EP3912737B1 - System und verfahren zum sortieren von verpackten produkten - Google Patents
System und verfahren zum sortieren von verpackten produkten Download PDFInfo
- Publication number
- EP3912737B1 EP3912737B1 EP20382436.2A EP20382436A EP3912737B1 EP 3912737 B1 EP3912737 B1 EP 3912737B1 EP 20382436 A EP20382436 A EP 20382436A EP 3912737 B1 EP3912737 B1 EP 3912737B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- linear
- hyperspectral
- images
- image capture
- sorting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
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- 238000002329 infrared spectrum Methods 0.000 claims description 11
- 238000004458 analytical method Methods 0.000 claims description 9
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- 150000002367 halogens Chemical class 0.000 claims description 9
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- 239000000825 pharmaceutical preparation Substances 0.000 description 2
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Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
Definitions
- the present invention is useful in the field of manufacturing of packaged products and it belongs, more particularly, to the technical field of sorting packaging, preferably although limited to, food and pharmaceutical product packages.
- the main object of the present invention is, therefore, sorting packaged products after the inspection thereof with machine vision means, preferably heat-sealed packages. Said sorting can be useful in, for example and limited to, quality control tasks.
- a method for determining the spectral signature of the different pixels of hyperspectral images, or in other words, a method for analysing the intensity of the light from each pixel of hyperspectral images in each of the different predefined bands of the infrared light spectrum had by said hyperspectral images.
- United States Patents 5512752 , 4719351 and 5206510 , German Patent Publications DE 19601923 , 19543134 and 4340795 , and Japanese Patent Applications JP-A-9138194 , 6288913 and 6210632 disclose several examples of hyperspectral machine vision equipment.
- An object of the present invention is to address all the difficulties and drawbacks of the prior art indicated above, in addition to enabling packaged products to be sorted depending on different quality parameters related to the surface chemical composition thereof and detecting surface contamination thereon.
- the sorting system according to the present invention like the sorting method of the invention (which will be described in detail later) enable the following defects of a packaged product to be detected:
- the sorting system of the invention preferably comprises two feeder belts arranged in series with each other, there being a gap between both feeder belts and the image capture line being located in said gap.
- the sorting system according to the present invention is further provided with an upper enclosure and a lower enclosure wherein the linear image capture means, the linear hyperspectral image capture means, the linear hyperspectral illumination means and/or the linear illumination means are housed.
- the upper and lower enclosures preferably have an elastomeric seal which guarantees the airtightness thereof during cleaning operations and at least one removable carriage to which the linear image capture means, the linear hyperspectral image capture means, the linear hyperspectral illumination means and/or the linear illumination means are fastened. Said removable carriage facilitates maintenance operations.
- the linear hyperspectral illumination means for use in the present invention concentrate the hyperspectral light beam on a line with a predefined width (the image capture line), reducing the electrical power of the halogen lamp, and thereby also reducing the thermal irradiation received by the packaged products.
- Said hyperspectral illumination means demand less heat dissipation (thereby preventing possible damage to the packaged products) and enable a high light power to be obtained.
- the level of lighting that they provide enables the necessary exposure time for the linear hyperspectral image capture means to be reduced, and enables the high-speed capture of the lines composing hyperspectral images, while they enable the capture with a higher sharpness of the lines.
- the linear hyperspectral illumination means for use in the present invention preferably comprise a thermally conductive block (for example, a metal block) coupled to heat-dissipating fins, said block being provided with a parabola-shaped inner cavity with a reflective surface finish, a linear halogen lamp being provided in the focus of said parabola in such a manner that the light emitted by the lamp is reflected by the parabola and is concentrated in a light strip with a fixed width, said light strip being focused on a linear Fresnel lens configured to concentrate the received light into a line with a predefined width, the image capture line, which is precisely the same line along which the infrared light is captured by linear hyperspectral image capture means.
- a thermally conductive block for example, a metal block
- a linear halogen lamp being provided in the focus of said parabola in such a manner that the light emitted by the lamp is reflected by the parabola and is concentrated in a light strip with a fixed width
- the linear hyperspectral illumination means may also preferably be provided with a displacement mechanism for the linear Fresnel lens. Said mechanism enables the focus of the Fresnel lens to be varied and therefore enables the width of the image capture line to be modified.
