Apparatus and method for transporting and separating and / or correcting the positioning of products
Patent Information
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- NORDISCHER MASCHINENBAU RUD BAADER GMBH CO KG
- Filing Date
- 2023-08-16
- Publication Date
- 2026-06-24
Smart Images
Figure EP2023072612_20022025_PF_FP_ABST
Abstract
Description
[0001] Device and method for transporting and separating and / or correcting the position of products
[0002] Description
[0003] The invention relates to a device designed and configured for transporting and separating and / or correcting the position of products, comprising a transport device with a rotating driven conveyor element, wherein the conveyor element is designed and configured for transporting at least one product stream formed from a plurality of products in a transport plane E in the transport direction T, at least one detection means for detecting the products on the conveyor element, at least one handling device designed and configured for correcting the position of the products on the conveyor element and / or for separating individual products in each case in the transport plane E,wherein the handling device is designed and arranged to establish an operative connection with the product and to hold the product on the continuing conveyor element perpendicular to the transport plane E from above towards the latter and to correct the position of the product and / or to separate the products exclusively in the transport plane E of the conveyor element transversely to the transport direction T, and a control device is designed and arranged to control the handling device based on the data of the detection means.
[0004] Furthermore, the invention relates to a method for transporting and separating and / or correcting the position of products, comprising the steps of: transporting at least one product stream formed from a plurality of products in a transport plane E in the transport direction T by means of a transport device, detecting the products on a revolvingly driven conveyor element of the transport device by means of a detection means, correcting the position of the products on the conveyor element and / or separating individual products in each case in the transport plane E by means of a handling device,wherein the handling device is moved perpendicular to the transport plane E from above towards the products to establish an operative connection with the product and to hold the product on the continuing conveyor element, and is moved linearly transversely to the transport direction T to correct the position of the products and / or to separate the products exclusively in the transport plane E of the conveyor element, wherein the handling device is controlled by means of a control device based on the data of the detection means.
[0005] Such devices and methods are used when products, for example products from the food processing industry, in particular fish or parts thereof, are transported and separated and / or corrected with regard to their position on the conveyor element. The products, for example fish or piles of fish, are transported by means of the conveyor element in the transport direction T. During operation of the device, it may be necessary or desirable to straighten or separate individual products or piles of products, which particularly includes removing products from the conveyor element. The products can be removed from the conveyor element, for example, for the purposes of sorting, forwarding, batching or for other reasons. The products transported in the transport direction T can alternatively or additionally also be corrected with regard to their position on the conveyor element, e.g. with regard to the belly-to-back position or the head-to-tail position.In particular, the aforementioned devices serve to align and separate fish conveyed on the conveyor element in the product stream with respect to their head-to-tail orientation. The aligned fish are passed head first from the conveyor element to another conveyor device, i.e., transversely to the transport direction T. In this context, transverse is not limited to purely perpendicular to the transport direction T, but also includes separation that occurs laterally at an angle (other than 90 degrees) to the transport direction T.
[0006] The products can be transported in a single product stream, such that the products are positioned and transported one behind the other in the transport direction T. The products can also be transported in two or more product streams, such that the products can be positioned completely or partially adjacent to one another transversely to the transport direction T. To remove individual products from the conveyor belt or to correct their position on the conveyor element, the handling device is moved from a waiting position over the product to be removed and / or whose position is to be corrected and lowered onto the product. The handling device can then be applied to the product from the side and / or from above.Because the products are then held by the handling device, the remaining products lying on the conveyor element and transported in the transport direction T move relative to the held product, which alone can lead to a collision between two or more products. In particular, if products are at least partially adjacent to one another transversely to the transport direction T, which is particularly the case when conveying two or more product streams, even pulling the products sideways off the conveyor element would lead to a collision with the products "in the way."
[0007] Accordingly, the handling devices of the aforementioned and known devices are designed and configured to grip the products to be removed and / or whose position needs to be corrected and to lift them out of the transport plane, i.e. vertically to the conveyor element, in order to set them down in a different position and / or in a corrected position. On the one hand, when lifting and setting down the products, collisions can occur with products that continue to be continuously transported on the conveyor element in the transport direction T, since no collision control is provided for the products moving relative to the held products. On the other hand, the safe and reliable handling of the products in space, i.e. a three-dimensional movement of the products, as well as their possible collision control in space, is complex and therefore vulnerable and expensive.
[0008] Further handling devices are known from the prior art which are designed and configured to pull and slide the products in the transport plane E transversely to the transport direction T and to align the products by rotating them about an axis A which is oriented perpendicular to the transport plane E. The handling device can be controlled via the control device by means of the detection means which are designed and configured to detect the position of the products on the conveyor element and to detect the orientation of the fish, in particular the belly-to-back position and the head-to-tail position. However, since the products are sometimes located close together or even on top of one another,lie at least partially next to one another transversely to the transport direction T, undesirable collisions occur when separating or correcting the position if individual products are moved by means of the handling device on the conveyor element relative to other products located on the conveyor element and conveyed further in the transport direction T in the transport plane E. With the known devices, a correspondingly large number of products cannot be separated and / or corrected with regard to their position, which means that these products have to pass through and may have to be removed manually and processed further.
