WO2006045285A1 - Device for the three-dimensional measurement of objects - Google Patents

Device for the three-dimensional measurement of objects Download PDF

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Publication number
WO2006045285A1
WO2006045285A1 PCT/DE2005/001901 DE2005001901W WO2006045285A1 WO 2006045285 A1 WO2006045285 A1 WO 2006045285A1 DE 2005001901 W DE2005001901 W DE 2005001901W WO 2006045285 A1 WO2006045285 A1 WO 2006045285A1
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WO
WIPO (PCT)
Prior art keywords
cameras
bottles
light
light source
bottle
Prior art date
Application number
PCT/DE2005/001901
Other languages
German (de)
French (fr)
Inventor
Markus Duelli
Heiko Kempe
Original Assignee
Wincor Nixdorf International Gmbh
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Wincor Nixdorf International Gmbh filed Critical Wincor Nixdorf International Gmbh
Priority to EP05804638A priority Critical patent/EP1805478A1/en
Publication of WO2006045285A1 publication Critical patent/WO2006045285A1/en
Priority to NO20072723A priority patent/NO20072723L/en

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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
    • B07C5/04—Sorting according to size
    • B07C5/12—Sorting according to size characterised by the application to particular articles, not otherwise provided for
    • B07C5/122—Sorting according to size characterised by the application to particular articles, not otherwise provided for for bottles, ampoules, jars and other glassware
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/024—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of diode-array scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
    • G01B11/04—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness specially adapted for measuring length or width of objects while moving
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures

Definitions

  • the invention relates to a device for three-dimensional measurement of containers such as in particular bottles and crates with bottles set for empties return systems.
  • a determination of the contour of the bottle crates and the bottles therein is required.
  • a height dimension of the box, its length and its width and the height determination of the bottle necks and the number of bottles is necessary. This results in the box shape and the position of the bottles in the box and the number of bottles in the box.
  • EP 404 749 B1 describes a method for determining the dimensions of a container in which a transit time method is used.
  • a transmitting device actively emits light that is partially reflected on the measuring object. Parts of the reflected light are received by a sensor element and depending on the respective method can be concluded by evaluation of the transmitted and received signal on the distance to the measurement object or on the object geometry.
  • a rotating mirror is provided so that the emitted light can sweep the entire contour of the container.
  • a disadvantage of runtime methods is the extremely complex technology that is necessary for detecting the physical effect. In particular, a very large space is required in order to detect the measured time differences can. This is however with the Installation of these devices in supermarkets hinderlich, since here the space is often tight.
  • From DE 198 32 615 A1 discloses a method for detecting the shape of bottle-shaped container is known in which light is coupled into the bottle through its bottom of the bottle, so that this light through the
  • Bottle radiates outward again and from a camera disposed above the bottle, an image of the illuminated bottle can be recorded. However, this procedure does not apply if the
  • Bottle is in a closed bottle crate, because then a lighting from below is not possible.
  • the invention thus has the object to provide a device for three-dimensional detection of objects such as containers, especially bottles and crates with bottles set for empties return systems, which is characterized by a compact design and thus a small space and here in particular by a small depth and nonetheless ensures a safe and fast detection of the container.
  • it should be characterized by a robust construction and a high maintenance-free.
  • This object is achieved according to the invention by a device for three-dimensional measurement of objects such as containers, especially bottles and crates with bottles set for reverse vending systems, in which a stereo image of the object is provided by two cameras, which are arranged above the object and a in essential axis-parallel beam path exhibit.
  • a substantially annular light source is provided, which is arranged between the object and the cameras and enables diffuse illumination of the object.
  • the solution according to the invention has the advantage that it requires a small space, has no moving mechanical components and is very maintenance-free overall.
  • Fig. 1 a schematic view of the device according to the invention for the return of containers, in particular a bottle crate with bottles.
  • a device for the return of objects such as containers, in particular bottles in crates is shown.
  • this device is in a reverse vending machine.
  • the bottle crate 1 is located on a conveyor belt 2.
  • the box 1 is placed on the conveyor belt 2 and is then transported by the conveyor belt 2 in the detection area of two cameras 3, 4.
  • the conveyor belt 2 is stopped so that an image of the dormant bottle crate can be recorded.
  • the invention can also be provided to detect the bottle crate 1 during movement on the conveyor belt 2 with the cameras 3,4.