- the linear Fresnel lens can be separated from the heat source (the linear halogen lamp), which enables it to be manufactured with machined plastic materials that are cheap to manufacture.
- a second aspect of the invention relates to a method for sorting packaged products by using a sorting system according to the first aspect of the invention, said sorting method being characterised in that it comprises the following steps:
- the control area analysed by the second image processing means preferably comprises a heat-sealing band of the packaged product, a cell wherein the products that have been packaged are deposited or an area wherein printed codes of the packaged product are provided.
- the second processing means when analysing at least one predetermined control area, quantify the pixels of at least one predetermined shade which are present in said control area, analysing the outline and surface of the portions of said predetermined shade.
- Figure 1 shows a schematic representation of a system for sorting packaged products according to the present invention.
- the sorting system is used to inspect heat-sealed packages of food packaged products (1) such as, for example, sausage, ham or cheese or medicines, and enables those products (10) that do not meet predefined quality parameters to be rejected, thanks to the actuation of sorting means (9) consisting, in this embodiment of the invention, of a tilting belt.
- food packaged products (1) such as, for example, sausage, ham or cheese or medicines
- the sorting system is further provided with two conveyor belts (2), arranged one after the other, which have two presence sensors (8) which detect the entrance and exit of the packaged products (1), such that both belts (2) have an opening in the transition between them, wherein, in this embodiment of the invention, the capture of the images of the lower surface of the package of the packaged products (1) takes place.
- the system has two linear image capture means (4) in the visible spectrum, which in this embodiment are linear digital cameras and two linear hyperspectral image capture means (5) in the infrared spectrum, two of the capture means being located in the upper enclosure (41) and the other two in the lower enclosure (42).
- the means (4) and (5) capture the images along an image capture line (3).
- the linear hyperspectral illumination means (6) are hyperspectral digital cameras and are located in the upper enclosure (41) and enable images to be captured in the visible spectrum and the infrared spectrum of the upper surface of the package by means of direct lighting, capturing the lower surface of the package backlit in the infrared spectrum and directly in the visible light spectrum.
- Linear illumination means (7) in the visible light spectrum are also provided, which, in this embodiment, are provided on the lower portion in order to enable the capture of images in the visible light spectrum of the lower surface of the package.
- the system also has first processing means (12) for processing the hyperspectral images and second image processing means (13) configured to analyse at least one predetermined control area of each image of the sequence of images; acquired from the linear digital cameras (4) and from the first processing means (12). Both the first processing means (12) and the second processing means (13) are housed in a protective enclosure (11).
- Actuation means (14) are also provided which comprise a programmable logic controller (14) and are configured to actuate on the package sorting means (9) by sending them sorting instructions.
- the actuation means (14) in turn receive instructions from the image processing means (13).
- the embodiment of the packaging sorting system shown in Fig. 1 is further provided with a display monitor (15), actuation buttons and operation lights (16) and software with a touch interface.
- Said software enables the different operating parameters of the equipment to be configured and navigating through the screens of the application, which is programmed to show images from the sequence of images captured by the image capture means (4) and (5), showing a control panel with the operation status of the device, showing the sorted images and the history of sorting that has been performed.
- Figure 2 shows a transverse cross-sectional representation of the linear hyperspectral illumination means (6), which are focused on a packaged product (1).
- the package comprises a cell (31), wherein the product (39) to be packaged is deposited which is sealed by heat sealing of an upper film (32) with a bottom film which makes up the cell.
- Figure 3A shows a representation of a longitudinal cross section of linear hyperspectral illumination means (6) and it further schematically shows how the linear hyperspectral image capture means (5) send the hyperspectral image lines of the light reflected or transmitted in different bands of the infrared spectrum (24) to the first means image processing (12), which, as shown schematically in Figures 3B to 3D , compose a hyperspectral image (29), which is formed by different pixels (25), in each of which the intensity of the light captured in the different frequency bands of the infrared light spectrum is recorded, which is known as the spectral signature (26), and subsequently composes a sequence of images called chemical images (30), wherein the pixels of said images are coloured, the colour tone (28) of the different pixels being determined in this embodiment of the invention by a software implemented in the image processing means (12) based on the comparison of the spectral signature (26) with predetermined reference patterns (27). Subsequently, the chemical images (30) are sent to the second image processing means (13).
