DEVICE AND METHOD FOR THE INSPECTION OF SURFACESABLE TRANSPORT BAGS

Description

Technical area

[0001] The present invention relates to the field of transport and conveyor technology. It concerns a device and a method for inspecting suspended transport bags. Technological background

[0002] In automated warehouses, large production facilities, and more generally in the conveying and transport of goods, overhead conveyor systems have proven to be an efficient means for the transport, temporary buffering, and even long-term storage of various types of goods. In overhead conveyor systems, the goods are either suspended directly from individual conveyor elements of a conveyor system in a suitable manner or placed in appropriate transport elements, such as transport pockets, which are in turn suspended from the conveyor elements.

[0003] Overhead conveyor systems can be implemented as transport chain systems, in which a large number of conveyor elements form links in a chain that moves along a conveyor path.

[0004] Also known are gravity-fed conveyor systems in which individual conveyor elements equipped with wheels move along corresponding rails. An example of such a gravity-fed, rail-guided conveyor system is known from WO 2016 / 030275 A1, owned by the applicant.

[0005] Overhead conveyor systems with transport elements are particularly suitable for the efficient conveyance of heterogeneous piece goods, such as workpieces in production processes, spare parts, consumer goods such as books, clothes, shoes, etc. For example, in logistics centers of mail order companies, overhead conveyor systems can be used to store a large number of items of different sizes and weights, and to pick groups of items according to the respective customer orders and prepare them for shipping.

[0006] A relevant aspect of an overhead conveyor system is the simple, smooth, and efficient loading of goods into empty conveyor elements and the simple, smooth, and efficient removal of goods from the conveyor elements. Manual removal of goods from the transport pockets allows for flexible handling of various goods, but is slow and costly.

[0007] WO 2017 / 088076 A1 by the applicant shows a transport unit with a carriage for use in an overhead conveyor system and with a transport pocket for receiving the transported goods. The transport pocket has a rear wall, viewed in the transport direction, and a front wall parallel to the rear wall, which are pivotally connected via a base and a bracket-like spacer element. Together with two side walls, these form a receiving space in the shape of a parallelepiped with an opening. The rear wall of the transport pocket is pivotally connected to the carriage. Guide rollers are attached to a lower end of the rear wall facing away from the carriage and to an upper end of the front wall in order to control the spatial position of the transport pocket during conveyance in the transport system using slotted guides or other suitable means.To automatically empty the transport bag, the bag, which hangs vertically on the carriage during transport, is brought into a horizontal position via a suitable linkage of the guide wheels on the rear wall, and the transport of the bag is interrupted. The carriage is then lowered into an inclined, upside-down position, in which rollers of an inclined roller conveyor engage corresponding recesses in the front of the transport bag. The transported goods roll out of the transport bag on the roller conveyor under gravity and are transported away. The carriage is raised again, and the now empty transport unit is conveyed further for reuse.

[0008] The applicant's international application PCT / IB2018 / 050446, filed on January 25, 2018, entitled "Device for emptying suspended transport bags," published as WO 2018 / 142243 A1, discloses another device for automatically emptying suspended transport bags. The transport bags have a pocket with a front side that is open at the top when filled. The transport bags are conveyed suspended along a conveyor path in a rail-guided conveyor system or a conveyor chain system and fed to the device. A revolving conveyor belt is used to receive the unit loads transported in the transport bags.In a contact section, the conveying path of the conveyor system and the conveying path of the conveyor belt are arranged in such a way that the distance between the conveying path of the conveyor system and the conveying path of the conveyor belt becomes continuously smaller, so that when a transport bag is conveyed along the contact section, the front side of the pocket of the transport bag contacts the conveyor belt and comes to rest on it, and the transport bag is pivoted backwards.In a transfer section, the conveying path of the conveyor system and the conveying path of the conveyor belt run essentially parallel to one another with a certain downward gradient. The front of the pocket of a transport pocket remains on the conveyor belt during conveyance along the transfer section, so that the opening of the pocket of the transport pocket is oriented diagonally downwards, and any piece goods units present in the pocket of the transport pocket slide out of the pocket onto the conveyor belt under the force of gravity. In a separating section, the distance between the conveying path of the conveyor system and the conveying path of the conveyor belt continuously increases, so that when a transport pocket is conveyed along the separating section, the emptied transport pocket is lifted off the conveyor belt and swings back into a freely hanging position.

[0009] The aforementioned systems are designed so that the transport bags are emptied automatically, driven by gravity. The emptied transport bags are then returned to the transport system for further use, such as refilling. If a transport bag is not emptied as intended during the emptying process, it would be returned to the transport system still full. The transported goods would not be available for further processing as intended. Furthermore, a transport bag that should actually be empty would be circulating in the transport system. Such undefined states must be avoided for various reasons.

[0010] The applicant's international application PCT / IB2018 / 050445, filed on January 25, 2018, entitled "Device and method for rotating, opening, and filling transport bags conveyed in a suspended manner," published as WO 2018 / 142242 A1, discloses a device for automatically opening empty transport bags conveyed in a suspended manner in a transport system, so that they can be efficiently filled by manually or automatically inserting unit loads into the opened transport bag. The filled transport bags are then fed into the transport system for further use, in particular for intermediate storage or for processing a picking order. If a transport bag is not filled as intended during the filling process, for example, because of a problem with the feed or the filling process, this can lead to undefined states and problems in subsequent processing steps.

[0011] There is a general need for advances in this field of technology.

[0012] JP H06 / 56248 A discloses a device with which objects can be hung on or removed from continuously moving transport hooks of an overhead conveyor. The hooks are aligned using guide means. A detection device in the form of a light barrier detects the passage of a transport hook. A robot arm moves synchronously with the transport hooks and hangs the object from the transport hooks.

[0013] JP 2014 / 76878 A discloses a device for detecting the presence of an object on a tray of a revolving tray conveyor. A two-dimensional laser distance measuring device detects the position of an object and the position of an operator's hands. From this data and the speed of the tray conveyor, it is determined whether an object is present on a tray.

[0014] WO 2018 / 078098 A1 discloses a device for filling a transport pocket of an overhead conveyor system, in which the transport pocket is opened and an object slides into the opened transport pocket via a roller ramp, driven by gravity. A device for automatically emptying overhead conveyor pockets is also disclosed, as is also shown in WO 2018 / 142243 A1 discussed above. Description of the invention

[0015] The terms conveyor unit and transport unit, as well as the terms conveyor system and transport system, are used synonymously in this description. The terms conveyor carriage and carriage are used synonymously in this description and refer to the part of a conveyor unit that can be arranged on a guide rail of a conveyor system and can be moved on said guide rail in a rolling and / or sliding manner and / or in a contact-free floating manner.

[0016] It is an object of the invention to provide a device for inspecting suspended transport bags, which allows a simple and efficient checking or determination of the filling status or the emptying status of a transport bag.

[0017] It is another object of the invention to provide a method for inspecting suspended transport bags, which allows a simple and efficient checking or determination of the filling status or the emptying status of a transport bag.

[0018] These and other objects are achieved by an inventive device and a method according to the independent claim. Further preferred embodiments are given in the dependent claims.

[0019] In the context of the present disclosure, the term “three-dimensional image” is understood to mean a data set which comprises the three-dimensional position and, if appropriate, optical information (brightness, colour) of a plurality of points on a surface of an imaged object.

[0020] A first aspect of the invention relates to an advantageous device for inspecting suspended transport bags.

[0021] Such a device for inspecting suspended transport bags with a bag interior for receiving piece goods units, wherein the transport bag has a bag opening of the bag interior, and a detection device which is configured to record at least one two-dimensional and / or three-dimensional image of at least a part of the bag interior of the transport bag to be inspected.

[0022] In an advantageous embodiment of such an inspection device, it comprises a device for opening and / or keeping open the pocket opening of a transport bag to be inspected.

[0023] Alternatively or additionally, the transport bag has at least one pocket opening of the bag interior, which, when the transport bag is in the hanging position, is located in an upper region of the bag interior and / or in a lateral region of the bag interior.

[0024] The pocket opening of the transport bag can be realized as a transparent area in a wall of the transport bag, in particular as a window or window section in a wall of the transport bag.