[0009] The invention is therefore based on the object of creating a simple device by means of which products can be reliably and collision-free removed from the conveyor belt and / or their position on the conveyor belt can be corrected. The object is further to propose a corresponding method.
[0010] This object is achieved by a device mentioned above in that the control device comprises a program module that is programmed to generate a virtual image of the conveyor element with the products lying thereon based on the data from the detection means, namely at least the extent of each product on the conveyor element in the transport plane E and the coordinates of the products on the conveyor element. From this, to determine at least one movement path for collision-free separation and / or correction of the position of the products while the conveyor element is continuously driven, the control device can use the virtual image to quickly and easily create a movement plan in order to at least quickly check whether a collision-free movement path even exists.In other words, it is determined and checked whether it is even possible to pull the product sideways from the conveyor element without colliding with another product. If no free path of movement can be determined, the products are conveyed further in the transport direction T. By determining the coordinates of the products on the conveyor element, their position is known, so that ultimately the distances between the products, which can also be zero in the case of piles of products, are also known. This firstly avoids unnecessary control of the handling device. Secondly, collisions on the conveyor element are avoided and blockages or accumulation of products when the products are discharged / pulled off transversely to the transport direction T can be effectively prevented. Accordingly, manual removal is no longer necessary and downtime of the device can be effectively prevented.A further advantage of two-dimensional collision monitoring combined with two-dimensional separation and / or position correction with knowledge of at least one collision-free movement path is that all other products continuously conveyed on the conveyor element remain unchanged with regard to their position.
[0011] Advantageously, the handling device is designed and configured for engaging the product from the side and / or for placing it on top. This offers several options for bringing the handling device, which is lowered from above, into operative contact with the product and, in particular, for handling it.
[0012] An advantageous device is characterized in that the handling device is designed and arranged around an axis A directed perpendicular to the transport plane E of the conveyor element. With the possibility of rotation around the axis A, each product can be individually moved into the correct position to simplify separation.
[0013] A preferred development is characterized in that the program module is programmed, with knowledge of the transport speed of the conveyor element, the linear speed of the handling device transverse to the transport direction T, and the rotational speed of the handling device about the axis A, to calculate the required area for the or each product to be subtracted from the conveyor element in the transport plane E transverse to the transport direction T and / or to be corrected with respect to its position in the transport plane E for at least one movement path, such that the handling device is controlled by the control device only if a collision-free movement path exists. In fact, the surface area or surface extent is determined.This solution allows for the reliable calculation of at least one movement path, but preferably also two or more movement paths, of which at least one can then be collision-free. By incorporating all speeds, different movement paths can be calculated or determined with variable control of individual or all speeds. This increases the chance of collision-free separation and / or correction of the position of the products, since different speeds result in different areas that the product occupies when pulled from the conveyor element and / or rotates on the conveyor element.
[0014] Advantageously, the program module is programmed to calculate the area covered by the product relative to the conveyor element, which continuously moves in the transport direction T, when moving on the conveyor element transversely to the transport direction T and / or when rotating on the conveyor element about the axis A. This area can be used to calculate at least one movement path for collision-free separation, i.e., removal from the conveyor element transversely to the transport direction T, and / or correction of the position of the products. In other words, the required surface area or the required surface extent required for collision-free separation is determined and / or scanned. The area determination or area determination is a reliable method for determining possible movement paths for collision-free separation and / or correction of the position in the transport plane E.
[0015] Advantageously, the program module is programmed to select the shortest movement path when there are two or more collision-free movement paths and to control the handling device accordingly. The length of the movement path refers, for example, to the distance to be covered. Optionally, the shortest path can also refer to the time component. Particularly in the case where the products, e.g., fish, are to be pulled head first by the conveyor element transversely to the transport direction T, selecting the shortest movement path is preferred. However, the shortest movement path does not always have to be the preferred one. In other variants, an optimal movement path can be determined and selected that protects the hardware, in particular the drives of the handling device.Particularly preferably, the programming is selected such that, taking into account the length of the path and the speeds at which the handling device is moved, a movement path is determined or identified which reduces the load on the hardware.
[0016] Particularly preferably, the detection means comprises at least one camera which is designed and configured to record the products on the conveyor element and their extent in the transport plane E, as well as to record the position of the products on the conveyor element. Depending on the camera selection and / or camera settings and / or camera resolution, images of varying quality can be realized with the or each camera in order to keep the amount of data to be processed as low as possible. With the or each camera, high-resolution images or images with a lower resolution, including images of virtual connecting lines between the head and tail, can be provided in order to generate a virtual image of the products on the conveyor element. Instead of the or each camera or in addition to the camera, other detection means can be used, for example height sensors or the like.
[0017] Advantageously, the control device is designed and configured to control the handling device and / or the transport device. Because both the motion planning and collision detection, as well as the speed control, take place in the control device, inefficient information exchange or transmission can be avoided in the interest of efficient control.
[0018] An advantageous development is characterized in that the control device for separating the products and / or correcting the position of the products is designed and configured at least to process the data from the detection means, the transport speed of the conveyor element, and the movement speed of the handling device. This embodiment ensures individual control of the handling device in order to separate products quickly and collision-free and / or to correct their position. The control device with the program module is designed and configured, in particular programmed, to create a collision query during the separation and / or correction of the position of the products based on the collected data and information and to use this to control the handling device.In particular, this embodiment enables, in addition to determining different movement paths, the selection of the shortest movement path as well as more complex movement paths on which products are first moved, held in a parking position on the conveyor element and, after passing possible collision products, are further corrected in their position after a short stop and / or are completely pulled from the conveyor element.