- the first means image processing (12) which
- Figure 4A is a top view wherein it schematically shows the passage of a heat-sealed packaged product (1) over the gap area of the two conveyor belts (2), as well as the image capture line (3).
- the packaged product is provided with two cells (31), wherein the products (39) are deposited and whereon an upper film is adhered by means of a heat-sealing process, along a heat-sealing band (33) arranged around the cells (31).
- Figures 6 and 7 show, in front and isometric views, a possible embodiment of the system for sorting packaged products.
- Fig. 6 shows, in a front view, the different elements of the system for sorting packaged products according to the invention, previously described in Figures 1 and 2 , with the aim of facilitating the understanding of the diagrams.
- the system is provided with two linear hyperspectral image capture means (5), one located in the upper enclosure (41) with direct lighting and the other located in the lower enclosure (42) with backlit lighting.
- two different linear hyperspectral illumination means (6) are provided, arranged symmetrically to each other with respect to the image capture line.
- Figure 8 shows an isometric view of a possible embodiment of the linear hyperspectral illumination means (6).
- the metal block (17) coupled to the dissipating fins (18) is arranged perpendicular to the passage direction of the packaged products, with a certain inclination on the conveyor belt (2), focusing the beam towards the linear Fresnel lens (21), which is attached to a mechanism (23) that enables the position and orientation of the lens to be regulated, and therefore the width of the lighting line focused on the capture area of the hyperspectral camera (3) which hits the package.
Landscapes
- Investigating Or Analysing Materials By Optical Means (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
- Sorting Of Articles (AREA)
Claims (14)
- System zum Sortieren von verpackten Produkten (1), wobei das System umfasst:- wenigstens ein Transportband (2), das konfiguriert ist zum Transportieren der verpackten Produkte (1) von einem Eintrittsbereich zu einem Austrittsbereich,- wenigstens eine lineare Bildaufnahmeeinrichtung (4), die konfiguriert ist zum Aufnehmen von Bildern des Lichts, das im sichtbaren Spektrum durch die verpackten Produkte (1) entlang einer vordefinierten Bildaufnahmelinie (3) reflektiert oder durchgelassen wird,- wenigstens eine lineare Beleuchtungseinrichtung (7), die konfiguriert ist zum Emittieren von Licht im sichtbaren Lichtspektrum und zum Beleuchten der Bildaufnahmelinie (3),wobei das System dadurch gekennzeichnet ist, dass es weiterhin umfasst:- wenigstens eine lineare hyperspektrale Bildaufnahmeeinrichtung (5), die konfiguriert ist zum Aufnehmen von hyperspektralen Bildern des Lichts, das in verschiedenen Bändern des Infrarotspektrums (24) durch die verpackten Produkte (1) entlang der vordefinierten Bildaufnahmelinie (3) reflektiert oder durchgelassen wird,- wenigstens eine lineare hyperspektrale Beleuchtungseinrichtung (6), die konfiguriert ist zum Emittieren von Licht im Infrarotlichtspektrum und zum Beleuchten von nur der Bildaufnahmelinie (3),- erste Bildverarbeitungseinrichtungen (12), die konfiguriert sind zum Bestimmen der spektralen Signatur jedes Pixels (25) der hyperspektralen Bilder (29) in verschiedenen vordefinierten Bändern des Infrarotlichtspektrums, um die spektrale Signatur (26) jedes Pixels der hyperspektralen Bilder mit einem Referenzmuster (27) zu vergleichen und die hyperspektralen Bilder (29) mit einem vorgegebenen Farbton (28) in Abhängigkeit von dem Ergebnis des Vergleichs der spektralen Signatur (26) mit dem Referenzmuster (27) zu färben, sodass gefärbte hyperspektrale Bilder (30) erhalten werden,- zweite Bildverarbeitungseinrichtungen (13), die konfiguriert sind zum Analysieren wenigstens eines vorbestimmten Steuerbereichs (36) jedes von der linearen Bildaufnahmeeinrichtung (4) erhaltenen Bilds und jedes von der ersten Bildverarbeitungseinrichtung (12) erhaltenen gefärbten hyperspektralen Bilds (30), zum Vergleichen wenigstens des Steuerbereichs (36) jedes der Bilder mit wenigstens einem Referenzmuster, zum Sortieren der Bilder in Abhängigkeit von dem Vergleich mit dem Referenzmuster und zum Senden von Sortierbefehlen an eine Betätigungseinrichtung (14), und- Betätigungseinrichtungen (14), die konfiguriert sind zum Empfangen der Sortierbefehle und zum Betätigen von Sortiereinrichtungen (9) für die verpackten Produkte (1) basierend auf den Sortierbefehlen, wobei die Sortiereinrichtungen (9) in dem Austrittsbereich angeordnet sind.