[0025] Based on the data from the detection device of the inspection device, for example, an emptying status or filling status of the inspected transport bag can be determined.

[0026] If the status of an inspected transport bag does not correspond to the intended value—for example, if the transport bag is not empty after an emptying process because an object unexpectedly remained in the bag, or if the transport bag is empty after a filling process—the affected transport bag can be marked with a corresponding virtual marker in a transport system database. The transport bag can then be separated or diverted downstream in the transport system for closer inspection without interrupting continuous system operation.

[0027] For a picking system, however, it is advantageous not only to reliably detect an incompletely emptied transport bag, but also to address the problem promptly, as otherwise a picking order may not be completed correctly. In such a case, for example, an inspected transport bag can be moved to a position where it can be safely and efficiently examined by an operator and, if necessary, manually emptied.

[0028] Advantageously, the detection device of such an inspection device comprises at least one camera module which is configured to record at least one image of at least a part of the interior of the transport bag to be inspected.

[0029] Such a camera module can be a conventional digital camera, in particular a fast CCD camera module suitable for industrial use.

[0030] Alternatively or additionally, the detection device may comprise at least one laser scanner module which is configured to guide one or more laser beams over at least part of the surface of the pocket interior of the transport bag to be inspected.

[0031] The laser scanning module scans the surface to be imaged with a laser beam in a line-like or raster pattern. Sensors record the signal intensity of the laser light reflected from the surface, and the measured data can be combined into a black-and-white or grayscale image. The resulting image data is free of distortion due to optical effects. The polar coordinates of an image point are derived from the axis of the laser beam. Distance, as a third dimension, is determined, for example, by pulse transit time or phase shift, depending on the technology used.

[0032] Alternatively, by using one or more camera modules laterally offset from the laser scan axis, the third dimension of an image point can also be calculated. Camera systems are available with various approaches, such as 3D triangulation, structured light projection, and height profile. The result is a three-dimensional image.

[0033] Advantageously, the detection device comprises a lighting module which is configured to illuminate at least part of the interior of the transport bag to be inspected using one or more lighting means.

[0034] The lighting equipment, such as focusable spotlights, omnidirectional lights, LEDs, flashlights, ultraviolet or infrared lamps, etc., are preferably designed and configured in such a way that the area to be inspected is ideally illuminated and any changing intensities of the ambient light are not important.

[0035] With two or more illumination sources offset from the lens axis of a camera module, multiple images can be captured, with only part of the illumination sources being active at a time, for example, only one illumination source. Due to the defined, spatially different illumination situation, the image data also contains information about the third dimension. By combining two or more such image data sets, a three-dimensional image can be obtained. Corresponding algorithms are known to those skilled in the art.

[0036] The analog effect can be achieved by using different colors of the illuminants, for example, complementary red and green. By applying appropriate color filters to a color image or using the corresponding color channels of the image sensor or camera module, the image information for the different illuminants can be separated. Accordingly, all illuminants can be active simultaneously, and only one image needs to be captured, since the data sets are separated by the light wavelength, not by the time component.

[0037] Two or more camera modules with different lens axes can simultaneously capture images from different angles, from which three-dimensional images can be calculated using suitable algorithms. Such camera systems are well-known and commercially available.

[0038] Also known are cameras with only one lens, in which the intensity of the illumination is modulated, and the time of flight of the light, and thus the distance to the sensor, is determined based on the phase shift of the measured signals of an image raster point.

[0039] Advantageously, the detection device further comprises an imaging module which is configured to calculate a three-dimensional image of at least a part of the pocket interior of an inspected transport bag from recorded image data of the detection device.

[0040] Such an imaging module is advantageous when the imaging devices used do not directly provide a three-dimensional image. The imaging module can be designed as an electronic device or implemented as an algorithm running on a microprocessor, e.g., a digital signal processing unit or a computer.

[0041] In an inspection device according to the invention, the control and evaluation device of the detection device can evaluate the image data to determine whether a transport bag is empty or not. Depending on the position of the inspection device within a conveyor system, appropriate measures can then be taken, in particular the follow-up inspection of a transport bag that is not completely empty after emptying, or the follow-up inspection of a transport bag that is not filled as intended after filling. This generally allows for improved quality control and, in particular, the early detection and correction of unclear or faulty states in an intralogistics system. This can avoid costly later problem resolution, for example, incorrect deliveries to customers.

[0042] According to the invention, the detection device of an inspection device according to the invention comprises an evaluation module which is configured to analyze the recorded or calculated image data of an inspected transport bag and, based on this image data analysis, to provide data which contains information as to whether the inspected transport bag is empty or contains an object.

[0043] The evaluation module can be designed as an electronic device or implemented as an algorithm executed on a microprocessor, e.g. a digital signal processing unit or a computer.

[0044] The data provided, which contains information about whether the inspected transport bag is empty or contains an object, can, in the simplest case, comprise a 1 / 0 signal (empty / not empty). Depending on this value, a process, for example an automatic filling process or an automatic emptying process for transport bags, can be temporarily interrupted in order to evaluate the situation and correct any problem that may have occurred. The data can also include a probability value, for example as a percentage. In this way, more complex control processes can be implemented. The evaluation of the image data by an inspection device can include other aspects in addition to determining the presence of an object in a transport bag. In particular, it is possible to classify or identify the corresponding objects.For example, optically readable information present on a detected object can be identified and evaluated, such as barcodes, 2D matrix codes, numbers, text, etc. This optically readable information may have been applied to the object for this purpose or may already be present on the object.

[0045] In an advantageous embodiment of a detection device of an inspection device according to the invention, the detection device comprises an evaluation module which is configured to analyze the recorded or calculated image data of an inspected transport bag and, based on this image data analysis, to read out optically readable information present on an object arranged in the inspected transport bag.

[0046] The specific position and orientation of an object within the transport bag are usually undefined. Advantageously, the object is first identified in the inspection area. In a subsequent step, suitable image analysis algorithms are used to identify an area containing information in an image area corresponding to the object. Finally, the information is extracted from this information-containing area.

[0047] Extracting information from an object's image data allows the identification of the object or its type (e.g., the item number) to be determined. This information can then be compared with a system target value, allowing, for example, transport bags loaded with the wrong object to be identified early and treated accordingly.

[0048] With appropriate algorithms, a more general classification or identification of objects in the transport bags can also be carried out, or an identification or classification without the direct evaluation of optically readable data.

[0049] For example, an evaluation device can be configured to execute algorithms based on the principles of artificial intelligence (AI) in a module to identify or classify objects based on captured images. This has the particular advantage that even objects with little or no directly readable optical information, such as smaller packages with small increments or flexible objects such as clothing or goods without packaging such as food (e.g., bread, vegetables, fruit), can be identified or classified.

[0050] In an advantageous embodiment of a detection device of an inspection device according to the invention, the detection device comprises an evaluation module which is configured to analyze the recorded or calculated image data of an inspected transport bag using Kl algorithms and to identify and / or classify an object arranged in the inspected transport bag based on this image data analysis.

[0051] In a further advantageous embodiment of an inspection device according to the invention, the device for opening and / or keeping open the pocket opening of a transport bag to be inspected comprises a lifting device which is designed to bring a transport bag to be inspected from a conveying position in which the transport bag hangs vertically into an inspection position in which the transport bag is arranged on an inclined plane in such a way that a front wall of the transport bag or an edge of said front wall rests on the inclined plane, and the end of the front wall facing the pocket opening of the transport bag is lower in the direction of gravity than the end of the front wall opposite the pocket opening, so that the inner surface of the front wall forms a further inclined plane.The detection device is configured to record at least one two-dimensional and / or three-dimensional image of at least a portion of the interior of a transport bag arranged in the inspection position, and / or to record at least one two-dimensional and / or three-dimensional digital image of a region of the inclined plane below the opening of the transport bag, and / or to detect the passage of an object sliding on the inclined plane using at least one optical sensor, for example a light barrier module.

[0052] By taking a picture of the bag's interior, the bag can be inspected directly, allowing it to be determined whether the bag is completely empty or not.