  • the two cameras 3, 4, which are preferably high-resolution CCD cameras, are arranged at a fixed distance from each other and substantially parallel to the axis and are located in a plane above thestationnkastns 1. To increase the reliability of detection, these cameras 3,4 may also be designed as color cameras. Preferably, the distance between the two cameras 3, 4 is about 8 cm. In addition, the cameras 3, 4 are preferably not arranged completely parallel to each other, but at a certain angle, so that the bottle crate 1 is received from different directions.
  • the calibration 3, 4 to each other is advantageously carried out with an automated calibration. Preferably, cameras are used with Vz "screen size. Altogether, the cameras 3, 4 above the object side of the bottle case 1 telecentric beam paths for the recording of images of the bottle case 1 are made possible by the arrangement.
  • the three-dimensional structure of the bottle crate can be developed as a stereo image. Since the cameras 3,4 are rigid with respect to their positioning relative to the bottle crate 1 as well as with each other, this enables a robust mechanical construction of the device, since it is possible to dispense with movable components. Since preferably also the box 1 rests during the image acquisition, a simple geometry for image acquisition is created.
  • the shape of the light source is adapted to the rectangular contour of the bottle crate and formed as a rectangular light band 5.
  • the light band 5 is made of cold cathode tubes, since they emit a diffused light and are characterized by a long service life.
  • a number of light-emitting diodes, in particular light-intensive LEDs are used.
  • this type of light source 5 is a diffuse and uniform illumination of the container to be detected, reached in particular the bottle crate. The positioning of the light source above the bottle crate 1 and the diffuse illumination ensure a homogeneous illumination of the bottles located in the bottle crate, so that a clear image of them can be taken.
  • diffusers can be used as lenses.
  • a further camera 6 is provided, which is arranged on one side of the conveyor belt 2.
  • the logo is a
  • Mirror 7 is provided, which displays the image of the logo on the side surfaces of the logo
  • Bottle crate 1 on the camera 6 directs.
  • the mirror is substantially perpendicular and inclined at 45 ° to the conveyor belt direction. Due to the vertical arrangement of the mirror dirt deposits on the mirror by the action of gravity can be substantially avoided.
  • the required space size is very small due to the structure described, since essentially the dimensions of the bottle crate itself are a measure of the required space.
  • the box detection itself is carried out in two steps.
  • image processing with means of image processing, initially a recognition of the size relationships of the box, such as the height, width and length, is carried out.
  • the box edges in the two images of the cameras are touched from the outside with a corresponding image processing algorithm and from this the dimensions of the box are calculated determined.
  • the images and the computed box dimensions are then passed to another algorithm, which is now to recognize the bottles in the box.
  • the derivative in the two spatial directions x, y is first calculated from the captured pixels. Now the images are searched line by line for correspondence points, which are gradient thresholds.
  • the intensity value, the X gradient and the Y gradient are stored. Subsequently, the two images are linked together and the difference of the gray values of both images is stored and compared with a database. If the determined bottle crate data is known in the database, the crate is accepted by the return system. Overall, the image recognition should be about 1 - 2 seconds.
  • the resolution of the box survey lies with the described inventive system at +/- 1 mm, so that all commercial types of bottles and boxes can be detected with high security.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention relates to a device for the three-dimensional measurement of objects such as containers, in particular, bottles and bottle crates with bottles installed. A stereo imaging of the object is thus provided by means of two cameras, arranged above the object, with an essentially parallel beam path axis. An essentially annular light source is provided for illumination of the object, arranged between the object and the camera, permitting illumination of the object.

Description

Einrichtung zur dreidimensionalen Vermessung von Objekten Device for the three-dimensional measurement of objects
Die Erfindung betrifft eine Einrichtung zur dreidimensionalen Vermessung von Behältern wie insbesondere Flaschen und Flaschenkästen mit eingestellten Flaschen für Leergutrücknahmesysteme.The invention relates to a device for three-dimensional measurement of containers such as in particular bottles and crates with bottles set for empties return systems.
Zur Identifizierung von Behältern wie insbesondere Kästen und Flaschen bzw. von Flaschen in Kästen ist eine Bestimmung der Kontur der Flaschenkästen und der darin befindlichen Flaschen erforderlich. Insbesondere ist eine Höhenabmessung des Kastens, seine Länge und seine Breite sowie die Höhenbestimmung der Flaschenhälse und die Anzahl der Flaschen notwendig. Hieraus ergibt sich die Kastenform und die Lage der Flaschen im Kasten sowie die Anzahl der Flaschen im Kasten.For the identification of containers such as in particular boxes and bottles or bottles in boxes, a determination of the contour of the bottle crates and the bottles therein is required. In particular, a height dimension of the box, its length and its width and the height determination of the bottle necks and the number of bottles is necessary. This results in the box shape and the position of the bottles in the box and the number of bottles in the box.