- System nach Anspruch 1, wobei die linearen Bildaufnahmeeinrichtungen (4) eine lineare digitale Kamera umfassen.
- System nach einem der vorstehenden Ansprüche, wobei die linearen hyperspektralen Bildaufnahmeeinrichtungen (5) eine lineare hyperspektrale digitale Kamera umfassen, die konfiguriert ist zum Aufnehmen von Bildern im Spektrum der Wellenlänge von 400 bis 2000 Nanometer.
- System nach einem der vorstehenden Ansprüche, wobei die Sortiereinrichtungen (9) eine pneumatische Gebläseeinrichtung, ein Faltband, einen pneumatischen Schieber oder ein mit einem Rejector verbundenes pneumatisches Solenoidventil umfassen.
- System nach einem der vorstehenden Ansprüche, wobei die Betätigungseinrichtungen (14) eine programmierbare logische Steuereinrichtung, die mit den zweiten Bildverarbeitungseinrichtungen (13) verbunden ist, umfassen.
- System nach einem der vorstehenden Ansprüche, das weiterhin einen Anzeigemonitor (15) umfasst, der konfiguriert ist zum Anzeigen von durch die Bildaufnahmeeinrichtungen (4) und (5) erhaltenen Bildern, wobei der Monitor (15) weiterhin mit Betätigungstasten und Leuchten (16) versehen ist, die ein Konfigurieren von verschiedenen Betriebsparametern und ein Navigieren durch verschiedene Bildschirminhalte ermöglichen.
- System nach einem der vorstehenden Ansprüche, wobei weiterhin Präsenzsensoren (8) in dem Eintrittsbereich und dem Austrittsbereich vorgesehen sind.
- System nach einem der vorstehenden Ansprüche, wobei zwei in Reihe angeordnete Förderbänder (2) vorgesehen sind und ein Zwischenraum zwischen den beiden Förderbändern (2) vorhanden ist, wobei die Bildaufnahmelinie (3) in dem Zwischenraum angeordnet ist.
- System nach Anspruch 8, wobei ein oberes Gehäuse (41) und ein unteres Gehäuse (42) vorgesehen sind, in denen die linearen Bildaufnahmeeinrichtungen (4), die linearen hyperspektralen Bildaufnahmeeinrichtungen (5), die linearen hyperspektralen Beleuchtungseinrichtungen (6) und/oder die linearen Beleuchtungseinrichtungen (7) aufgenommen sind.
- System nach einem der vorstehenden Ansprüche, wobei die linearen hyperspektralen Beleuchtungseinrichtungen (6) einen thermisch leitenden Block (17), der mit Wärmeableitungsrippen (18) gekoppelt ist, umfassen, wobei der Block (17) mit einem parabelförmigen inneren Hohlraum (19) mit einer reflexiven Oberflächenbeschaffenheit versehen ist, wobei eine lineare Halogenleuchte (20) in dem Fokus der Parabel derart vorgesehen ist, dass das durch die Leuchte (20) emittierte Licht durch die Parabel reflektiert und in einem Lichtstreifen (22) mit einer fixen Breite konzentriert wird, wobei eine lineare Fresnellinse (21) auf den Lichtstreifen (22) fokussiert ist, wobei die Linse konfiguriert ist zum Konzentrieren des empfangenen Lichts zu einer Linie (3) mit einer vordefinierten Breite.
