Container handling installation and method for the superimposed display of position data relating to containers together with a simulated display of the containers and with a simulated model of a container handling installation

Abstract

The invention relates to a container handling installation having transport means (3) for transporting containers (4) and having a camera for obtaining images (1) of a section (2) of the transport means (3). The container handling installation comprises an evaluation device for evaluating the images in order to determine position data relating to containers (4) and a display device for the superimposed display of the position data relating to containers (4) together with a simulated display of the containers (14) and with a simulated model of the container handling installation. The simulated display of the containers is a 2D or 3D display of the containers, and the simulated model of the container handling installation is a 2D or 3D model of the container handling installation. The superimposed display (26) can be displayed in various spatial views. The invention also relates to a method for the superimposed display of position data relating to containers together with a simulated display of the containers and with a simulated model of the container handling installation. The method comprises using the camera to record the section of the transport means and obtain images of the section, using the evaluation device to evaluate the images in order to determine position data relating to containers, and using the display device to display the position data relating to containers in a superimposed manner together with a simulated display of the containers and with a simulated model of the container handling installation. The simulated display of the containers is a 2D or 3D display of the containers, and the simulated model of the container handling installation is a 2D or 3D model of the container handling installation. The superimposed display can be displayed in various spatial views.

Description

[0001] Container treatment plant and method for superimposing position data of containers together with a simulated representation of the containers and with a simulated model of a container treatment plant

[0002] The invention relates to a container treatment plant and a method for superimposing position data of containers together with a simulated representation of the containers and with a simulated model of a container treatment plant according to the independent claims.

[0003] State of the art

[0004] It is known that a container handling plant can comprise a multitude of individual machines that can be connected via conveyors for transporting containers. It can be important for the operator of the container handling plant to know the current container load on conveyors, the position of containers, and their speed. Using camera surveillance, the operator can visually monitor individual areas in two or three dimensions and receive information about the areas, such as warnings about malfunctions. Sensors such as light barriers, jam switches, force sensors, and / or temperature sensors can be used to obtain additional information about the container handling plant.

[0005] The container handling plant may have large geometric dimensions and may have areas that are difficult to access and cannot be overseen or monitored by camera surveillance, meaning that the operator cannot obtain any information about the current occupancy of the conveyors.

[0006] Task

[0007] The object of the invention is to provide a container treatment plant and a method for superimposing position data of containers together with a simulated representation of the containers and with a simulated model of a container treatment plant, which can enable effective monitoring of a current operating state of the container treatment plant.

[0008] Solution

[0009] The object is achieved by the container processing system and the method for superimposing position data of containers together with a simulated representation of the containers and with a simulated model of a container processing system according to the independent claims. Further embodiments are disclosed in the subclaims.The container treatment plant according to the invention with conveyors for transporting containers and with a camera for obtaining images of a section of the conveyors comprises an evaluation device for evaluating the images to determine position data of containers and a display device for superimposing the position data of containers together with a simulated display of the containers and with a simulated model of the container treatment plant, wherein the simulated display of the containers is a 2D or 3D display of the containers and the simulated model of the container treatment plant is a 2D or 3D model of the container treatment plant, wherein the superimposed display can be displayed in different spatial views.

[0010] The conveyors can be, for example, bulk conveyors and / or belt conveyors. This means that the containers on the bulk conveyor can occupy a free, non-precisely defined position on the conveyor surface. While the containers may have a defined orientation (e.g., the containers stand upright on their base), they do not have a defined position on the conveyor surface. The bulk conveyors can be, for example, mat chains or belt conveyors and can be made of plastic or metal.

[0011] The camera can be used to take consecutive images of the section.

[0012] The evaluation device can include a tracking analysis for detecting containers in the image data. Position data can be determined using the tracking analysis. Detected containers can be tracked using the tracking analysis. For example, movement parameters of the detected and tracked containers can be determined.