[0019] The program module is expediently programmed to assign and store an identification (ID) to each product, allowing a link between the product to be separated and / or whose position is to be corrected and potential collision products. The recorded products, or product clusters, can simply be incremented to establish an association or link between a product to be separated and / or whose position is to be corrected and a neighboring, potential collision product. It is also possible to assign multiple IDs to a product cluster, e.g., to each product in a product cluster.
[0020] The control device preferably comprises a storage medium, preferably a ring buffer, designed and configured to store product-related IDs. With such a simple storage medium (other storage media are also usable), the interrelationship of the IDs for determining the or each movement path can be established quickly and easily.
[0021] A preferred development is characterized in that the control device with the program module is designed and configured, in particular programmed, to determine an optimal gripping point of the handling device on the product based on the information detected by the detection means and to control the handling device accordingly. By gripping or placing the handling device at the center of gravity of the product to be separated and / or corrected in terms of its position, safe and reliable handling is ensured. The control device can comprise its own computers or the like and / or be linked to external computers, e.g., a computer that evaluates the camera data.
[0022] The handling device can be conveniently operated using cams and / or linear motors and / or angular motors. The cams can be operated mechanically and / or electronically to protect the hardware.
[0023] Of course, other drive and / or actuation means can also be used.
[0024] The handling device particularly preferably comprises a gripping means which is arranged on a linear guide and is designed and configured to be linear, namely transverse to the transport direction T and perpendicular to the transport plane E, as well as rotatable about the axis A perpendicular to the transport plane E. This design ensures a simple structure and stable and precise travel paths for reliable handling during the separation and / or correction of the position of the products along the determined movement paths. Moving along the linear guide transverse to the transport direction T includes moving at an angle (i.e. not equal to 90 degrees) to the transport direction T and depends on the orientation of the linear guide. The gripping means can be moved relative to the linear guide parallel to the transport plane E along the linear guide. The gripping means can then be moved relative to the linear guide perpendicular to the transport plane E, either successively or in a superimposed manner.
[0025] Advantageously, at least two handling devices are provided, arranged one behind the other in the transport direction T. This allows products that could not be separated and / or their position corrected due to a lack of collision-free movement paths in the area of the first handling device to be subsequently separated and / or their position corrected automatically. Two or more handling devices arranged in series gradually empty the conveyor belt, so that ideally all products can be separated automatically.
[0026] Particularly preferably, the conveyor element is designed and configured to convey at least two product streams formed from food products, in particular fish and poultry products. The conveyor element can, for example, be a wide, circulating-driven conveyor belt made of plastic. The width is selected such that at least two product streams formed from multiple products can be transported side by side in the transport direction T. The detection means is capable of identifying the products or product clusters across the entire width of the conveyor belt in order to collect the required data for each product.
[0027] Preferably, the camera is designed and configured to transmit products on the conveyor element to the control device as a reduced image, in which one pixel corresponds approximately to an area of 5 cm by 5 cm. This low image resolution allows only small amounts of data to be processed, which ensures short transmission and processing times and also enables the use of simple and therefore cost-effective control devices. Instead of the 5 cm by 5 cm area, other areas can also be selected, e.g., 3 cm by 3 cm or 10 cm by 10 cm, or even other sizes.
[0028] The problem is also solved by a method mentioned above with the following steps: by means of the detection element, at least the extent of each product on the conveyor element in the transport plane E as well as the coordinates of the products on the conveyor element are determined as data. Based on the determined data, a virtual image of the conveyor element with the products lying on it is generated. From this, with the conveyor element continuously driven, at least one movement path for the collision-free separation and / or correction of the position of the products is determined. These method steps, in combination, enable a movement plan to be created prior to actuation of the handling device, which ensures that the handling device is only controlled if a collision-free movement path exists.If there is no collision-free movement path, the products simply pass through without the handling device being activated.
[0029] Preferably, the handling device for establishing the operative connection with the product and holding the product is placed laterally and / or from above on the product.
[0030] Advantageously, the handling device is rotated about an axis A directed perpendicular to the transport plane E in order to correct the position of the products and / or to separate the products.
[0031] Preferably, the time required to separate the products and / or correct their position is determined based on the transport speed of the conveyor element and the movement speed of the handling device, as well as the dimensions and position of the products on the conveyor element. The time resulting from the selected speeds is a possible parameter for ensuring collision-free handling of the products in the transport plane E.
[0032] Optionally, alternatively or cumulatively, the area covered by a product with a continuously driven conveyor element during separation, i.e. during removal, in the transport plane E transverse to the transport direction T and / or when correcting the position of the products in the transport plane E by rotating around the axis A is determined based on the transport speed of the conveyor element and the movement speed of the handling device as well as the extent and position of the products on the conveyor element. The area, considered on its own or in combination with time, is a further parameter to ensure collision-free handling of the products in the transport plane E.An advantageous further development is characterized in that this information, namely the determined time and / or the determined area, is processed in the control device in such a way that at least one movement path, but preferably at least two movement paths, are determined and it is queried whether at least one movement path is collision-free, wherein in the event that at least one movement path is collision-free, the handling device is controlled in order to separate the product and / or to correct its position, and in the event that no movement path is collision-free, the product is transported further on the conveyor element in the transport direction T.