[0053] If, however, an image is taken of an area of ​​the inclined plane below the opening of the transport bag and / or the passage of an object sliding on the inclined plane is detected by at least one optical sensor, for example a light barrier module, the presence or absence of an object in the image or the detection or non-detection of an object can be used to indirectly conclude that the transport bag has been emptied.

[0054] Such an indirect inspection is particularly practical when the transport bag contains only one unit of cargo. If multiple units of cargo are transported in one transport bag, it is more difficult to obtain a clear conclusion with such an indirect inspection of the transport bag.

[0055] However, by combining the aforementioned direct inspection with an indirect inspection, the overall accuracy of the inspection device can be further improved by further minimizing the number of false positive results (transport bag empty but classified as not empty) and false negative results (transport bag not empty but classified as empty), thus optimizing the sensitivity and specificity of the inspection device.

[0056] For indirect inspection, a camera module and / or a laser scanner module and / or an illumination module and / or an imaging module and / or an evaluation module can be used, analogous to the direct inspection discussed above.

[0057] In such a variant of an inspection device according to the invention, the lifting device advantageously comprises a lifting table, a ramp, a circulating conveyor belt, a roller arrangement, or a roller ramp which forms an inclined plane.

[0058] Such a lifting device is for example in the Figures 3 , 12 and 13 of the applicant's international application PCT / IB2018 / 050445 (published as WO 2018 / 142242 A1), where lifting devices are used in connection with an automatic filling process to open transport bags before filling.

[0059] In another advantageous embodiment of an inspection device according to the invention, the device for opening and / or keeping open the pocket opening of a transport bag to be inspected comprises a device for emptying suspended transport bags. The emptying device comprises a conveyor system, in particular a rail-guided conveyor system or a conveyor chain system, with which transport bags can be fed suspended along a conveyor path, and a circulating conveyor belt for receiving unit loads transported in the transport bags.In a contact section, the conveying path of the conveyor system and the conveying path of the conveyor belt are arranged in such a way that the distance between the conveying path of the conveyor system and the conveying path of the conveyor belt becomes continuously smaller, so that when a transport bag is conveyed along the contact section, a front wall of the transport bag contacts the conveyor belt and comes to rest on it, and the transport bag is pivoted backwards.In a transfer section, the conveying path of the conveyor system and the conveying path of the conveyor belt run essentially parallel to each other with a certain downward gradient. When the transport bag is conveyed along the transfer section, the front wall of the transport bag remains on the conveyor belt, so that the opening of the transport bag is oriented diagonally downwards, and any piece goods present in the interior of the transport bag slide out of the interior of the bag onto the conveyor belt under the force of gravity. In a separating section, the distance between the conveying path of the conveyor system and the conveying path of the conveyor belt continuously increases, so that when the transport bag is conveyed along the separating section, the emptied transport bag is lifted off the conveyor belt and swings back into a freely hanging position.The detection device of the inspection device is configured such that it can record the at least one two-dimensional or three-dimensional image of at least part of the pocket interior of the transport bag to be inspected when the transport bag to be inspected is located in the transfer section or in the separation section at a specific detection position at which, during functional operation of the device for emptying suspended transport bags, the emptying of the transport bag to be inspected is completed.

[0060] A discharge device as used in this inspection device is disclosed, for example, in the applicant's international application PCT / IB2018 / 050446 (published as WO 2018 / 142243 A1)

[0061] In such an embodiment of an inspection device, a light barrier module of the detection device is advantageously positioned so that it can detect the passing of objects at a specific position of the conveying path of the conveyor belt.

[0062] The passage of an object past the light barrier, especially a unit of cargo removed from a recently emptied transport bag, can be used to trigger the inspection process of the emptied transport bag. Alternatively or additionally, the corresponding information can also be used to evaluate the results of the inspection process.

[0063] The objects can be detected when they slide freely down the conveyor belt, and / or the objects can be detected when they are already resting on a rib or cross member, etc. of the conveyor belt. In the latter case, the speed of the objects is known due to the conveyor belt's conveying speed, so additional information, for example, about the object's size, can also be determined.

[0064] The detection position of a transport pocket can be determined, for example, by a position sensor along the conveyor path of the conveyor belt or conveyor system, which detects the passage of a transport pocket and triggers the inspection process. For example, the position sensor, such as a simple induction sensor, can detect the passage of a carriage of a conveyor unit with a transport pocket, or the passage of a carrier of a conveyor chain that transports the carriage along the conveyor path of the conveyor system. The transport pocket can also be detected directly.

[0065] An inspection device according to the invention can have a guide ramp arranged in a separating section, which guides transport bags lifted from the conveyor belt in such a way that a collision of the transport bags with parts of the detection device, in particular a camera module of the detection device, is not possible.

[0066] In a further advantageous embodiment of an inspection device, the device for opening and / or keeping open the pocket opening of a transport bag to be inspected comprises an actuator device which is configured to move a stable front wall of the transport bag, which is movably connected to a stable rear wall of a transport bag to be inspected, with respect to said rear wall in the direction of a pocket opening of the transport bag, i.e. to move it relative to said rear wall in the direction of a pocket opening of the transport bag.

[0067] Advantageously, in the aforementioned variant of an advantageous inspection device, the actuator device is configured to move a lower edge of the front wall of the transport bag facing away from the pocket opening of the transport bag in relation to the rear wall of the transport bag in the direction of the pocket opening.

[0068] Alternatively or additionally, in the aforementioned variant of an advantageous inspection device, the actuator device comprises a lifting table, a ramp, a circulating conveyor belt with ribs, a roller arrangement or a roller ramp, which move the front wall of the transport bag or the lower edge of the front wall with respect to the rear wall of the transport bag in the direction of the bag opening.

[0069] In an advantageous variant of such an inspection device according to the invention, the device for opening and / or keeping open the pocket opening of a transport bag to be inspected comprises an actuator device which is designed to move a front wall of the transport bag, which is movably connected to a rear wall of a transport bag to be inspected, in relation to said rear wall of the transport bag, or to move a rear wall of the transport bag, which is movably connected to a front wall of a transport bag to be inspected, in relation to said front wall of the transport bag

[0070] Particularly advantageously, the actuator device comprises a link guide which interacts with a bracket arranged between the front wall and the rear wall of a transport bag to be inspected.

[0071] A second aspect of the invention relates to an advantageous method for inspecting suspended transport bags.

[0072] In a method according to the invention for the inspection of suspended transport bags a transport bag to be inspected is provided, the transport bag having a bag interior for receiving piece goods units and a bag opening of the bag interior; and at least one two-dimensional and / or three-dimensional image is taken of at least a part of the bag interior.

[0073] In an advantageous embodiment of such an inspection method, the pocket opening of the transport bag is opened or kept open.

[0074] Alternatively or additionally, in such a method, the transport bag advantageously has at least one pocket opening of the bag interior, which opening, when the transport bag is in the hanging position, is located in an upper region of the bag interior and / or in a lateral region of the bag interior.

[0075] In the method, the pocket opening of the transport bag can be realized as a transparent area in a wall of the transport bag, in particular as a window or window section in a wall of the transport bag.

[0076] In such a method, one or more laser beams are advantageously guided over at least part of the surface of the interior of the transport bag to be inspected.

[0077] In such a method, at least part of the interior of the transport bag to be inspected is advantageously illuminated with one or more lighting means.

[0078] In such a method, a three-dimensional image of at least a part of the bag interior of an inspected transport bag is advantageously calculated from recorded image data of at least a part of the bag interior.

[0079] Advantageously, in such a method according to the invention, the recorded or calculated image data of an inspected transport bag are analyzed and, based on this image data analysis, data is provided which contains information as to whether the inspected transport bag is empty or contains an object.

[0080] Advantageously, in a method according to the invention, the recorded or calculated image data of an inspected transport bag are analyzed and, based on this image data analysis, optically readable information present on an object arranged in the inspected transport bag is read out.

[0081] The information can then be used to identify and / or classify the object.

[0082] For further details, reference is made to the above discussion of a corresponding advantageous embodiment of an inspection device.

[0083] Advantageously, in a method according to the invention, the recorded or calculated image data of an inspected transport bag are analyzed using Kl algorithms and, based on this image data analysis, an object arranged in the inspected transport bag is identified and / or classified.

[0084] For further details, reference is again made to the above discussion of a corresponding advantageous embodiment of an inspection device.