Im Bereich von Leergutrücknahmeautomaten ist eine Vielzahl von Verfahren bekannt, um die Kontur eines Behälters zu erkennen. So ist in der EP 404 749 B1 ein Verfahren zur Ermittlung der Dimensionen eines Behälters beschrieben, bei dem ein Laufzeitverfahren benutzt wird. Eine Sendeeinrichtung strahlt aktiv Licht aus, das teilweise am Messobjekt reflektiert wird. Teile des reflektierten Lichtes werden von einem Sensorelement empfangen und abhängig vom jeweiligen Verfahren kann durch Auswertung des Sende- und Empfangssignals auf die Entfernung zum Messobjekt bzw. auf die Objektgeometrie geschlossen werden. Um die Kontur des Behälters zu erfassen, ist ein drehender Spiegel vorgesehen, so dass das ausgesandte Licht die gesamte Kontur des Behälters überstreichen kann. Nachteilig bei Laufzeitverfahren ist die äußerst komplexe Technik, die zur Erfassung des physikalischen Effekts notwendig ist. Insbesondere ist ein sehr großer Bauraum erforderlich, um die zu messenden Laufzeitunterschiede detektieren zu können. Dies ist jedoch bei der Aufstellung dieser Geräte in Supermärkten hinderlich, da hier der Raum oft eng bemessen ist.In the field of reverse vending machines, a variety of methods are known to detect the contour of a container. Thus, EP 404 749 B1 describes a method for determining the dimensions of a container in which a transit time method is used. A transmitting device actively emits light that is partially reflected on the measuring object. Parts of the reflected light are received by a sensor element and depending on the respective method can be concluded by evaluation of the transmitted and received signal on the distance to the measurement object or on the object geometry. To detect the contour of the container, a rotating mirror is provided so that the emitted light can sweep the entire contour of the container. A disadvantage of runtime methods is the extremely complex technology that is necessary for detecting the physical effect. In particular, a very large space is required in order to detect the measured time differences can. This is however with the Installation of these devices in supermarkets hinderlich, since here the space is often tight.
Aus der DE 198 32 615 A1 ist ein Verfahren zur Erkennung der Form flaschenförmiger Behälter bekannt, bei dem in die Flasche durch ihren Flaschenboden Licht eingekoppelt wird, so dass dieses Licht durch dieFrom DE 198 32 615 A1 discloses a method for detecting the shape of bottle-shaped container is known in which light is coupled into the bottle through its bottom of the bottle, so that this light through the
Flasche wieder nach außen abstrahlt und von einer oberhalb der Flasche angeordneten Kamera ein Bild der beleuchteten Flasche aufgenommen werden kann. Dieses Verfahren ist jedoch nicht anzuwenden, wenn sich dieBottle radiates outward again and from a camera disposed above the bottle, an image of the illuminated bottle can be recorded. However, this procedure does not apply if the
Flasche in einem geschlossenen Flaschenkasten befindet, da dann eine Beleuchtung von unten nicht möglich ist.Bottle is in a closed bottle crate, because then a lighting from below is not possible.
Als nichtoptische Verfahren gibt es Ultraschallverfahren, wobei es allerdings zu Messungenauigkeiten aufgrund von Totalreflexion an schallharten Oberflächen kommen kann, so dass keine oder nur eine sehr geringe Reflexion gemessen wird.As a non-optical method, there are ultrasonic methods, although it can lead to measurement inaccuracies due to total reflection at reverberant surfaces, so that no or only a very small reflection is measured.
Die Erfindung hat somit die Aufgabe, eine Einrichtung zur dreidimensionalen Erfassung von Objekten wie Behältern, insbesondere Flaschen und Flaschenkästen mit eingestellten Flaschen für Leergutrücknahmesysteme zu schaffen, die sich durch einen kompakten Aufbau und somit einen geringen Bauraum und hier insbesondere durch eine geringe Bautiefe auszeichnet und gleichwohl eine sichere und schnelle Erkennung der Behälter gewährleistet. Darüber hinaus soll sie sich durch einen robusten Aufbau und eine hohe Wartungsfreiheit auszeichnen.The invention thus has the object to provide a device for three-dimensional detection of objects such as containers, especially bottles and crates with bottles set for empties return systems, which is characterized by a compact design and thus a small space and here in particular by a small depth and nonetheless ensures a safe and fast detection of the container. In addition, it should be characterized by a robust construction and a high maintenance-free.