[0033] Advantageously, if two or more movement paths are collision-free, the control device determines the shortest movement path and controls the handling device accordingly. This selection is made particularly when products are to be separated head-first across the transport direction T. The shortest movement path can be understood as the physical distance and / or the time component.
[0034] For practical purposes, each product is assigned an identification (ID), which is taken into account when determining each movement path and checked against other IDs of potential collision products when controlling the handling device to separate a product and / or correct the product's position. This ensures quick and efficient referencing between the products being handled and potential collision products.
[0035] Preferably, an optimal gripping point for each product is determined based on the data determined by the detection means and used to control the handling device. Particularly preferably, these data, and in particular the data regarding the dimensions of each product in the transport plane E and the coordinates of the products on the conveyor element, are transmitted to the control device as a reduced image.
[0036] The method is particularly preferably carried out using a device according to one or more of claims 1 to 17. Further advantages resulting from the above-mentioned method steps have already been described in connection with the device, which is why reference is made to the above passages to avoid repetition.
[0037] Further useful and / or advantageous features and developments of the device and method are set forth in the dependent claims and the description. A particularly preferred embodiment of the subject matter of the invention is explained in more detail with reference to the accompanying drawing. The drawing shows:
[0038] Fig. 1 is a schematic representation of the device according to the invention with two handling devices in perspective view,
[0039] Fig. 2 is a plan view of the device according to Figure 1,
[0040] Fig. 3 is an enlarged perspective view of a handling device, and
[0041] Fig. 4 is a schematic representation of a virtual image of fish on a conveyor element with an indicated area requirement for a fish to be separated and corrected with regard to its position.
[0042] A device illustrated in Figures 1 to 3 serves for separating, i.e., removing, fish from the conveyor belt and correcting the position of fish on a conveyor belt. The device is also designed and configured in a corresponding manner solely for correcting the position of fish on the conveyor belt or solely for separating, i.e., removing, fish from the conveyor belt.
[0043] Of course, other products can also be handled in a similar manner by a conveyor belt or any other conveying means and / or correcting the position on a conveyor belt or any other conveying means in the transport level E.
[0044] Figures 1 to 3 show a device 10 for transporting, separating, and correcting the position of fish 11. Specifically, the device 10 is designed and configured to correct the position of fish 11 of the salmon species at least with a defined head-to-tail orientation, such that the fish 11 can be separated transversely to the transport direction T in a defined head-to-tail orientation, preferably head first. The device 10 comprises a transport device 12 with a rotatingly driven conveyor element 13, wherein the conveyor element 13 is designed and configured to transport at least one product stream formed from a plurality of fish 11 in a transport plane E in the transport direction T.Furthermore, the device 10 comprises at least one detection means 14 for detecting the fish 11 on the conveyor element 13, at least one handling device 15 designed and configured to correct the position of the fish 11 on the conveyor element 13 and to separate individual fish 11 in the transport plane E, wherein the handling device 15 is designed and configured to establish an operative connection with the fish 11 and to hold the fish 11 on the continuing conveyor element 13 perpendicular to the transport plane E, and is designed and configured to be linearly movable transversely to the transport direction T for correcting the position of the fish 11 and to separate the fish 11 exclusively in the transport plane E of the conveyor element 13. In addition, the device 10 comprises a control device 16 designed and configured to control the (or each) handling device 15 based on the data from the (or each) detection means 14.
[0045] This device 10 is characterized according to the invention in that the control device 16 comprises a program module 17 which is programmed to generate a virtual image 100 (see in particular Figure 4) of the conveyor element 13 with the fish 11 lying thereon based on the data of the detection means 14, namely at least the extent of each fish 11 on the conveyor element 13 in the transport plane E and the coordinates of the fish 11 on the conveyor element 13, and to determine from this at least one movement path for the collision-free separation and / or correction of the position of the fish 11 with the conveyor element 13 being continuously driven. With the detection means, the dimensions of each fish 11 in the transport plane E can be imaged, as well as the position of the fish 11 on the conveyor element 13 and in relation to the neighboring fish 11. With this knowledge, the program module 17 is able to determine or calculate at least one movement path.In other words, a movement plan can be created to check whether the fish 11 can be pulled by the conveyor element 13 without collision, transverse to the transport direction T. Only if this is the case is the handling device 15 activated. Otherwise, the fish 11 continues to move along the conveyor element 13.
[0046] The features and developments described below represent preferred embodiments, considered individually or in combination with one another. It is expressly pointed out that features which are summarized in the claims and / or the description and / or the figures or described in a common embodiment can also functionally independently develop the device 10 described above. The handling device 15 is additionally designed and configured for lateral engagement with the product and / or for placement on the product from above. In the preferred and illustrated embodiment, the handling device 15 is further designed and configured about an axis A directed perpendicular to the transport plane E of the conveyor element 13.