[0013] The camera can be aimed at the section of the conveyors to record and acquire images. The images can be taken of containers transported by the conveyors in this section. Depending on the orientation of the camera and / or the arrangement of the containers on the conveyors and / or the orientation of the conveyors (transport surface inclined to the horizontal, for example), the containers can be recorded entirely or partially from above and / or from the side. Partially from above can mean that a container is arranged entirely in the section but can only be partially recorded from above, or that a container is only partially arranged in the section and can therefore only be partially recorded from above, for example regardless of the orientation of the camera and / or the arrangement of the container on the conveyors and / or the orientation of the conveyors.Partially from the side can mean that a container is arranged entirely in the cutout but can only be partially recorded from the side (for example, part of the shell area of ​​the container, whereby, for example, another part of the shell area of ​​the container can be partially covered by another container) or that a container is only partially arranged in the cutout and can therefore only be partially recorded from the side, for example regardless of the orientation of the camera and / or the arrangement of the container on the conveyors and / or the orientation of the conveyors.

[0014] Based on the temporally successive images, one or more static parameters can also be determined, such as the number of containers in the section.

[0015] For example, the display device can be used to create a 2D simulated representation of the containers and a 2D representation of the simulated model of the container treatment plant. The respective 2D representations can, for example, save computing power.

[0016] For example, the display device can be used to create a simulated 3D representation of the containers and a 2D representation of the simulated model of the container treatment plant.

[0017] The simulated model of the container handling plant can include both rigid and dynamic parts. Rigid parts, for example, can be simulated before monitoring the container handling plant, as they do not change during operation of the container handling plant, such as the holding and / or support structures of conveyors and fixed railings. Dynamic parts can include components that move during operation of the container handling plant, such as conveyors and transport star wheels. The dynamic parts can then be provided with kinematics at a later time.

[0018] Using the captured images, from which actual container position data can be determined, simulations can be created for sections of the conveyors or the container handling system that are not captured by a camera. This allows a hybrid twin of the container handling system to be created, representing the respective situation in sections captured by the camera and simulating it in sections not captured by a camera.

[0019] By displaying the container position data in virtual space, monitoring the current operating status of the container processing plant is not limited to a fixed camera image, but rather the current operating status can be viewed interactively from various perspectives. By providing a hybrid model, the current situation of the container processing plant can be captured regardless of location. For example, it is not necessary for an operator to be present at the container processing plant to view the current situation. A hybrid model can be a fusion of one or more continuous models with one or more discrete models.

[0020] Since the superimposed representation of the position data of containers together with a simulated representation of the containers and with a simulated model of the container treatment plant is located in the virtual space, a view from different spatial perspectives is possible without having to change the orientation of the camera.

[0021] The superimposed display of the container position data together with the simulated representation of the containers and the simulated model of the container processing plant can be performed on a computer near the container processing plant, on a computer included in the container processing plant, or in a cloud. When using a cloud, the container position data determined during image analysis can be uploaded to the cloud for further processing. The rigid parts of the simulated model of the container processing plant can be stored in the cloud.

[0022] The container handling system can include several cameras with which, for example, images of different sections of the conveyors can be obtained.

[0023] The container treatment system may further comprise an extrapolation device for determining simulated position data of the containers in areas of the conveyors away from the cutout.

[0024] The determination may include using mathematical equations and / or a neural network and / or a mathematical-physical relationship.

[0025] The mathematical-physical relationship can include a transport speed and / or transport direction of containers. For example, images of one section of one of the conveyors can include a mass flow inlet and another section of the conveyor can include a mass flow outlet, so that real position data of containers can be determined there.In intermediate areas between the two sections, simulated position data of the containers can be determined and, if necessary, used by means of a display device for superimposing the position data of the containers and the simulated position data of the containers together with a simulated representation of the containers and with a simulated model of the container treatment plant. The simulated representation of the containers is a 2D or 3D representation of the containers and the simulated model of the container treatment plant is a 2D or 3D model of the container treatment plant. The superimposed representation can also be displayed in different spatial views. The container treatment plant can further comprise a comparison device for comparing position data of the containers with simulated position data of the containers, for example to detect friction values.