- System nach Anspruch 10, wobei die linearen hyperspektralen Beleuchtungseinrichtungen (6) mit einem Verschiebungsmechanismus (23) für die lineare Fresnellinse (21) versehen sind.
- System nach einem der vorstehenden Ansprüche, wobei zwei verschiedene lineare hyperspektrale Beleuchtungseinrichtungen (6) vorgesehen sind, die symmetrisch zueinander in Bezug auf die Bildaufnahmelinie (3) angeordnet sind.
- Verfahren zum Sortieren von verpackten Produkten (1) unter Verwendung eines Sortiersystems gemäß den Ansprüchen 1 bis 12, wobei das Sortierverfahren dadurch gekennzeichnet ist, dass es die folgenden Schritte umfasst:- Betätigen wenigstens eines Transportbands (2) für das Transportieren der verpackten Produkte (1) von einem Eintrittsbereich zu einem Austrittsbereich,- Betätigen der linearen Beleuchtungseinrichtungen (7) und der linearen hyperspektralen Beleuchtungseinrichtungen (6) für das Beleuchten der Bildaufnahmelinie (3),- Betätigen der linearen Bildaufnahmeeinrichtungen (4) für das Aufnehmen von Bildern des Lichts, das im sichtbaren Spektrum durch die verpackten Produkte (1) entlang der Bildaufnahmelinie (3) reflektiert oder durchgelassen wird, und Betätigen der linearen hyperspektralen Bildaufnahmeeinrichtungen (5) für das Aufnehmen von hyperspektralen Bildern des Lichts, das in dem Infrarotspektrum (24) durch die verpackten Produkte (1) entlang der Bildaufnahmelinie (3) reflektiert oder gesendet wird,- mit den ersten Verarbeitungseinrichtungen (12), Analysieren der Intensität des Lichts von jedem Pixel (25) der hyperspektralen Bilder (29) in verschiedenen vordefinierten Bändern des Infrarotlichtspektrums, um die spektrale Signatur (26) der hyperspektralen Bilder (29) basierend auf der Analyse der Intensität zu erstellen, Vergleichen der spektralen Signatur (26) der hyperspektralen Bilder (29) mit einem Referenzmuster (27) und Färben der hyperspektralen Bilder mit einem vorgegebenen Farbton in Abhängigkeit von dem Ergebnis des Vergleichs der spektralen Signatur (26) mit dem Referenzmuster (27), um gefärbte hyperspektrale Bilder (30) zu erhalten,- mit den zweiten Bildverarbeitungseinrichtungen (13), Analysieren wenigstens eines vorbestimmten Steuerbereichs (36) jedes von den linearen Bildaufnahmeeinrichtungen (4) erhaltenen Bilds und jedes von den ersten Bildverarbeitungseinrichtungen (12) erhaltenen gefärbten hyperspektralen Bilds (30), Vergleichen wenigstens eines Steuerbereichs (36) jedes der Bilder mit wenigstens einem Referenzmuster, Sortieren der Bilder in Abhängigkeit von dem Vergleich mit dem Referenzmuster und Senden von Sortierbefehlen an die Betätigungseinrichtung (14), und- mit der Betätigungseinrichtung (14), Empfangen der Sortierbefehle und Betätigen der Sortiereinrichtungen (9) für die verpackten Produkte (1) basierend auf den Sortierbefehlen.