[0047] The program module 17 is programmed, with knowledge of the transport speed of the conveyor element 13, the linear speed of the handling device 15 transversely to the transport direction T and the rotational speed of the handling device 15 about the axis A, to calculate the required area 18 (see in particular Figure 4) for the or each product to be withdrawn transversely to the transport direction T from the conveyor element in the transport plane E and to be corrected with regard to its position in the transport plane E, in the example the fish 11, for at least one movement path, in such a way that the handling device 15 is controlled by the control device 16 only if a collision-free movement path exists. Based on the above information, simple and also complex movement paths are determined in order to select an optimal, preferably shortest, movement path.
[0048] The program module 17 is programmed to calculate the area 18 that the product covers relative to the conveyor element 13, which continuously moves in the transport direction T, when moving on the conveyor element 13 transversely to the transport direction T and when rotating on the conveyor element 13 about the axis A, and to use this to calculate at least one movement path for collision-free separation, i.e., pulling the product off the conveyor element 13 transversely to the transport direction T, and correcting the position of the products. Due to the rotation of the fish 11 about the axis A and the pulling it off transversely to the transport direction T, an area 18 is required in which no other fish 11 may lie and which no other fish 11 may cross due to the continuous transport of the other fish 11. Optionally, multiple movement paths are determined.The program block 17 is programmed to select the shortest movement path when there are two or more collision-free movement paths and to control the handling device 15 accordingly.
[0049] The detection means 14 comprises at least one camera 19, which is designed and configured to record the products, in this case the fish 11, on the conveyor element 13 and their extent in the transport plane E, as well as to record the position of the fish 11 on the conveyor element 13. In the example shown, a single camera 19 is arranged on a portal 20, which is arranged above the conveyor element 13 and spans it. The camera 19 is designed and configured to record all fish 11 transported in a product stream or multiple product streams in the transport direction T across the entire width of the conveyor element 13. Preferably, the camera 19 is designed and configured to transmit fish 11 on the conveyor element 13 to the control device 16 as a reduced image, in which one pixel corresponds approximately to an area of 5 cm by 5 cm.The camera 19 is detachably attached to the portal 20 and is directed essentially vertically downward toward the conveyor element 13. The number, position, and orientation of the or each camera 19 can vary. Each camera is connected to the control device 16 via cables 21, which can also be wireless.
[0050] The control device 16 is designed and configured to control the handling device 15 and / or the transport device 12. For this purpose, the transport device 12 is connected to the control device 16 via lines 22, and each handling device 15 is connected to the control device 16 via lines 23. The control device 16 is designed and configured to separate the products and correct the position of the fish 11, at least by processing the data from the detection means 14, the transport speed of the conveyor element 13, and the movement speed of the handling device 15. In addition, the control device 16 comprises a storage means 24, preferably a ring buffer. The program module 17 is programmed to assign an identification (ID) to each fish 11.These IDs are stored in the storage means 24 in such a way that a link can be established between the fish 11 to be separated and / or whose position is to be corrected and potential collision products, i.e., other fish 11 transported on the conveyor element 13. Accordingly, the storage means 24 is designed and configured to store product-related IDs.
[0051] The control device 16 with the program module 17 is designed and configured, in particular programmed, to determine an optimal gripping point of the handling device 15 on the fish 11 based on the information detected by the detection means 14 and to control the handling device 15 accordingly. The handling device 15 can be moved by means of cam disks and / or linear motors and / or angular motors. In the embodiment shown, the handling device 15 comprises a gripping means 25 which is arranged on a linear guide 26 and is designed and configured to be linear, namely transverse to the transport direction T and perpendicular to the transport plane E, as well as rotatable about the axis A perpendicular to the transport plane E. The linear guide 26 spans the entire conveyor element 13 in width. A carriage 27 which can be moved transversely to the transport direction T is arranged on the linear guide 26.The gripping means 25 is arranged on the carriage 27, namely rotatably mounted about the axis A.
[0052] In addition to moving transversely to the transport direction T, the linear guide 26 or preferably the carriage 27 is designed and configured to be movable vertically to the transport plane E. The gripping means 25 preferably comprises several, preferably four, holding paddles, which are designed and configured to support the fish 11 lying on one side. By means of the gripping means 25, the fish 11 can be pressed from above onto the conveyor element 13, whereby the gripped fish 11 are held while the conveyor element 13 continues to move beneath the gripped fish 11. The gripped fish 11 can then be rotated and pulled—preferably head first—transversely to the transport direction T by the conveyor belt 13 in the direction of a chute 28, a belt, or the like to a downstream device.
[0053] In the illustrated embodiment, two handling devices 15 are provided, which are arranged one behind the other in the transport direction T. However, the number of handling devices 15 can vary. By means of the conveyor element 13, the fish 11 can be transported under the detection means 14, which detects individual fish 11 but also fish piles, as well as under each handling device 15. The conveyor element 13 is designed and configured to convey at least two product streams formed from food products, in particular fish and poultry products, and can be a simple, e.g. perforated, plastic conveyor belt 29, which is guided around deflection and / or drive rollers 30 and driven by a drive means 31.
