the tilt sensor 31. The tilt sensor 31 is further arranged on the top of the cover 19 such that the x-axis 35 and the y-axis 36 divide the cover 19 into the segments 33, which are labelled Q1, Q2, Q3 and Q4 (see Figure 3B). Fig. 3A and Fig. 4) The tilt sensor 31 is connected via line 37 to an evaluation unit 38, which evaluates signals in the form of rotation angles of the tilt sensor 31, as described below. The evaluation unit 38 is designed as a programmable logic controller (PLC).

[0043] The inclination of the cover 19 is detected by means of the inclination sensor 31 based on a respective rotation about the x-axis 35 and about the y-axis 36 (see figure). Fig. 3B). The rotation about the respective axis is represented as a positive or negative rotation angle and output by the tilt sensor 31 to the evaluation unit 38. A zero point for the respective rotation about the x-axis 35 or about the y-axis 36 is determined in a state in which it is ensured that the packing heads 15 do not lift out.

[0044] In Fig. Figure 4 shows four examples of the determination of a raised surface area 41 of the cover 19, under which a lifting of a packing head 15 has occurred in each case. The lifting of the packing head 15 rotates or tilts the cover 19 about the x-axis 35 and / or the y-axis 36, such that a portion of the cover 19 is raised relative to the remaining surface area. This portion of the cover is the raised surface area 41, which is shown in the examples in Figure 4. Fig. 4 is shown hatched in each case. The respective rotation of the cover 19 about the x-axis 35 and / or about the y-axis 36, which is caused by the respective lifting of the packing head 15, is shown in the examples of Fig. 4 illustrated by corresponding rotation arrows.

[0045] The raised area 41 is determined based on the rotation angles of the tilt sensor 31 about the x-axis 35 and / or about the y-axis 36. For the rotation angles about the x-axis 35 and about the y-axis 36, respective limit values ​​are defined, for example, as the absolute value of a specific rotation angle. If at least one of these limit values ​​is exceeded, at least one of the segments 33 is in a raised position relative to the other segments 33 and is designated as a raised segment 34. Furthermore, it is assumed that the pack head 15 has been lifted out under the at least one raised segment 34.

[0046] In the example of Fig. 4A is the rotation angle of the tilt sensor 31 of Fig. 3 and thus the inclination of the cover 19 about the x-axis 35 is greater than a positive limit or threshold value. At the same time, the angle for the rotation about the y-axis 36 is smaller than a corresponding negative limit value, so that the inclination of the cover 19 about the y-axis 36 exceeds a negative threshold value.

[0047] By lifting out the packing head 15, the cover 19 is removed for the example of Fig. 4A is tilted according to these rotation angles around the x-axis 35 and the y-axis 36, as indicated by the two rotation arrows. As a result, segment 34, labeled Q1, is rotated upwards out of the plane of the drawing around the x-axis 35 and the y-axis 36 and is raised compared to the other segments 33, labeled Q2, Q3, and Q4. The raised segment 34, labeled Q1, is therefore, in the example of Fig. 4A identified as the elevated area 41 under which the lifting of the corresponding pack head 15 occurred.

[0048] In the example of Fig. In 4B, both limits for rotations around the x-axis (35) and the y-axis (36) are exceeded, but the rotation angles, in relation to the example of Fig. 4A each has the opposite sign, as indicated by the corresponding rotation arrows. Specifically, in the example of Fig. 4B The rotation angle about the x-axis 35 is smaller than a negative limit, while the corresponding rotation angle about the y-axis 36 is larger than a corresponding positive limit. Consequently, the inclination of the cover 19 about the x-axis 35 and about the y-axis 36 exceeds a corresponding negative or positive threshold, respectively. The cover 19 is rotated upwards out of the plane of the drawing in the area of ​​segment 34, which is labeled Q3, and is raised. Consequently, the raised segment 34, labeled Q3, is identified as the raised surface area 41 under which the lifting of the corresponding pack head 15 occurred.

[0049] In the example of Fig. In contrast, in 4C, the rotation angle about the x-axis 35 is smaller in magnitude than the corresponding positive and negative limits, so the inclination of the cover 19 about the x-axis 35 does not exceed either the positive or the negative threshold. However, the rotation angle about the y-axis 36 exceeds the corresponding negative limit in this example, as indicated by the rotation arrows, so that the cover 19 is tilted laterally to the left and raised in the area of ​​segments 34 labeled Q1 and Q4. Therefore, in the example of Fig. 4C determines that the lifting of the pack head 15 occurred under the raised surface area 41, which includes the two raised segments 34 designated Q1 and Q4.

[0050] Fig. 4D illustrates another example, where, in contrast to the example of Fig. 4C the limits for the rotation angle about the y-axis 36 are not exceeded, while the rotation angle about the x-axis 35 is smaller than the corresponding negative limit. Consequently, the cover 19 in the example of Fig. 4D is tilted about the x-axis 35, as indicated by the rotation arrows, so that the front segments 34, labeled Q3 and Q4, are raised. Therefore, in the example of Fig. 4D determines that the lifting of the packing heads 15 occurred in an elevated area 41, which includes the two elevated segments 34 designated Q3 and Q4.

[0051] When lifting at least one packing head 15 of the portal robot 10 (see Fig. 1) Furthermore, a highest point 51 of the cover 19 can be determined based on the ratios of the rotation angles with respect to the x-axis 35 and the y-axis 36. This is in Fig. Figure 5 shows that the highest point 51 of the coverage 19 lies within the area of ​​segment 34 labeled Q1, and this corresponds to the Fig. The situation depicted in section 5 is based on the example of Fig. 4A.