[0026] The movement of the containers on the conveyor can be specified from the actual position data of the containers. The friction coefficients to be used can be optimized by taking into account boundary conditions such as the speed of the conveyors and the angle of inclination of the conveyor surface. An optimization process can be provided for this purpose. The deviation from the actual position data to the simulated position data can be zero or within a range of ± 5% (the range limits can be included). During operation of the container handling system and when images are taken by the camera, a friction coefficient between the container (for example, between the part of the base of the container that contacts the conveyor surface) and the conveyor surface can be determined.If the coefficient of friction is outside a specified range, a warning can be issued to adjust the lubricant supply and / or a control command or instruction can be issued to control the lubricant supply accordingly.

[0027] The container handling system may further include an initialization device for initializing determined container position data with a simulation model. Initialization may include detecting container positions and determining position data, transferring the data to the simulation model, initializing the containers together with the position data in the simulation model, and further calculating the behavior of the containers with a mathematical-physical relationship. Equations and / or neural networks may be used.

[0028] The container treatment plant may include a filling plant. The filling plant may be and / or include a filling line.

[0029] The containers can be empty or full containers, such as cans, PET or glass bottles or containers containing fibers, cartons or containers.

[0030] For evaluating the images to determine position data of containers, container properties such as diameter, dimensions, color and / or shape can be made available to the evaluation device.

[0031] A method according to the invention for the superimposed display of position data of containers together with a simulated display of the containers and with a simulated model of a container treatment plant, wherein the container treatment plant comprises conveyors for transporting containers and a camera for obtaining images of a section of the conveyors, an evaluation device and a display device, comprises recording the section of the conveyors and obtaining images of the section by means of the camera, evaluating the images to determine position data of containers by means of the evaluation device and a superimposed display of the position data of containers together with a simulated display of the containers and with a simulated model of the container treatment plant by means of the display device,Wherein the simulated representation of the containers is a 2D or 3D representation of the containers and the simulated model of the container treatment plant is a 2D or 3D model of the container treatment plant, where the superimposed representation can be displayed in different spatial views.

[0032] For example, the display device can be used to create a 2D simulated representation of the containers and a 2D representation of the simulated model of the container treatment plant. The respective 2D representations can, for example, save computing power.

[0033] For example, the display device can be used to create a simulated 3D representation of the containers and a 2D representation of the simulated model of the container treatment plant.

[0034] The container treatment plant can be the one already described above or the one described below.

[0035] The method may further comprise determining simulated position data of the containers in areas of the conveyors away from the cutout by means of an extrapolation device of the container treatment plant, wherein the determination may comprise using mathematical equations and / or a neural network and / or a mathematical-physical relationship.

[0036] The method may further comprise comparing position data of the containers with simulated position data of the containers by means of a comparison device of the container treatment plant, for example for detecting friction values.

[0037] The method may further comprise detecting container positions and determining position data, transferring the data to a simulation model, initializing the containers together with the position data in the simulation model, and further calculating the behavior of the containers with a mathematical-physical relationship using an initialization device of the container treatment system. For example, equations and / or neural networks may be used.

[0038] In addition to a simulation model, which includes initializing the containers along with the position data in the simulation model, the method can also include calibrating the simulation model. This calibration of the simulation model can include adapting the simulation to reality and can thus prevent reality and the simulation model from drifting apart. The calibration can be performed using a calibration device in the container treatment plant. For example, equations and / or neural networks can be used.

[0039] For example, the initialization device and the calibration device may be the same device that can perform both tasks.

[0040] The evaluation of the images to determine position data of containers can include detecting parts of the containers, such as the base or lid, and converting the centers of the parts into spatial coordinates.

[0041] The evaluation of the images to determine position data of containers can include determining container properties, such as diameter, color, shape, and / or determining container states, such as time, identification number, speed, orientation.

[0042] The method may further comprise defining a control area in the superimposed representation of the position data of containers together with a simulated representation of the containers and with a simulated model of the container treatment plant and evaluating container properties, such as diameter, color, shape, in the counter II area.

[0043] In the control area, for example, the number of containers present can be determined. Container conditions, such as transport speed and / or rotation and / or spin, can also be determined.