[0085] Depending on the design of the algorithms, AI modules usually need to be trained first. In an advantageous embodiment of an inspection device according to the invention, images captured by a detection device during operation are used to train the AI ​​algorithms instead of a collection of specially prepared images, or in addition to them.

[0086] In an advantageous variant of a method according to the invention, the recorded or calculated image data of an inspected transport bag are used to train AI algorithms with which, after training, further recorded or calculated image data of an inspected transport bag can be analyzed and, based on this image data analysis, an object arranged in the inspected transport bag can be identified and / or classified.

[0087] For example, a new item can be introduced into an intralogistics system, and a detection device of an inspection system captures corresponding images of these objects in corresponding transport bags. Images of a plurality of this object type are advantageously captured. The corresponding images are then used to train the AI ​​module.

[0088] To generate the images, an object can be placed in a transport bag several times and removed from it again after the image data has been recorded in order to make the database for the AI ​​module as diverse and realistic as possible.

[0089] Alternatively, or additionally, the images can also be generated and collected during normal operation. This allows the AI ​​module to be continuously trained on new items.

[0090] The advantageous methods mentioned, in which the recorded or calculated image data of an inspected transport bag is analyzed and, based on this image data analysis, optically readable information present on an object arranged in the inspected transport bag is read out in order to identify and / or classify the object; and / or the recorded or calculated image data of an inspected transport bag is analyzed using KI algorithms and, based on this image data analysis, an object arranged in the inspected transport bag is identified and / or classified, can alternatively or additionally also be used to identify and / or classify objects after they have been removed from a transport bag or before they have been placed in a transport bag.

[0091] The objects can be located on a conveyor, such as a belt conveyor or a roller conveyor. It is also possible for the objects to be in free fall or free flight, for example, during a removal or filling process. Depending on the object's speed, the shutter speed for image capture must be correspondingly short. If the object is in mid-air during image capture, multiple camera modules can be used to capture the object as completely as possible and to obtain as much image information as possible.

[0092] When using two or more cameras, it is also possible to calculate a three-dimensional image of the object using appropriate image processing algorithms.

[0093] According to the inventive method and inspection device an image is taken which shows at least one inner side of a wall, in particular a front wall of a transport bag to be inspected, which lies against the inside of the bag; an inspection area is identified in the taken image which shows at least part of the inside of the wall; the image data of the identified inspection area are analyzed to determine whether another object is depicted therein in addition to the inside of the wall; and based on this image data analysis, data is provided which contains information as to whether the inspected transport bag is empty or contains an object.

[0094] In such a variant of a method or inspection device for identifying the inspection area on the image, the image coordinates of the two outer endpoints of the upper edge of the front wall of the transport bag facing the bag opening and the image coordinates of the two endpoints of the lower edge of the front wall facing away from the bag opening are determined; and at least a partial area of ​​a quadrilateral defined by the image coordinates of the four aforementioned endpoints is defined as the inspection area.

[0095] Alternatively or additionally, in such a variant of a method, the inside of the front wall of the transport bag is monochrome; the brightness of the pixels within the inspection area is compared with a limit value; and based on the number of pixels below and above the stated limit value, data is provided which contains information as to whether or not an object is imaged within the inspection area. Particularly advantageous in the aforementioned variant of the method is that connected groups of pixels below and / or above the stated limit value, which are below and / or exceed a certain size, are specifically taken into account when providing the data. In this way, for example, minor image defects which arise due to dirt on a camera lens or due to noise can be ignored.Even smaller dirt, for example on the inside of the bag's interior volume, can be discarded.

[0096] In methods according to the invention, one or more digital filters, for example a contrast filter, a tone value correction, or a gradation curve, are advantageously applied to image data and / or to recorded images.

[0097] In another advantageous variant of a method according to the invention for inspecting suspended transport bags a transport bag to be inspected is provided which has a front wall and, in the hanging position and filled state of the transport bag, an upwardly open bag interior; the transport bag is brought from a first, vertically hanging position into a second position in which the transport bag is arranged on an inclined plane such that the front wall or an edge of the front wall rests on the inclined plane, and the end of the front wall facing the opening of the transport bag lies lower in the direction of gravity than the end of the front wall opposite the opening, so that the inner surface of the front wall forms a further inclined plane; and at least one two-dimensional and / or three-dimensional image is taken of at least part of the bag interior;and / or at least one two-dimensional and / or three-dimensional image is recorded from a region of the inclined plane below the opening of the transport bag; and / or the passage of an object sliding on the inclined plane is detected with at least one optical sensor, for example a light barrier module.

[0098] The above statements regarding the direct and indirect inspection of a transport bag in connection with an inspection device according to the invention naturally also apply to the method.

[0099] Advantageously, in the aforementioned variant of a method according to the invention, an image is taken which shows a region of the inclined plane below the opening of the transport bag; and the image data are analyzed to determine whether only the inclined plane is depicted in the image, or also another object, in particular a piece goods unit which has slipped or is still slipping out of the transport bag; and / or the passing of objects sliding on the inclined plane is detected with at least one optical sensor.

[0100] It is particularly advantageous to determine the number of objects on the inclined plane and / or the surface area of ​​the objects.

[0101] In all the aforementioned variants of methods according to the invention, information on the objects located in the transport bag to be inspected is advantageously taken into account during the evaluation, in particular the size and / or number of the objects. Short description of the drawings

[0102] For a better understanding of the present invention, reference is made to the drawings below. These merely show exemplary embodiments of the subject matter of the invention.

[0103] In the figures and the associated description, identical or equivalent parts are provided with the same reference symbols. Figure 1 schematically shows a conveyor unit of a conveyor system, with a transport pocket transverse to the conveying direction, filled with a unit load, (1a) in a side view of the transport pocket with the conveying direction to the right; (1b) in a view of the transport pocket diagonally from the rear; and (1c) in a rear view of the transport pocket looking in the conveying direction. Figure 2 schematically shows a device for emptying suspended transport pockets. Figure 3 schematically shows in detail a snapshot of the emptying process of a transport pocket in a device as in Figure 2. Figure 4 shows a schematic representation of the automatic inspection of a transport bag after emptying. Figure 5 shows a schematic representation of the image evaluation of an automatic inspection of a transport bag. Figure 6 shows an image of an inspected transport bag to be evaluated. Figure 7 shows the detection region on the image of the Figure 6Figure 8 schematically shows a perspective view of another conveyor unit of a conveyor system, with a transport pocket transverse to the conveying direction, filled with a unit load, with the conveying direction to the right. Figure 9 schematically shows a side view of another conveyor unit of a conveyor system, with a transport pocket transverse to the conveying direction, filled with a unit load, with the conveying direction to the right, in a closed transport configuration of the transport pocket (dashed lines) and an open loading configuration of the transport pocket (solid lines). Figure 10 schematically shows the conveyor unit, viewed along the conveying direction onto the front wall of the transport pocket, with possible arrangements of camera modules and lighting modules. Ways to implement the invention

[0104] The aforementioned international applications PCT / IB2018 / 050445 and PCT / IB2018 / 050446 (published as WO 2018 / 142242 A1 and WO 2018 / 142243 A1) of the applicant describe advantageous devices for automatically filling or emptying suspended transport pockets of conveyor units of a conveyor system. A conveyor unit 10 as can be used in such advantageous devices is described in Figure 1A transport bag 14 has a suspension hook 148, which is hooked into a support hook 121 of a conveyor carriage or trolley 12. In the exemplary embodiments shown in this description, the conveyor carriage or trolley is a trolley 12 of a gravity-conveyed overhead conveyor system 20, analogous to an overhead conveyor system as disclosed, for example, in WO 2016 / 030275 A1 by the applicant. For better understanding, the trolley 12 is shown on a guide rail 24 of a conveyor system 20, where it moves in a designated conveying direction 22.

[0105] The transport bag 14 comprises a front wall 143, a base section 144, and a rear wall 142, which are pivotally connected at their abutting edges. The front wall, rear wall, and base section are designed to be stable and can be made, for example, from a suitable plastic material, such as a hollow profile plate. Flexibly designed side walls 145, 145' connect the front wall, rear wall, and base section, resulting in an interior bag volume 16 with an opening 17 into which at least one piece goods unit 5 can be loaded. In the example shown, the side walls are made of a fine-mesh net. The use of a flexible textile material or a flexible film, in particular a transparent film, is also possible. The side walls 145, 145' are designed such that they also fold when the transport bag is folded, as described below.