[0052] Additionally, a time period is defined, for example 300 ms, during which at least one of the limit values ​​for rotation around the x-axis 35 and / or around the y-axis 36 must be exceeded before a lifting of at least one of the packing heads 15 is identified and a corresponding fault message is issued. This serves to suppress any short-term spikes in the rotation angle signals, which can occur, for example, when the portal robot 10 is moving up and down, so that they do not trigger a fault message.

[0053] In total, the device allows for 30, which are schematically arranged in Fig. Figure 3 shows the raised area 41 under which the lifting of the packing head 15 occurred. This defines the area within the support structure 13 that caused the lifting of the packing head. Consequently, it is possible to rectify the malfunction in the identified areas and, for example, remove foreign objects from the support structure 13, while the remaining areas of the support structure can be disregarded. This simplifies the troubleshooting process.

[0054] Existing portal robots 10, which have so far been equipped with the device 20 with the fins 21 (see Fig. 2) are equipped, can also be retrofitted with the device 30, which is in Fig. Figure 3 shows the tilt sensor 31. Furthermore, with a new portal robot 10, those manufacturing steps associated with producing and attaching the fins 21 can be eliminated. Reference symbol list 10 portal robots 11. Item 12 Arrow 13 Supporting institution 14 Double Arrow 15 Pack head 16 Packing tulips 17 cylinders 18 Double Arrow 19 Coverage 20 Device in accordance with the state of the art 21 Finn 30 Device according to the invention 31 Tilt sensor 33 Segment 34 increased segment 35 x-axis 36 y-axis 37 electrical line 38 evaluation units 41 elevated area 51 highest point of coverage

Claims

[1] Device (30) for monitoring an arrangement of a set of objects (11) relating to a carrier device (13) designed to receive the set of objects (11), comprising: a cover (19) that is in contact with the set of objects (11), at least one sensor (31) for determining an inclination of the cover (19), an evaluation unit (38) which is designed to determine, on the basis of the inclination of the cover (19), an area of ​​the support device (13) in which the arrangement of at least one item (11) of the set of items (11) deviates from a desired position when the set of items (11) is received or has been received by the support device (13), characterized by , that the sensor (31) is designed to detect the inclination of the cover (19) in two independent directions (35, 36), the cover (19) comprises several segments (33), each of which is assigned to at least one item (11) of the set of items (11), and the evaluation unit (38) is further trained to: to identify at least one raised segment (33) if the slope of the cover (19) in at least one of the two directions is greater than a positive threshold or less than a negative threshold, and to determine the area of ​​the support device (13) in which the arrangement of at least one item (11) of the set of items (11) deviates from the desired position, based on the at least one raised segment (33). [2] Device (30) according to claim 1, characterized by , that the evaluation unit (38) is further trained to: to determine an increased surface area (41) of the cover (19) if the absolute amount of the slope of the cover (19) is greater than a predetermined slope threshold value, and to determine the area of ​​the support device (13) in which the arrangement of at least one item (11) of the set of items (11) deviates from the desired position, based on the raised area (41). [3] Device (30) according to claim 2, characterized by , that the evaluation unit (38) is further configured to output a signal indicating the area of ​​the carrier device (13) in which the arrangement of at least one item (11) of the set of items (11) deviates from the desired position, the evaluation unit (38) outputs the signal only if the absolute value of the inclination of the cover (19) is greater than the predetermined inclination threshold for a period of time longer than a predetermined period. [4] Device (30) according to any one of the preceding claims, characterized by , that the evaluation unit (38) is further configured to determine a position (51) of a highest point of the coverage (19) relative to a reference position and to assign the position (51) of the highest point to one or more segments (33) of the coverage (19). [5] Device (30) according to any one of the preceding claims, characterized by , that the sensor includes at least one tilt sensor (31). [6] Device (30) according to claim 5, characterized bythe tilt sensor is designed as a two-axis tilt sensor (31) in which two axes, with respect to which the two-axis tilt sensor (31) determines the tilt of the cover (19), are arranged at an angle to each other, preferably perpendicular to each other. [7] Device (30) according to any one of claims 1 to 4, characterized by the sensor (31) comprises several distance sensors that detect a respective distance relative to the cover (19) in order to determine the inclination of the cover (19) based on the distances. [8] Portal robot (10) for inserting and / or removing a set of items (11) into or from a carrier device (13), comprising a device (30) according to one of the preceding claims. [9] Method for monitoring an arrangement of a set of objects (11) relating to a carrier device (13) designed to receive the set of objects (11), the method comprising determining, by means of at least one sensor (31), an inclination of a cover (19) which is in contact with the set of objects (11), and Based on the inclination of the cover (19), an area of ​​the support device (13) is determined in which the arrangement of at least one item (11) of the set of items (11) deviates from a desired position when the set of items (11) is received or has been received by the support device (13). characterized by , that the inclination of the cover (19) is determined by means of the sensor (31) in two independent directions (35, 36), the cover (19) comprises several segments (33), each of which is assigned to at least one item (11) of the set of items (11), and at least one elevated segment (33) is determined if the inclination of the cover (19) in at least one of the two directions is greater than a positive threshold or less than a negative threshold, and the area of ​​the support device (13) in which the arrangement of at least one item (11) of the set of items (11) deviates from the desired position is determined on the basis of at least one raised segment (33).

Images