Diese Aufgabe wird gemäß der Erfindung durch eine Einrichtung zur dreidimensionalen Vermessung von Objekten wie Behältern, insbesondere insbesondere Flaschen und Flaschenkästen mit eingestellten Flaschen für Leergutrücknahmesysteme gelöst, bei der eine Stereoabbildung des Objektes durch zwei Kameras vorgesehen ist, die oberhalb des Objektes angeordnet sind und einen im wesentlichen achsenparallelen Strahlengang aufweisen. Zur Beleuchtung des Objektes ist eine im wesentlichen ringförmige Lichtquelle vorgesehen, die zwischen dem Objekt und den Kameras angeordnet ist und eine diffuse Beleuchtung des Objektes ermöglicht.This object is achieved according to the invention by a device for three-dimensional measurement of objects such as containers, especially bottles and crates with bottles set for reverse vending systems, in which a stereo image of the object is provided by two cameras, which are arranged above the object and a in essential axis-parallel beam path exhibit. To illuminate the object, a substantially annular light source is provided, which is arranged between the object and the cameras and enables diffuse illumination of the object.
Die erfindungsgemäße Lösung hat den Vorteil, dass sie einen geringen Bauraum benötigt, keine beweglichen mechanischen Komponenten aufweist und insgesamt sehr wartungsfrei ist.The solution according to the invention has the advantage that it requires a small space, has no moving mechanical components and is very maintenance-free overall.
Weitere Einzelheiten der Erfindung ergeben sich aus der nachfolgenden Beschreibung und der Zeichnung.Further details of the invention will become apparent from the following description and the drawings.
In der Zeichnung zeigt:In the drawing shows:
Fig. 1 : eine schematische Ansicht der erfindungsgemäßen Einrichtung für die Rücknahme von Behältern, insbesondere eines Flaschenkastens mit Flaschen.Fig. 1: a schematic view of the device according to the invention for the return of containers, in particular a bottle crate with bottles.
In Fig. 1 ist eine erfindungsgemäße Einrichtung zur Rücknahme von Objekten wie Behältern, insbesondere von Flaschen in Flaschenkästen dargestellt. Vorzugsweise befindet sich diese Einrichtung in einem Leergut- Rücknahmeautomaten. Der Flaschenkasten 1 befindet sich auf einem Transportband 2. Der Kasten 1 wird auf das Transportband 2 gesetzt und wird dann von dem Transportband 2 in den Erfassungsbereich von zwei Kameras 3, 4 transportiert. Im Erfassungsbereich der Kameras 3, 4 wird das Transportband 2 angehalten, damit ein Bild des ruhenden Flaschenkastens aufgenommen werden kann. In einer Weiterentwicklung der Erfindung kann auch vorgesehen sein, den Flaschenkasten 1 wärend der Bewegung auf dem Transportband 2 mit den Kameras 3,4 zu erfassen. Die beiden Kameras 3,4, bei denen es sich vorzugsweise um hochauflösende CCD-Kameras handelt, sind in einem festen Abstand zueinander und im wesentlichen achsenparallel angeordnet und befinden sich in einer Ebene oberhalb des Flaschenkastθns 1. Zur Erhöhung der Erkennungssicherheit können diese Kameras 3,4 auch als Farb-Kameras ausgebildet sein. Vorzugsweise beträgt der Abstand der beiden Kameras 3, 4 etwa 8 cm. Zudem sind die Kameras 3, 4 vorzugsweise nicht gänzlich parallel zueinander angeordnet, sondern in einem gewissen Winkel, so dass der Flaschenkasten 1 aus unterschiedlichen Richtungen aufgenommen wird. Die Kalibrierung 3, 4 zueinander erfolgt zweckmäßigerweise mit einer automatisierten Kalibriervorrichtung. Vorzugsweise werden Kameras mit Vz " Bilddiagonale verwendet. Insgesamt sind durch die Anordnung der Kameras 3, 4 oberhalb des Flaschenkastens 1 objektseitige telezentrische Strahlengänge für die Aufnahme der Bilder des Flaschenkastens 1 ermöglicht.In Fig. 1, a device according to the invention for the return of objects such as containers, in particular bottles in crates is shown. Preferably, this device is in a reverse vending machine. The bottle crate 1 is located on a conveyor belt 2. The box 1 is placed on the conveyor belt 2 and is then transported by the conveyor belt 2 in the detection area of two cameras 3, 4. In the detection range of the cameras 3, 4, the conveyor belt 