[0106] Between the front wall 143 and the rear wall 142, a pivotally mounted spacer 146, 146' in the form of a wire bracket is arranged on each side. The spacers are arranged substantially parallel to the base section 144 and are of the same length as the base section, and the front wall 143 is substantially parallel to the rear wall 142, so that the rear wall 142, spacers 146, 146', the front wall 143, and the base section 144 form a parallelogram.

[0107] In the example shown, one end of the wire bracket 146, 146' is movably attached to the rear wall 142, namely rotatably, forming a hinge 152. The other end of the wire bracket 146, 146' is attached to the front wall 143 in a similar manner.

[0108] When unloaded, the weight of the front wall and base section causes the front wall to sink downward, allowing the transport bag to transition into a second state in which the front and rear walls are close together. In this configuration, the transport bag can be stored in a space-saving manner in a conveyor system by arranging the conveyor units flush one behind the other on a guide rail.

[0109] By lifting the front wall 143 and / or the bottom section 144 relative to the rear wall 142, the transport bag can be transferred from the second, folded state to a first, unfolded state, as shown in Figure 1 The upwardly facing opening 17 of the transport bag 14 is now ready for filling.

[0110] In the embodiment shown, a piece goods unit 5 is arranged in the transport bag 14, schematically represented by a cuboid-shaped object.

[0111] The rear wall 142 is extended at its upper end into a support section 141, at the upper end of which the suspension hook 148 in the form of a wire bracket is pivotally connected to the rear wall 142 or its support section 141.

[0112] The support hook 121 is attached to a lower end of the carriage 12 facing away from the guide rail 24. It can be made of metal or of a suitable polymer material, for example a glass-fiber reinforced thermoplastic material. Figure 1 As shown, the suspension hook 148 is in a stable position, in which the suspension hook 148 is aligned in a plane transverse to the conveying direction 22. The front side 143 of the transport bag 14 faces the conveying direction 22.

[0113] An advantageous device 50 for emptying suspended transport bags 14 is shown in Figure 2shown in a snapshot of a continuous overall process. The corresponding process, including the various operations during the operation of the device, is described in detail in the applicant's international application PCT / IB2018 / 050446 (published as WO 2018 / 142243 A1). The device 50 allows the automated emptying of transport bags 14 in continuous operation, as well as the timed transfer of the removed piece goods 5 for further processing.

[0114] The emptying device 50 is part of a conveyor system 20 for the suspended conveyance of transport pockets 14. Such a conveyor system can be configured as a chain conveyor or as a gravity-fed overhead conveyor system. Functionally, this is not relevant for the device 50, since in either case, the individual conveyor units 10 with the transport pockets 14 are forcibly conveyed at a specific, constant speed in the area of ​​the emptying device 50. In the case of a gravity-fed overhead conveyor system, this is achieved by a conveyor chain system (not shown) running parallel to the guide rail 24, which drags the individual carriages 12 with the transport pockets 14 along the conveying path of the conveyor system 20.

[0115] The conveying path of the conveyor system 20 runs from right to left in the conveying direction 22. A counterclockwise rotating conveyor belt 54 is arranged below the conveyor system 20, the tangential conveying speed of which is equal to the conveying speed of the conveyor system. Transverse ribs 56 are arranged at regular intervals along the circumference of the conveyor belt 54.

[0116] In a first step, a fed, filled transport bag 14 is placed on the conveyor belt 54 and transferred to a state in which the goods can be removed from the bag. The front wall of the transport bag is pulled downward by the weight of the front wall, the base section, and the piece goods, so that the distance between the rear wall and the front wall is minimal within the limits specified by the piece goods.

[0117] The front wall 143 of the transport pocket 14 finally meets the circulating conveyor belt 54 and is pivoted rearward with respect to the conveying direction 22. This marks the beginning of a contact section 51 of the device 50. In this section, the conveyor belt 54 has a flatter gradient, while the guide rail 24 of the conveyor system 20 has a constant gradient to the left. This results in a lower horizontal speed component for the conveyor belt than for the conveyor system. Finally, towards the end of the contact section 51, the conveying path of the conveyor belt 54 and the conveying path of the conveyor system 20 run essentially parallel, and the horizontal speed components have adjusted to one another.

[0118] It should be noted that the absolute speeds of the conveyor belt and the conveyor system are the same and do not change. Only the horizontal speed components differ at different positions along the conveyor path.

[0119] The spacing of the transverse ribs 56 essentially corresponds to the spacing of the conveyor carriages or trolleys 12 of the conveyor units 10 on the conveyor system 20. The relative phase shift of the ribs 56 with respect to the trolleys 12 is selected such that a rib 56 runs behind a transport pocket 14 in the contact section, slowly catching up to the transport pocket 14 until the rib finally reaches the bottom section 144 or the lower edge of the front wall 143 of the transport pocket 14. In this area, the rib moves horizontally faster than the transport pocket, whose trolley has already reached an area of ​​increasing gradient. The rib 56 now pushes the bottom section 144 of the pocket 14 forward, so that the distance between the front wall 143 and the rear wall 142 increases.At the end of the contact section 51, the transport bag 14 finally assumes a state in which the transport bag 14 is maximally open and can be emptied. This marks the end of the contact section 51 and the beginning of the transfer section 52 of the device 50.

[0120] In the transfer section 52, the conveying paths of the conveyor system 20 and the conveyor belt 54 run parallel to each other with a certain gradient. The conveyor system 20 and the conveyor belt 54 have identical horizontal and vertical speed components. A piece goods unit 5 located in the transport pocket 14 slides out of the transport pocket 14 and down the conveyor belt 54 until the piece goods unit 5 finally reaches the transverse rib 56 running in front of it, where it is stopped.

[0121] Meanwhile, the emptied transport bag 14 is slowly lifted off the conveyor belt 54 again, as the conveyor path of the conveyor system 20 pivots upward away from the conveyor path of the conveyor belt 54. This marks the end of the transfer section 52 and the beginning of the separation section 53 of the device 50. Finally, the empty transport bag 14 lifts off the conveyor belt 54. The empty transport bag 14 now pivots back into the freely hanging position and is guided away to the top left for reuse in the conveyor system 80.

[0122] Meanwhile, the transverse rib, together with the piece goods unit 5 lying on it, reaches the end of the conveyor belt 54.

[0123] Advantageously, the transverse ribs 56 consist of a plurality of outwardly projecting fingers (in Figure 2not visible), which run through corresponding slots (not visible) in a chute 31 directly adjoining the conveyor belt 54. In this way, the piece goods units 14 are transferred to the chute 31 in a timed manner as soon as the fingers of the ribs 56, upon reaching the deflection roller 57, have pivoted through the slots of the chute 31 and no longer hold back the piece goods. The piece goods unit 5 slides down the chute 31 under gravity and finally lands on another conveyor, in the example shown a conveyor belt 32, which carries the piece goods away transversely to the chute for further use.

[0124] The device shown has the particular advantage of automatically emptying the transport bags continuously. A further advantage is the possibility of further processing the removed unit loads in a timed manner.

[0125] A position sensor 78 is arranged at a suitable location along the conveyor path of the transport system 20. The position sensor can, for example, comprise an induction sensor element, which can be used to detect the passing of a metal position mark of a carrier of the conveyor chain drive, which carries the carriage 12 of the conveyor unit 10. An optical sensor, such as a light barrier, is also possible.

[0126] If a conveyor unit 10' reaches the position sensor 78 after the transport bag 14 to be inspected has been emptied, the position sensor 78 reports this to a control and evaluation device 85 of the detection device. The transport bag to be inspected has reached the detection position. The control and evaluation device 85 of the detection device 70 then causes a suitably arranged camera module 72 of the detection device to take an image of the bag interior 16 through the bag opening 17. The continuous conveyance of the transport bag is not interrupted for this purpose. The camera module must be sufficiently light-sensitive to enable a suitably short shutter speed. Alternatively, the camera module can also take images continuously. Two light elements (not shown) illuminate the corresponding area.