- Sortierverfahren nach Anspruch 13, wobei der durch die zweiten Bildverarbeitungseinrichtungen (13) analysierte Steuerbereich (36) ein Wärmeversiegelungsband (33) der Produktverpackung (1), eine Zelle (31), in der die Produkte abgelegt sind (39), oder einen Bereich, in dem gedruckte Codes des verpackten Produkts (1) vorgesehen sind, umfasst.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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EP20382436.2A EP3912737B1 (de) | 2020-05-22 | 2020-05-22 | System und verfahren zum sortieren von verpackten produkten |
ES20382436T ES2973545T3 (es) | 2020-05-22 | 2020-05-22 | Sistema y procedimiento de clasificación de productos envasados |
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EP20382436.2A EP3912737B1 (de) | 2020-05-22 | 2020-05-22 | System und verfahren zum sortieren von verpackten produkten |
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EP3912737A1 EP3912737A1 (de) | 2021-11-24 |
EP3912737C0 EP3912737C0 (de) | 2023-12-27 |
EP3912737B1 true EP3912737B1 (de) | 2023-12-27 |
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EP20382436.2A Active EP3912737B1 (de) | 2020-05-22 | 2020-05-22 | System und verfahren zum sortieren von verpackten produkten |
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ES (1) | ES2973545T3 (de) |
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CN114653596B (zh) * | 2022-04-07 | 2023-05-23 | 陈皓 | 一种药物组合物生产制备用检验装置 |
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JPS61170367A (ja) | 1985-01-23 | 1986-08-01 | Kaiyo Kagaku Kk | スツポンを含有する甘露煮及びその製造方法 |
DE4036201A1 (de) | 1990-11-14 | 1992-05-21 | Bayer Ag | Spektroskopisches analyseverfahren fuer kunststoffgemische |
JPH07111397B2 (ja) | 1993-01-14 | 1995-11-29 | 東亜電波工業株式会社 | プラスチックの種類判定方法 |
JPH06288913A (ja) | 1993-04-06 | 1994-10-18 | Fujitsu Ltd | 瓶類分別検査方法 |
DE4340795A1 (de) | 1993-08-24 | 1995-03-02 | Hartmut Dr Rer Nat Lucht | Verfahren und Anordnung zur Messung und Trennung von Körpern in Bezug auf ihre Materialzusammensetzung |
US5515159A (en) | 1995-02-10 | 1996-05-07 | Westinghouse Electric Corporation | Package seal inspection system |
JP3252682B2 (ja) | 1995-11-13 | 2002-02-04 | 株式会社豊田中央研究所 | 赤外分光分析法による樹脂の高速同定方法およびそのシステム |
DE19543134A1 (de) | 1995-11-18 | 1997-05-22 | Dietrich Dr Wienke | Verfahren und Vorrichtung zur getrennten Erfassung von Wertstoffen - insbesondere von Kunststoffverpackungen - in Form dezentral aufstellbarer sensorbetriebener intelligenter Container |
DE19601923C1 (de) | 1996-01-12 | 1997-07-24 | Inst Chemo Biosensorik | Verfahren und Vorrichtung zum Erkennen organischer Substanzen |
NO317826B1 (no) | 1998-02-09 | 2004-12-13 | Tomra Systems Asa | Fremgangsmate og anordning for gjenkjenning av en materialtype i et objekt, samt anvendelse derav |
US20060244954A1 (en) * | 2005-03-29 | 2006-11-02 | Daley Wayne D | System and method for inspecting packaging quality of a packaged food product |
FR2938067B1 (fr) | 2008-11-05 | 2010-12-31 | Edixia | Dispositif pour inspecter des soudures d'emballage. |
CA2688805C (en) * | 2008-11-18 | 2013-07-02 | John F. Green | Method and apparatus for sorting heterogeneous material |
FR2977939B1 (fr) | 2011-07-11 | 2013-08-09 | Edixia | Procede d'acquisition de plusieurs images d'un meme objet a l'aide d'une seule camera lineaire |
FR3011935B1 (fr) | 2013-10-11 | 2017-06-23 | Luceo | Procede et dispositif pour inspecter les soudures d'emballages |
-
2020
- 2020-05-22 EP EP20382436.2A patent/EP3912737B1/de active Active
- 2020-05-22 ES ES20382436T patent/ES2973545T3/es active Active
Also Published As
Publication number | Publication date |
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EP3912737C0 (de) | 2023-12-27 |
ES2973545T3 (es) | 2024-06-20 |
EP3912737A1 (de) | 2021-11-24 |
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