2 is stopped so that an image of the dormant bottle crate can be recorded. In a further development of the invention can also be provided to detect the bottle crate 1 during movement on the conveyor belt 2 with the cameras 3,4. The two cameras 3, 4, which are preferably high-resolution CCD cameras, are arranged at a fixed distance from each other and substantially parallel to the axis and are located in a plane above the Flaschenkastns 1. To increase the reliability of detection, these cameras 3,4 may also be designed as color cameras. Preferably, the distance between the two cameras 3, 4 is about 8 cm. In addition, the cameras 3, 4 are preferably not arranged completely parallel to each other, but at a certain angle, so that the bottle crate 1 is received from different directions. The calibration 3, 4 to each other is advantageously carried out with an automated calibration. Preferably, cameras are used with Vz "screen size. Altogether, the cameras 3, 4 above the object side of the bottle case 1 telecentric beam paths for the recording of images of the bottle case 1 are made possible by the arrangement.
Durch die beiden Kameras 3, 4 wird der Flaschenkasten 1 gleichzeitig aus verschiedenen Perspektiven aufgenommen. Aus den beiden Ansichten des Flaschenkastens 1 kann die dreidimensionale Struktur des Flaschenkastens als Stereobild erschlossen werden. Da die Kameras 3,4 hinsichtlich ihrer Positionierung zum Flaschenkasten 1 als auch untereinander starr sind, ermöglicht dies einen robusten mechanischen Aufbau der Einrichtung, da auf bewegliche Komponenten verzichtet werden kann. Da vorzugsweise auch der Kasten 1 während der Bildaufnahme ruht, ist eine einfache Geometrie zur Bildaufnahme geschaffen.Through the two cameras 3, 4 of the bottle crate 1 is added simultaneously from different perspectives. From the two views of the bottle crate 1, the three-dimensional structure of the bottle crate can be developed as a stereo image. Since the cameras 3,4 are rigid with respect to their positioning relative to the bottle crate 1 as well as with each other, this enables a robust mechanical construction of the device, since it is possible to dispense with movable components. Since preferably also the box 1 rests during the image acquisition, a simple geometry for image acquisition is created.
Um den Flachenkasten 1 zu beleuchten, befindet sich oberhalb des Flaschenkastens 1 und unterhalb der Kameras 3, 4 eine vorteilhafterweise ringförmige Lichtquelle 5. Vorzugsweise ist die Form der Lichtquelle an die rechteckförmige Kontur des Flaschenkastens angepasst und als rechteckförmiges Lichtband 5 ausgebildet. Vorzugsweise besteht das Lichtband 5 aus Kaltkathodenröhren, da diese ein diffuses Licht aussenden und sich durch eine hohe Lebensdauer auszeichnen. Es ist jedoch auch möglich, dass eine Reihe von Leuchtdioden, insbesondere lichtintensive LEDs verwendet werden. Insgesamt wird durch diese Art der Lichtquelle 5 eine diffuse und gleichmäßige Beleuchtung des zu erfassenden Behälters, insbesondere des Flaschenkastens erreicht. Die Positionierung der Lichtquelle oberhalb des Flaschenkastens 1 und die diffuse Beleuchtung gewährleisten eine homogene Ausleuchtung der in dem Flaschenkasten befindlichen Flaschen, so dass ein deutliches Bild von ihnen aufgenommen werden kann.To illuminate the flat box 1, located above the bottle crate 1 and below the cameras 3, 4 is an advantageously annular light source 5. Preferably, the shape of the light source is adapted to the rectangular contour of the bottle crate and formed as a rectangular light band 5. Preferably, the light band 5 is made of cold cathode tubes, since they emit a diffused light and are characterized by a long service life. However, it is also possible that a number of light-emitting diodes, in particular light-intensive LEDs are used. Overall, this type of light source 5 is a diffuse and uniform illumination of the container to be detected, reached in particular the bottle crate. The positioning of the light source above the bottle crate 1 and the diffuse illumination ensure a homogeneous illumination of the bottles located in the bottle crate, so that a clear image of them can be taken.