[0127] The recorded image is transmitted to the control and evaluation device 85 of the detection device. The corresponding evaluation is stored in the Figures 5 to 7 described in more detail.

[0128] If the control and evaluation device 85 concludes that the inspected transport bag is empty, the continuous conveying process continues uninterrupted. The transport bag is lifted from the conveyor belt 54. To ensure that the now freely hanging transport bag does not strike the camera module 72, a guide ramp 74 guides the transport bag over the camera module. To ensure that the camera module still has a clear view of the detection position, a viewing opening 76 is provided in the ramp. To mechanically protect the transport bags upon contact with the guide ramp 74, a shock absorber roller 75 is provided, which dampens the impact of the forward-swinging transport bag and then guides the transport bag onto the guide ramp 74. The shock absorber roller 75 can be designed, for example, as a brush roller or foam roller, which can be fixedly attached, freely rotating, or driven.

[0129] If, however, the control and evaluation device 85 concludes that the inspected transport bag is not empty, the control and evaluation device 85 causes a control unit 60 of the emptying device 50 to interrupt the conveying process within the emptying device 50. An operator can then inspect the transport bag at a position slightly below the detection position and manually remove any remaining contents, optionally placing them on the chute 31. For example, a lightweight item that is stuck to the inside of the bag due to adhesive residue is conceivable.

[0130] An inspection process according to the invention is also described in the Figures 3 and 4 shown.

[0131] In Figure 3The transport pocket 14 is fully open because the transverse rib 56 of the conveyor belt 54 has pushed the front wall 143 forward in the conveying direction relative to the rear wall 142 pulled by the towed carriage 12. A piece goods unit 5 previously located in the transport pocket slides along the inside of the front wall 143 and then downwards along the inclined plane of the conveyor belt 54 until it is stopped by the leading rib (not visible) of the conveyor belt. A light barrier 71 arranged transversely to the fall line detects the piece goods unit 5 sliding past, which already indirectly provides information about the emptying process. The guide rail 24 and the conveyor belt 54 run essentially parallel.

[0132] In Figure 4A situation further downstream in the conveying direction is shown. The negative gradient of the guide rail 24 decreases, so that the transport pocket begins to lift off the conveyor belt 54. Only the lower edge of the front wall 143 of the transport pocket 14 still rests on the conveyor belt. However, the transport pocket is still completely open. This position of the transport pocket represents the detection position. A camera module (not visible) is arranged and configured such that the inside of the front wall 143 lies within its field of view 73, so that it can be fully imaged.

[0133] The field of view 73 of the camera module is shown schematically in Figure 5 Shown. The entire inner surface of the front wall 143 of the carrying bag is visible. The inner surfaces of the side walls 145, 145' and the base section are only partially visible. The rear wall 142 is visible from the outside.

[0134] Using a suitable image recognition algorithm, a control and evaluation device of the detection unit can now identify the outer ends 82, 82' of the upper edge 147 of the front wall on a corresponding image of a transport bag recorded by the camera module. The outer ends 83, 83' of the lower edge 149 of the front wall are also identified. An inspection area 81 (dashed rectangle) is defined from the image area within the rectangle formed by these four points. The image area of ​​this inspection area can now be evaluated for inspection, for example, as shown in the Figure 5 shown to determine the presence of an undefined object 7.

[0135] The definition of the inspection area 81 based on orientation points on the transport bag offers the advantage that possible differences in the position of the transport bag at the detection position can be compensated very easily, which improves the reproducibility of the evaluation process and reduces error rates.

[0136] Figure 6 shows a real picture of a black and white digital camera, with a field of view analogous to Figure 5 An object 7 in the form of a piece of clothing wrapped in plastic has become trapped inside the bag. After identifying the four landmarks mentioned above, the inspection area 81 is defined (white square in Figure 7 ). The image data is processed, for example by applying a contrast curve and setting a black point, so that the inside of the front wall has the value zero (black) and brighter foreign objects have the value 1 (white). In Figure 7Area 81 is also displayed inverted, so that the inside of the front wall appears white and object 7 appears black. The image data in area 81 can now be evaluated to determine the emptying status of the transport bag. In a simple variant, for example, the black and white image pixels can be counted. If the number of image pixels on the front wall falls below a certain absolute and / or relative value, this is considered a detection of a foreign object 7. The transport bag is therefore not completely empty.

[0137] Instead of through an upper bag opening, as explained in the previously discussed embodiment, a suitably arranged camera module can also take an image of the inspection area through a side bag opening if such an opening is present in a particular type of transport bag (cf. Figures 8 -10). The image can also be taken through a transparent side panel.

[0138] Analogously, it is possible to achieve the illumination of the bag interior by means of lighting modules arranged laterally to the transport bag, which illuminate the inspection area inside the transport bag through a side bag opening or a transparent or at least translucent side wall of the transport bag.

[0139] It is also possible to make the inside of a side wall mirrored or reflective so that images can be taken and / or lighting can be provided indirectly via this side wall.

[0140] An alternative embodiment of a conveyor unit 10 of a conveyor system is shown in Figure 8 shown schematically. The conveyor unit 10 has a carriage 12 analogous to Figure 1and a transport pocket 14 pivotally suspended therefrom. The carriage is guided laterally in a form-fitting manner on the guide rail 24 of the conveyor system and is mounted so as to be movable in a rolling manner along the conveying direction 22 parallel to the guide rail 24. A support hook 121 with two hook elements is arranged below the carriage. As in the exemplary embodiment shown, an identification element 150 is advantageously connected to the carriage 12, which allows identification of the transport unit 10. The identification element can, for example, contain optically readable information, such as a barcode or a 2D matrix code, or an RFID or another wirelessly readable electronic storage device.

[0141] A sleeve 152a of the carrying bag is mounted on the hook elements of the carrying hook. The sleeve 152a functionally corresponds to both the suspension hook of the carrying bag, which is pivotally connected to the carrying section, and Figure 1as well as the hinge located there between the carrying section and the carrying bag's handle. Two ends of a carrying bag's handle, which can be made of sturdy metal wire, for example, are pivotally mounted in the sleeve, forming a substantially rectangular, closed handle that is pivotally mounted on the suspension hook 148a about the longitudinal axis of the sleeve 152a.

[0142] On the transverse side of the bracket with the sleeve 152a and on the opposite transverse side 147a of the bracket, a flexible wall in the form of a fabric panel is pivotally connected to the bracket by means of tabs, so that the bracket and the flexible wall together form a transport pocket of the conveyor unit.

[0143] Advantageously, the sleeve of the transport bag can be reversibly attached to the carrying hook, allowing the transport bag to be easily detached from the carriage or reconnected, for example, for repairs. For example, the sleeve can be clamped by the hook elements of the carrying hook using spring force.

[0144] The two long sides of the bracket act as spacer elements 146a, which maintain a fixed distance between the upper edge of the front wall 143a of the transport bag and the upper edge 147a of the rear wall 142a.

[0145] To open the transport pocket 10 for a loading or unloading process (loading configuration), the handle of the transport pocket, which is dragged by the carriage, is pivoted upward in a suitable guide rail (not shown) of the transport system as the transport unit 10 is conveyed along the conveying direction 22. For example, the parts 146a of the handle that protrude laterally beyond the wall of the transport pocket can be used for the guide rail.

[0146] In the open loading configuration of the carrying case, as shown in Figure 8As shown, the bracket is positioned substantially horizontally, so that, due to the bracket's spacer elements 146a, the substantially vertically hanging front wall 143a and rear wall 142a of the flexible wall of the carrying bag are spaced apart as far as possible. At a lower end of the carrying bag opposite the bracket, the front wall and rear wall are connected by a bottom portion 144a of the bag wall.

[0147] In this loading configuration, the transport pocket has lateral pocket openings 151 transversely to the conveying direction, through which the transport unit can be loaded or unloaded by inserting a piece goods unit 5 into the pocket interior 16 of the transport pocket or by removing a piece goods unit 5 stored in the transport pocket from the pocket interior 16 of the transport pocket.