[0044] A control area can be defined when creating the simulated model of the container treatment plant or during operation of the container treatment plant. For example, if one or more control areas were defined when creating the simulated model of the container treatment plant, one or more additional control areas can be added during operation of the container treatment plant. It is also possible to remove defined control areas.

[0045] Using the evaluations in the control area, actions for the container handling system can be derived, such as changing the speed of conveyors, stopping machines, etc.

[0046] The method may further comprise, based on the evaluation of the container properties and / or container states, transmitting control commands and / or action instructions to a controller of the container treatment plant. Brief description of the figures

[0047] The attached figures represent aspects and / or embodiments of the invention by way of example for better understanding and illustration. It shows:

[0048] Figure 1 shows an image with a section of a conveyor taken by a camera, with detected containers marked,

[0049] Figure 2 shows a two-dimensional representation of the containers detected in the section,

[0050] Figure 3A shows a first view of a superimposed representation of position data of containers together with a simulated representation of the containers and with a simulated 3D model of the container treatment plant in a first spatial view,

[0051] Figure 3B shows a second view of the superimposed representation of Figure 3A in a second spatial view and

[0052] Figure 4 shows a third view of the superimposed representation of Figure 3A together with a control area in a third spatial view.

[0053] Detailed character description

[0054] Figure 1 shows an image 1 with a section 2 of a conveyor 3 captured by a camera, with detected containers 4 marked. At the time the image is captured, a plurality of containers 4 are arranged in the section 2, which are transported by a mass conveyor 5 in the opposite direction to the x-direction and reach a separator 6.

[0055] The range of movement of the containers 4 on the conveyor 3 is restricted by a first railing 7 and a second railing 8.

[0056] Due to the orientation of the camera, not only the lids 9 but also parts of the shell 10 of some containers 4 can be seen.

[0057] Detected containers 4 are identified by superimposed rectangles 11. Position data of these containers 4 can be determined by the evaluation device by evaluating the image.

[0058] Figure 2 shows a two-dimensional representation 12 of the containers 4 detected in section 2. In the representation, the detected containers 4 are identified by flattened circles 13. A center of the mass conveyor 5 was defined as the zero point of the y-axis, and an end of the separation device 6 was defined as the zero point of the x-axis in the representation 12.

[0059] Based on this representation 12, one or more static parameters can be determined or calculated, such as a number and / or position of detected containers 4. For the determination or calculation of movement parameters, an evaluation of several of these representations 12, which were created using images from different recording times, may be necessary so that a temporal sequence can be taken into account.

[0060] Figure 3A shows a first view of a superimposed representation 26 of position data of containers together with a simulated representation of the containers 15 and with a simulated 3D model of the container treatment plant in a first spatial view.

[0061] Rigid parts of the simulated 3D model of the container treatment plant include the two railings 15, 16, the four uprights 17, 18, 19, 20 of the conveyor 21, and the support structure 22 of the conveyor 21. The dynamic parts of the simulated 3D model of the container treatment plant include the conveyor 21.

[0062] The view is directed obliquely from above essentially onto the first railing 15 and transversely to the x and y directions and shows the behavior of the containers 14 along the mass transport 24, during the transition from the mass transport 24 to the separation 23 and along the separation 23.

[0063] Figure 3B shows a second view of the superimposed representation 26 of Figure 3A in a second spatial view. The view is from an oblique top view, essentially directed opposite the x-direction. This allows, for example, the behavior of the containers during the transition from the mass transport 24 to the separation 23 to be assessed.

[0064] Figure 4 shows a third view of the superimposed representation 26 of Figure 3A together with a control area 25 in a third spatial view. The view is directed obliquely from above, essentially onto the second railing 16 and transversely opposite the x- and y-directions.

[0065] The control area 25 is provided as a cuboid in the area of ​​the mass transport 24 of the conveyor 21. In the control area 25, container properties such as diameter, color, and shape can be evaluated. For example, the number of containers 14 present can be determined in the control area 25. Container states such as transport speed and / or rotation and / or spin can also be determined.

[0066] The definition of a control area 25 can be done when creating the simulated 3D model of the container treatment plant or when operating the container treatment plant.