[0054] The invention also relates to a method for transporting and singling and / or correcting the position of products. The singling and / or correction can take place in or out of a product stream. It can only be singling. It can only be correcting. In the method explained by way of example, fish 11 are transported in a double product stream lying on their sides in the transport direction T. Each product stream is formed from several fish 11. The fish 11 are each first corrected in terms of their position by means of the handling device 15 in such a way that the fish 11 point head first laterally, i.e. transversely to the transport direction T, towards the left edge of the conveyor element 13 in the transport direction T. In this orientation, the fish 11 are singulated, namely pulled from the conveyor element 13 by means of the handling device 15, wherein the rotating alignment can also take place superimposed on the transverse movement of the fish 11.
[0055] For the method, the fish 11 are transported by means of a transport device 12 in random product streams in a transport plane E in the transport direction T. The fish 11, which are transported by means of a rotating conveyor element 13, pass through the effective range of a detection means 14 and are thereby inevitably detected. If the fish 11 have an undesirable position on the conveyor element 13, their position in the transport plane E is then corrected by means of the handling device 15 and they are also separated in the transport plane E. The fish 11 are therefore handled two-dimensionally. For this purpose, the handling device 15, or parts thereof, are moved from above towards the fish 11 perpendicular to the transport plane E to establish an operative connection with the fish 11 and to hold the fish 11 on the moving conveyor element 13.For separation, i.e., for laterally removing the fish 11 transversely to the transport direction T, the fish 11 is moved linearly exclusively in the transport plane E of the conveyor element transversely, i.e., perpendicularly or at an angle other than 90 degrees, to the transport direction T. For this purpose, the handling device 15 is controlled by a control device 16 based on the data of the detection means 14.
[0056] This method is characterized according to the invention in that by means of the detection element 14 at least the extent of each fish 11 on the conveyor element 13 in the transport plane E as well as the coordinates of the fish 11 on the conveyor element 13 are determined as data, wherein on the basis of the determined data a virtual image 100 of the conveyor element 13 with the fish 11 lying thereon is generated, and from this at least one movement path for the collision-free correction of the position of the fish 11 and separation of the same is determined with the conveyor element 13 continuously driven.
[0057] The handling device 15 for establishing the operative connection with the product and holding the product laterally and / or from above on the product. The fish 11 held in this way are rotated about an axis A directed perpendicular to the transport plane E of the conveyor element 13 in order to correct the position of the products and / or to separate the products. The direction of rotation is optional, with the direction of rotation preferably being selected for the shortest path to the desired end position head first laterally, i.e. transversely to the transport direction T, to the left edge of the conveyor element 11 in the transport direction T. The shortest path, in terms of the physical path length and / or the time component, does not always have to be the optimal path.
[0058] Correcting the position of the fish 11 and separating the fish 11 requires time, during which other fish 11 are transported further in the transport direction T and may cross the area in which the fish 11 held by the handling device 15 and moved relative to the conveyor element 13 is corrected in terms of position and separated. Based on the transport speed of the conveyor element 13 and the movement speed of the handling device 15 as well as the extent and position of the fish 11 on the conveyor element 13, the time for separating the fish 11 and for correcting the position of the fish 11 is determined. By knowing the required time, a movement plan can be checked with regard to the other fish 11 and a possible movement path can be determined which enables collision-free correction of the position and separation, so that the handling device 15 can then be controlled accordingly by the control device 16.
[0059] Correcting the position of the fish 11 and separating the fish 11 requires an area 18. Other fish 11 are transported further in the transport direction T and can possibly cross the area 18 which the fish 11, held by the handling device 15 and moved relative to the conveyor element 13, sweeps over when correcting its position and separating it. Based on the transport speed of the conveyor element 13 and the movement speed of the handling device 15 as well as the extent and position of the fish 11 on the conveyor element 13, the area 18 is determined which a fish sweeps over in the transport plane E transversely to the transport direction T when the conveyor element 13 is continuously driven during separation, i.e. when pulled off, and when correcting the position of the fish 11 in the transport plane E by rotating around the axis A.By knowing the required area 18, a movement plan can be checked with respect to the other fish 11 and a possible movement path can be determined which enables collision-free correction of the position and separation, so that the handling device 15 can then be controlled accordingly by the control device 16.
[0060] This information, namely the determined time and / or the determined area 18, is processed in the control device 16 in such a way that at least one movement path, but preferably at least two movement paths, are determined and it is queried whether at least one movement path is collision-free, wherein in the event that at least one movement path is collision-free, the handling device 15 is controlled in order to separate the fish 11 and correct its position, and in the event that no movement path is collision-free, the fish 11 is transported further on the conveyor element 13 in the transport direction T. The fish 11 which were not corrected in terms of position and separated by the first handling device 15 in the transport direction T or could not be separated, can then, for example,by a second handling device 15, which is arranged behind the first handling device 15 in the transport direction T, are corrected accordingly with regard to their position and then separated. It is also possible for individual fish 11 to be corrected only with regard to their position by means of the first handling device 15, since the time and / or the area 18 was sufficient for this without causing a collision, while separation was no longer possible without collision due to a lack of time and / or area 18, and to be separated only by means of the second handling device 15. In the event that two or more movement paths are collision-free, the shortest movement path is preferably determined by means of the control device 16 and the handling device 15 is controlled accordingly. Different movement paths can be generated by means of the control device 16, for example byThe transport speed of the conveyor element 13 and / or the movement speeds of the handling device 15 can be varied. Different speeds result in different movement paths.