[0148] The lateral pocket opening 151 in the loading configuration allows for space-saving loading of the transport pocket. Since the upper pocket opening defined by the bracket in the illustrated embodiment is not required for loading or unloading, the transport pocket can remain in a space-saving transverse orientation in the conveying direction, even if it is not accessible for loading due to the guide rail.

[0149] In an alternative, advantageous embodiment of such a transport unit, one of the two side openings can also be closed with a side wall. This has the advantage, among other things, that when a piece of cargo is thrown into the transport bag, the corresponding object cannot fall out on the opposite side.

[0150] It may also be advantageous for a side wall to be arranged on one or both sides in the area of ​​the bottom section 144a of the pocket wall, which side wall closes a lower area of ​​the lateral pocket opening, so that goods located in the pocket are secured laterally in a form-fitting manner.

[0151] Another advantageous embodiment of a conveyor unit 14 of a conveyor system with a carriage 12 and a hanging transport bag 14 pivotally attached thereto is shown in Figure 9 shown in a schematic side view, both in a closed transport configuration of the transport bag (dashed lines) and in an open loading configuration of the transport bag (solid lines). The conveying direction 22 is to the right.

[0152] The carriage 12 and the carrying hook of the transport unit 10 are designed in the same way as in the embodiment in Figure 8. The spacers 146b, 146b' of the bracket are compared to Figure 8 longer, so that in the open loading configuration of the transport bag 14 a larger side opening 151 is created. The operation of the bracket, i.e. its raising and lowering, can in turn be carried out via guide rails, through which the bracket is dragged by the carriage during conveying along the conveying direction 22

[0153] In the loading configuration, a piece goods unit 5 present or newly deposited in the transport unit 10 lies on an inner side of a lower region of the front wall 143b of the transport pocket 14. A side wall 145b is located in the region of the bottom section 144b of the pocket wall, which connects the front wall 143b and the rear wall 14.

[0154] When the bracket is pivoted downward during the transition from the open loading configuration to the closed transport configuration of the transport bag, the bottom section 144b and the lower region of the front wall 143b are lowered relative to the carriage. The cargo unit 5 slides along the front wall 143b, driven by gravity, toward the bottom section 144b, following the minimum of potential energy, until it finally rests on the bottom section 144b in the transport configuration of the transport bag 19 (shown in dashed lines). In this transport configuration, the side walls 145b are functional and laterally close off the lower end of the transport bag, so that the cargo unit is held horizontally in the transport bag in a form-fitting manner in all directions.

[0155] Conversely, if the handle of the transport bag is pivoted upward during the transition from the closed transport configuration of the transport bag to the open loading configuration, the bottom section 144b and the lower region of the front wall 143b are raised relative to the carriage. The cargo unit 5 slides away from the bottom section 144b under gravity, following the minimum of potential energy on the lower section of the front wall 143b. The inside of the lower section 143b of the front wall thus temporarily becomes the functional bottom of the transport bag. The cargo unit 5 can now be removed from the transport bag. Lifting the cargo unit is not necessary, since the side wall 144b is not functional in the loading configuration of the transport bag.

[0156] In addition to the advantages mentioned, the Figures 8 and 9The embodiments of transport bags shown provide additional possibilities with regard to devices according to the invention for inspecting transport bags that can be conveyed in a suspended manner. Figure 10 shows schematically the conveyor unit from Figure 9 in an embodiment of an inspection device 70 according to the invention, viewed along the conveying direction toward the front wall of the transport bag. Various possible arrangements of camera modules 72 and illumination modules 77 of the detection device 70 are shown. However, these possible arrangements of the various elements of the detection device and the following explanations are also analogous to the transport bag of Figure 8 or generally applicable to transport bags with one or two side pocket openings.

[0157] The side pocket openings allow the inspection area on the inside of the pocket wall to be observed and / or illuminated through these openings. For example, a lighting module 77" can be arranged laterally of the transport pocket 14, with an illumination area 79" covering the inspection area. A camera module 72 is arranged on the opposite side of the transport pocket 14, with a viewing area 73 covering the inspection area. Image analysis can be performed analogously to the inspection devices already discussed.

[0158] It is also possible to provide a lighting module 77' and a camera module 72' above the transport bag 14, next to the guide rail 24, in order to illuminate or observe the inspection area inside the transport bag through a top-located bag opening, namely through the opening in the bracket. The side area thus remains free, for example, for a loading or unloading device.

[0159] Other combinations of the positions of the camera module and the lighting module are also conceivable.

[0160] Multiple camera modules and / or multiple lighting modules can also be used. The data from the various camera modules can be evaluated separately, with the results then combined. For example, camera modules 72, 72', and 72" can capture an image, based on which it is determined whether the transport bag is empty or not. If the bag is classified as not empty based on the evaluation of even one image, the other results are overridden. However, the images can be evaluated together. In either case, a lower false negative rate results.

[0161] Instead of individual images, continuous series of images can also be taken, from which individual or multiple images can be used for evaluation.

[0162] As in the embodiment of the inspection device in Figure 2The inspection of the bag interior can be performed while the bag is stationary or during conveying. The recording of image information can be triggered by sensors, such as a light barrier that detects a transport bag.

Claims

1. A device for inspecting transport bags (14) that can be conveyed in a suspended manner, with at least one transport bag (14) that can be conveyed in a suspended manner, with a bag interior (16) for receiving piece goods units (5), wherein the transport bag has at least one bag opening (17, 151) of the bag interior; and with a detection device (70), characterized in that the detection device is configured to capture at least one two-dimensional and / or three-dimensional image of at least a part of the bag interior of a transport bag to be inspected, which shows at least one inner side of a wall, in particular a front wall (143, 143a, 143b) of the transport bag (14) to be inspected; wherein the detection device has an evaluation module that is configured to identify an inspection area (81) on the captured image, which shows at least a part of the inner side of the wall; wherein, for identifying the inspection area (81) on the image, the image coordinates of the two outer endpoints (82, 82') of the upper edge (147) of the front wall (143) of the transport bag (14) facing the bag opening (17) and the image coordinates of the two endpoints (83, 83') of the lower edge (147) of the front wall facing away from the bag opening (17) are determined; and at least a part of a quadrilateral defined by the image coordinates of the said four endpoints (82, 82', 83, 83') is set as the inspection area; to analyze the image data of the identified inspection area, in order to determine if also another object (7) is depicted along with the inner side of the wall; and based on this image data analysis, to provide data containing information on whether the inspected transport bag is empty or contains an object (7).

2. The inspection device according to claim 1, wherein in a suspended position of the transport bag at least one bag opening (17, 151) of the bag interior of the transport bag (14) is located in an upper area and / or a lateral area of the bag interior.

3. The inspection device according to claim 1 or 2, wherein a bag opening of the transport bag is realized as a transparent area in a wall of the transport bag, in particular as a window or window section in a wall of the transport bag.

4. The inspection device according to one of the preceding claims, wherein the detection device (70) has at least one camera module (72, 72', 72") that is configured to capture the at least one image of at least a part of the bag interior (16) of the transport bag (14) to be inspected.

5. The inspection device according to one of the preceding claims, wherein the detection device (70) has at least one laser scanner module that is configured to guide one or more laser beams over at least a part of the surface of the bag interior (16) of the transport bag (14) to be inspected.

6. The inspection device according to one of the preceding claims, wherein the detection device (70) has a lighting module (77, 77', 77") that is configured to illuminate at least a part of the bag interior (16) of the transport bag (14) to be inspected with one or more lighting means.

7. Inspection device according to one of the preceding claims, wherein the detection device (70) has an imaging module that is configured to calculate a three-dimensional image of at least a part of the bag interior (16) of an inspected transport bag (14) from the captured image data of the detection device.

8. The inspection device according to one of the preceding claims, wherein the detection device (70) has an evaluation module that is configured to analyze the captured or calculated image data of an inspected transport bag (14) and, based on this image data analysis, read out optically readable information present on an object arranged in the inspected transport bag.

9. The inspection device according to one of the preceding claims, wherein the evaluation module of the detection device (70) is configured to analyze the captured or calculated image data of an inspected transport bag (14) with trained AI algorithms and based on this image data analysis to identify and / or classify an object arranged in the inspected transport bag, wherein the AI algorithms are trained with a collection of specially prepared images, and optionally additionally with pictures taken by the detection device during ongoing operation.