[0067] Using the evaluations in control area 25, actions for the container handling system can be derived, such as changing the speed of conveyors, stopping machines, etc.

Claims

Claims 1. Container treatment plant with conveyors (3) for transporting containers (4) and with a camera for obtaining images (1) of a section (2) of the conveyors (3), characterized by an evaluation device for evaluating the images (1) to determine position data of containers (4) and a display device for superimposing the position data of containers (4) together with a simulated display of the containers (14) and with a simulated model of the container treatment plant, wherein the simulated display of the containers is a 2D or 3D display of the containers and the simulated model of the container treatment plant is a 2D or 3D model of the container treatment plant, wherein the superimposed display (26) can be displayed in different spatial views.

2. The container treatment plant according to claim 1, further comprising an extrapolation device for determining simulated position data of the containers (4) in areas of the conveyors (3) away from the cutout (2).

3. The container treatment plant according to claim 2, further comprising a comparison device for comparing position data of the containers (4) with simulated position data of the containers (14), for example for detecting friction values.

4. The container treatment plant according to one of claims 1 to 3, further comprising an initialization device for initializing determined position data of containers with a simulation model.

5. The container treatment plant according to claim 4, further comprising a calibration device for calibrating the simulation model to adapt the simulation model to reality.

6. The container treatment plant according to one of claims 1 to 5, wherein the container treatment plant comprises a filling plant.

7. The container treatment plant according to one of claims 1 to 6, wherein the containers (4) comprise empty containers or full containers, such as cans, PET or glass bottles or containers, cartons or packages containing fibers.

8. Method for the superimposed display of position data of containers (4) together with a simulated display of the containers (14) and with a simulated model of a container treatment plant, wherein the container treatment plant comprises conveyors (3) for transporting containers (4) and a camera for obtaining images (1) of a section (2) of the conveyors (3), an evaluation device and a display device, Recording the section (2) of the conveyors (3) and obtaining images (1) of the section (2) by means of the camera, Evaluating the images (1) to determine position data of containers (4) by means of the evaluation device and superimposing the position data of containers (4) together with a simulated representation of the containers (14) and with a simulated model of the container treatment plant by means of the display device, wherein the simulated representation of the containers is a 2D or 3D representation of the containers and the simulated model of the container treatment plant is a 2D or 3D model of the container treatment plant, wherein the superimposed representation (26) can be displayed in different spatial views.

9. The method according to claim 8, further comprising determining simulated position data of the containers (4) in areas of the conveyors (3) away from the cutout (2) by means of an extrapolation device of the container treatment plant, wherein the determining comprises using mathematical equations and / or a neural network and / or a mathematical-physical relationship.

10. The method according to claim 9, further comprising comparing position data of the containers (4) with simulated position data of the containers (14) by means of a comparison device of the container treatment plant, for example for detecting friction values.

11. The method according to one of claims 8 to 10, further comprising detecting container positions and determining position data, transferring them to a simulation model, initializing the containers together with the position data in the simulation model and further calculating a behavior of the containers with a mathematical-physical relationship by means of an initialization device of the container treatment plant, for example using equations and / or neural networks.

12. The method of claim 11, further comprising calibrating the simulation model to adapt to reality.

13. The method according to one of claims 8 to 12, wherein the evaluation of the images (1) for determining position data of containers (4) comprises: Detection of parts of the containers (4), such as the base (9) or lid, Converting the centers of parts into spatial coordinates.

14. The method according to one of claims 8 to 13, wherein the evaluation of the images (1) for determining position data of containers (4) comprises: Determining container properties such as diameter, color, shape, and / or Determine container conditions such as time, identification number, speed, orientation.

15. The method according to any one of claims 8 to 14, wherein the method further comprises: Defining a control area (25) in the superimposed representation of the position data of containers (4) together with a simulated representation of the containers (14) and with a simulated model of the container treatment plant, evaluating container properties, such as diameter, color, shape, in the control area.

16. The method according to claim 15, further comprising: based on the evaluation of the container properties and / or container states, transmitting control commands and / or action instructions to a controller of the container treatment plant.

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