[0061] Each fish 11 is detected by the detection means 14. An identification (ID) can be assigned to each fish 11, e.g., by simply counting. This ID is taken into account when determining each movement path and checked against other IDs of possible collision products when controlling the handling device 15 for isolating a fish 11 and correcting the position of the fish 11. The unique identity of the fish 11 on the conveyor belt 13 makes it particularly easy to establish a relationship with the other fish 11.
[0062] Ultimately, the handling device 15 can grasp each fish 11 at any location. Preferably, however, an optimal grasping point for each fish 11, ideally at the center of mass, is determined based on the data determined by the detection means 14 and used to control the handling device 15. When determining the data for each fish 11, i.e., in particular regarding the extent of each fish 11 in the transport plane E and the coordinates of the fish 11 on the conveyor element 13, a camera 19 is preferably used, the recording of which is transmitted as a reduced image to the control device 16.
[0063] Most preferably, the method is carried out with a device 10 according to one or more of claims 1 to 17.
[0064] Movement paths can be created and designed in different ways. In particular, through changes in connection with the transport speed of the conveyor element 13 and / or the linear speed of the handling device 15 or the gripping means 25 and / or the rotational speed of the handling device 15 or the gripping means 25, different movement paths can be determined and generated. The direction of rotation of the handling device 15 or the gripping means 25 enables additional options for the movement paths, which can be varied with regard to the length of the path and / or the time required for separating the products. The generation of the virtual image of the conveyor element 13 with the products lying thereon is based on an algorithm for detecting the position and / or extent and / or location of the products, in particular the fish, on the conveyor element 13. The algorithm includes, among other things:Steps for color segmentation, background subtraction, contour extraction, determining multiple fish points to create a connecting line or a simplified representation of the contour, as well as determining the length of the product in the case of a fish without a head and tail.
Claims
1. Device (10) designed and configured for transporting and separating and / or correcting the position of products, comprising a transport device (12) with a rotatingly driven conveyor element (13), wherein the conveyor element (13) is designed and configured to transport at least one product stream formed from a plurality of products in a transport plane E in the transport direction T, at least one detection means (14) for detecting the products on the conveyor element (13), at least one handling device (15) designed and configured to correct the position of the products on the conveyor element (13) and / or to separate individual products in each case in the transport plane E,wherein the handling device (15) is designed and arranged to be movable from above towards the further moving conveyor element (13) perpendicular to the transport plane E for establishing an operative connection with the product and holding the product on the further moving conveyor element (13) and is designed and arranged to be linearly movable transversely to the transport direction T for correcting the position of the product and / or for separating the products exclusively in the transport plane E of the conveyor element (13), and a control device (16) designed and arranged to control the handling device (15) based on the data of the detection means (14), characterized in that the control device (16) comprises a program module (17) which is programmed based on the data of the detection means (14), namely at least the extent of each product on the conveyor element (13) in the transport plane E and coordinates of the products on the conveyor element (13),to generate a virtual image (100) of the conveyor element (13) with the products lying thereon and to determine therefrom at least one movement path for the collision-free separation and / or correction of the position of the products when the conveyor element (13) is continuously driven.
2. Device (10) according to claim 1, characterized in that the handling device (15) is designed and arranged for engaging the product from the side and / or for placing it on the product from above.
3. Device (10) according to claim 1 or 2, characterized in that the handling device (15) is designed and arranged around an axis A directed perpendicular to the transport plane E of the conveyor element (13).
4. Device (10) according to one or more of claims 1 to 3, characterized in that the program module (17) is programmed, with knowledge of the transport speed of the conveyor element (13), the linear speed of the handling device (15) transversely to the transport direction T and the rotational speed of the handling device (15) about the axis A, to calculate the required area (18) for the or each product to be withdrawn from the conveyor element (13) in the transport plane E transversely to the transport direction T and / or to be corrected with regard to the position in the transport plane E for at least one movement path, in such a way that the handling device (15) is controlled by means of the control device (16) only in the event that a collision-free movement path exists.
5. Device (10) according to one or more of claims 1 to 4, characterized in that the program module (17) is programmed to calculate the area (18) which the product sweeps over relative to the conveyor element (13), which moves continuously in the transport direction T, when moving on the conveyor element (13) transversely to the transport direction T and / or when rotating on the conveyor element (13) about the axis A, and to calculate therefrom at least one movement path for the collision-free separation, i.e. the pulling off from the conveyor element (13) transversely to the transport direction T, and / or correcting the position of the products.
6. Device (10) according to one or more of claims 1 to 5, characterized in that the program module (17) is programmed to select the shortest movement path in the case of two or more collision-free movement paths and to control the handling device (15) accordingly.
7. Device (10) according to one or more of claims 1 to 6, characterized in that the detection means (14) comprises at least one camera (19) which is designed to record the products on the conveyor element (13) and whose extension in the transport plane E and for recording the position of the products on the conveyor element (13) is designed and arranged.
8. Device (10) according to one or more of claims 1 to 7, characterized in that the control device (16) is designed and configured to control the handling device (15) and / or to control the transport device (12).
9. Device (10) according to one or more of claims 1 to 8, characterized in that the control device (16) for separating the products and / or correcting the position of the products is designed and arranged at least for processing the data of the detection means (14), the transport speed of the conveyor element (13) and the movement speed of the handling device (15).