10. The inspection device according to one of the preceding claims, wherein the inspection device has a device for opening and / or keeping open the bag opening of a transport bag to be inspected.

11. The inspection device according to claim 10, wherein the device for opening and / or keeping open the bag opening of a transport bag to be inspected has a lifting device that is configured to bring a transport bag (14) to be inspected from a conveying position (20), in which the transport bag hangs vertically, into an inspection position, in which the transport bag is arranged on an inclined plane such that a front wall (143) of the transport bag or an edge (147, 149) of said front wall lies on the inclined plane, and the end of the front wall facing the bag opening (17) of the transport bag lies lower in the direction of gravity than the end of the front wall facing away from the bag opening, such that the inner surface of the front wall forms another inclined plane; and wherein the detection device (70) is configured to capture at least one two-dimensional and / or three-dimensional image of at least a part of the bag interior (16) of a transport bag arranged in the inspection position.

12. The inspection device according to claim 11, wherein the lifting device has a lifting table, a ramp, a circulating conveyor belt (54), a roller arrangement, or a roller ramp forming an inclined plane.

13. The inspection device according to claim 10, wherein the device for opening and / or keeping open the bag opening of a transport bag to be inspected has a device (50) for emptying transport bags (14) conveyed in a suspended manner, with a conveying system (20), in particular a rail-guided conveying system or a conveyor chain system, with which transport bags can be supplied in a suspended manner along a conveying path; and with a circulating conveyor belt (54) for receiving piece goods units (5) transported in the transport bags, wherein in a contact section (51) the conveying path of the conveying system and the conveying path of the conveyor belt are arranged relative to each other in such a way that the distance of the conveying path of the conveying system and the conveying path of the conveyor belt continuously decreases, such that during conveying a transport bag along the contact section, a front wall (143) of the transport bag contacts the conveyor belt and comes to rest on it, and the transport bag is thereby pivoted backwards; wherein in a transfer section (52) the conveying path of the conveying system (20) and the conveying path of the conveyor belt run substantially parallel to one another with a certain downward slope, and during conveying the transport bag along the transfer section, the front wall of the transport bag continues to lie on the conveyor belt, such that the bag opening (17) of the transport bag is oriented obliquely downwards, and piece goods units (5) present in the bag interior (16) of the transport bag slide out of the bag interior onto the conveyor belt driven by gravity; wherein in a separation section (53) the distance of the conveying path of the conveying system (20) and the conveying path of the conveyor belt (54) continuously increases, such that that during conveying the transport bag (14) along the separation section, the emptied transport bag is lifted from the conveyor belt and swivels back into the freely suspended position; and wherein the detection device (70) of the inspection device is configured in such a way that it can capture the at least one two-dimensional or three-dimensional image of at least a part of the bag interior (16) of the transport bag (14) to be inspected, when the transport bag to be inspected is in the transfer section (52) or in the separation section (53) at a specific detection position, where, in the functional operation of the device (50) for emptying transport bags (14) conveyed in a suspended manner, the emptying of the transport bag to be inspected is completed.

14. The inspection device according to claim 13, with a guide ramp (76) arranged in the separation section (53), which guides transport bags (14) lifted from the conveyor belt (54) in such a way that a collision of the transport bags with parts of the detection device (70), in particular a camera module (72) of the detection device, is not possible.

15. The inspection device according to one of claims 10 to 14, wherein the device for opening and / or keeping open the bag opening of a transport bag to be inspected has an actuator device that is configured to move a stable front wall (143) of the transport bag (14) to be inspected, which is movably connected to a stable rear wall (142) of the transport bag to be inspected, in relation to said rear wall towards a bag opening (17) of the transport bag.

16. The inspection device according to claim 15, wherein the actuator device is configured to move a lower edge (149) of the front wall (143) of the transport bag (14), facing away from the bag opening (17), in relation to the rear wall (142) of the transport bag towards the bag opening.

17. The inspection device according to claim 15, wherein the actuator device has a lifting table, a ramp, a circulating conveyor belt (54) with ribs (56), a roller arrangement, or a roller ramp, which moves the front wall (143) of the transport bag (14) or the lower edge (149) of the front wall (143) in relation to the rear wall (142) of the transport bag towards the bag opening.

18. The inspection device according to one of claims 10 to 17, wherein the device for opening and / or keeping open the bag opening of a transport bag (14) to be inspected has an actuator device that is configured to move a front wall (143a, 143b) of the transport bag (14) to be inspected, which is movably connected to a rear wall (142a, 142b) of the transport bag to be inspected, in relation to said rear wall of the transport bag, or to move a rear wall (142a, 142b) of the transport bag (14) to be inspected, which is movably connected to a front wall (143a, 143b) of the transport bag, in relation to said front wall of the transport bag.

19. The inspection device according to claim 18, wherein the actuator device has a guide rail means, which interacts with a bracket arranged between the front wall (143a, 143b) and rear wall (142a, 142b) of a transport bag (14) to be inspected.

20. A method for inspecting transport bags that can be conveyed in a suspended manner, in which a transport bag (14) to be inspected is provided, wherein the transport bag has a bag interior (16) for receiving piece goods units (5), and a bag opening (17) of the bag interior; characterized in that at least one two-dimensional and / or three-dimensional image is captured of at least a part of the bag interior, wherein said image shows at least one inner side of a wall facing the bag interior, in particular a front wall (143, 143a, 143b), of the transport bag (14) to be inspected; an inspection area (81) is identified on the captured image, which shows at least a part of the inner side of the wall; wherein, for identifying the inspection area (81) on the image, the image coordinates of the two outer endpoints (82, 82') of the upper edge (147) of the front wall (143) of the transport bag (14) facing the bag opening (17) and the image coordinates of the two endpoints (83, 83') of the lower edge (147) of the front wall facing away from the bag opening (17) are determined; and at least a part of a quadrilateral defined by the image coordinates of the said four endpoints (82, 82', 83, 83') is set as the inspection area; the image data of the identified inspection area is analyzed in order to determine if another object (7) is depicted along with the inner side of the wall; and based on this image data analysis, data is provided containing information on whether the inspected transport bag is empty or contains an object (7).

21. The method according to claim 20, wherein the bag opening of the transport bag is opened or kept open.

22. The method according to claim 20 or 21, wherein the transport bag (14) has at least one bag opening (17, 151) of the bag interior, which in a suspended position of the transport bag is located in an upper area and / or a lateral area of the bag interior.

23. The method according to one of claims 20 to 22, wherein the bag opening of the transport bag is realized as a transparent area in a wall of the transport bag, in particular as a window or window section in a wall of the transport bag.

24. The method according to one of claims 20 to 23, wherein a three-dimensional image of at least a part of the bag interior (16) of an inspected transport bag (14) is calculated from captured image data of at least a part of the bag interior.

25. The method according to one of claims 20 to 24, wherein the captured or calculated image data of an inspected transport bag (14) is analyzed, and based on this image data analysis data is provided containing information on whether the inspected transport bag is empty or contains an object (7).

26. The method according to one of claims 20 to 25, wherein the captured or calculated image data of an inspected transport bag (14) is analyzed, and based on this image data analysis optically readable information present on an object arranged in the inspected transport bag is read out.

27. The method according to one of claims 20 to 26, wherein the captured or calculated image data of an inspected transport bag (14) is analyzed with trained AI algorithms, and based on this image data analysis an object arranged in the inspected transport bag is identified and / or classified, wherein a collection of specially prepared images is used for training the AI algorithms, and optionally additionally pictures taken by a detection device during ongoing operation.

28. The method according to one of claims 20 to 27, wherein the captured or calculated image data of an inspected transport bag (14) is used for training AI algorithms, with which after occurred training further captured or calculated image data of an inspected transport bag can be analyzed and based on this image data analysis, an object arranged in the inspected transport bag can be identified and / or classified.

29. The method according to one of claims 20 to 28, wherein the inner side of the front wall (143) of the transport bag (14) is monochrome; the brightness of the image points within the inspection area is compared with a threshold value; and based on the number of image points below and above said threshold value, data is provided containing information on whether an object (7) is depicted within the inspection area or not.