10. Device (10) according to one or more of claims 1 to 9, characterized in that the program module (17) is programmed to assign and store an identification (ID) to each product in such a way that a reference can be made between the product to be separated and / or the product to be corrected with regard to its position and potential collision products.
11. Device (10) according to claim 10, characterized in that the control device (16) comprises a storage means (24), preferably a ring buffer, which is designed and configured to store product-related IDs.
12. Device (10) according to one or more of claims 1 to 11, characterized in that the control device (16) with the program module (17) is designed and set up, in particular programmed, to determine an optimal gripping point of the handling device (15) on the product on the basis of the information detected by means of the detection means (14) and to control the handling device (15) accordingly.
13. Device (10) according to one or more of claims 1 to 12, characterized in that the handling device (15) can be actuated by means of cam discs and / or linear motors and / or angular motors.
14. Device (10) according to one or more of claims 1 to 13, characterized in that the handling device (15) comprises a gripping means (25) which is arranged on a linear guide (26) and is designed and arranged to be linear, namely transverse to the transport direction T and perpendicular to the transport plane E, and rotatable about the axis A perpendicular to the transport plane E.
15. Device (10) according to one or more of claims 1 to 14, characterized in that at least two handling devices (15) are provided, which are arranged one behind the other in the transport direction T.
16. Device (10) according to one or more of claims 1 to 15, characterized in that the conveying element (13) is designed and arranged to convey at least two product streams formed from food products, in particular fish and poultry products.
17. Device (10) according to one or more of claims 5 to 14, characterized in that the camera (19) is designed and configured to transmit products on the conveyor element (13) to the control device (16) as a reduced image, in which one pixel corresponds approximately to the area of 5 cm by 5 cm.
18. Method for transporting and separating and / or correcting the position of products comprising the steps: Transporting at least one product stream formed from several products in a transport plane E in the transport direction T by means of a transport device (12), Detecting the products on a rotating conveyor element (13) of the transport device (12) by means of a detection means (14), Correcting the position of the products on the conveyor element (13) and / or separating individual products in each case in the transport plane E by means of a handling device (15), wherein the handling device (15) is moved perpendicular to the transport plane E from above towards the products to establish an operative connection with the product and to hold the product on the continuing conveyor element (13) and is moved linearly transversely to the transport direction T to correct the position of the products and / or to separate the products exclusively in the transport plane E of the conveyor element (13), wherein the handling device (15) is controlled based on the data of the detection means (14) by means of a control device (16), characterized in thatthat by means of the detection element (14) at least the extent of each product on the conveyor element (13) in the transport plane E as well as the coordinates of the products on the conveyor element (13) are determined as data, wherein on the basis of the determined data a virtual image (100) of the conveyor element (13) with the products lying thereon is generated, and from this, with the conveyor element (13) continuously driven, at least one movement path for the collision-free separation and / or correction of the position of the products is determined.
19. Method according to claim 18, characterized in that the handling device (15) for establishing the operative connection with the product and holding the product is placed laterally and / or from above on the product.
20. Method according to claim 18 or 19, characterized in that the handling device (15) is rotated about an axis A directed perpendicular to the transport plane E in order to correct the position of the products and / or to separate the products.
21. Method according to one or more of claims 18 to 20, characterized in that based on the transport speed of the conveyor element (13) and the movement speed of the The time for separating the products and / or for correcting the position of the products is determined by the handling device (15) and the extent and position of the products on the conveyor element (13).
22. Method according to one or more of claims 18 to 21, characterized in that the area (18) is determined on the basis of the transport speed of the conveyor element (13) and the movement speed of the handling device (15) as well as the extent and position of the products on the conveyor element (13), which area a product sweeps over with a continuously driven conveyor element (13) during separation, i.e. during removal, in the transport plane E transversely to the transport direction T and / or when correcting the position of the products in the transport plane E by rotating about the axis A.
23. Method according to claim 22, characterized in that this information, namely the determined time and / or the determined area, is processed in the control device (16) in such a way that at least one movement path, but preferably at least two movement paths, are determined and it is queried whether at least one movement path is collision-free, wherein in the event that at least one movement path is collision-free, the handling device (15) is controlled in order to separate the product and / or to correct its position, and in the event that no movement path is collision-free, the product is transported further on the conveyor element (13) in the transport direction T.
24. Method according to one or more of claims 18 to 23, characterized in that, in the event that two or more movement paths are collision-free, the shortest movement path is determined by means of the control device (16) and the handling device (15) is controlled accordingly.
25. Method according to one or more of claims 18 to 24, characterized in that each product is assigned an identification (ID), which is taken into account when determining each movement path and when controlling the handling device (15) for separating a product and / or Correcting the position of the product with respect to other IDs of possible collision products.
26. Method according to one or more of claims 18 to 25, characterized in that an optimal gripping point for each product is determined on the basis of the data determined by the detection means (14) and is used to control the handling device (15).
27. Method according to one or more of claims 18 to 26, characterized in that the data relating to the extent of each product in the transport plane E and the coordinates of the products on the conveyor element (13) are transmitted to the control device (16) as a reduced image.
28. Method according to one or more of claims 18 to 27, characterized in that it is carried out with a device (10) according to one or more of claims 1 to 17.