Um ein möglichst diffuses Licht für die Beleuchtung des Flaschenkastens 1 zu erreichen, können noch zusätzliche, hier nicht dargestellte Diffusoren wie Streuscheiben eingesetzt werden.In order to achieve the most diffused light possible for the lighting of the bottle crate 1, additional, not shown here diffusers can be used as lenses.
Für eine Erkennung von Schriftzügen und Logos an den Seitenflächen des Flaschenkastens 1 ist eine weitere Kamera 6 vorgesehen, die an einer Seite des Förderbandes 2 angeordnet ist. Um das Logo zu erkennen, ist einFor recognition of logotypes and logos on the side surfaces of the bottle crate 1, a further camera 6 is provided, which is arranged on one side of the conveyor belt 2. To recognize the logo is a
Spiegel 7 vorgesehen, der das Bild des Logos an den Seitenflächen desMirror 7 is provided, which displays the image of the logo on the side surfaces of the logo
Flaschenkastens 1 auf die Kamera 6 lenkt. Der Spiegel ist im wesentlichen senkrecht und um 45 ° zur Transportbandrichtung geneigt angeordnet. Durch die senkrechte Anordnung des Spiegels können Schmutzablagerungen auf dem Spiegel durch Einwirkung der Schwerkraft im wesentlichen vermieden werden.Bottle crate 1 on the camera 6 directs. The mirror is substantially perpendicular and inclined at 45 ° to the conveyor belt direction. Due to the vertical arrangement of the mirror dirt deposits on the mirror by the action of gravity can be substantially avoided.
Insgesamt ist durch den beschriebenen Aufbau die erforderliche Bauraumgröße sehr klein, da im wesentlichen die Abmessungen des Flaschenkastens selbst ein Maß für den erforderlichen Bauraum sind.Overall, the required space size is very small due to the structure described, since essentially the dimensions of the bottle crate itself are a measure of the required space.
Die Kastenerkennung selbst wird in zwei Schritten durchgeführt. Zunächst werden die Bilder des Kastens von den Kameras 3, 4 aufgenommen und diese werden an eine Bildverarbeitungseinrichtung weitergeleitet. Dort wird mit Mitteln der Bildverarbeitung zunächst eine Erkennung der Größenverhältnisse des Kastens wie die Höhe, Breite und Länge durchgeführt. Dazu werden mit einem entsprechenden Bildverarbeitungsalgorithmen die Kastenkanten in den beiden Bildern der Kameras von außen angetastet und daraus werden die Maße des Kastens ermittelt. Die Bilder und die errechneten Kastenmaße werden dann einem weiteren Algorithmus übergeben, der nun die Flaschen in dem Kasten erkennen soll. Hierzu wird zunächst von den erfassten Bildpunkten die Ableitung in den beiden Raumrichtungen x, y berechnet. Nun werden die Bilder Linie für Linie nach Korrespondenzpunkten durchsucht, wobei es sich hierbei um Gradientenschwellwerte handelt. Für jedes Pixel werden der Intensitätswert, der X-Gradient und der Y-Gradient gespeichert. Anschließend werden die beiden Bilder miteinander verknüpft und die Differenz der Grauwerte beider Bilder wird abgelegt und mit einer Datenbank verglichen. Sind die ermittelten Flaschenkastendaten in der Datenbank bekannt, so wird der Kasten von dem Rücknahmesystem angenommen. Insgesamt sollte die Bilderkennung bei ca. 1 - 2 Sekunden liegen. Die Auflösung der Kastenvermessung liegt mit dem beschriebenen erfindungsgemäßen System bei +/- 1 mm, so dass alle handelsüblichen Flaschen- und Kastentypen mit hoher Sicherheit erkannt werden können. The box detection itself is carried out in two steps. First, the images of the box are taken by the cameras 3, 4 and these are forwarded to an image processing device. There, with means of image processing, initially a recognition of the size relationships of the box, such as the height, width and length, is carried out. For this purpose, the box edges in the two images of the cameras are touched from the outside with a corresponding image processing algorithm and from this the dimensions of the box are calculated determined. The images and the computed box dimensions are then passed to another algorithm, which is now to recognize the bottles in the box. For this purpose, the derivative in the two spatial directions x, y is first calculated from the captured pixels. Now the images are searched line by line for correspondence points, which are gradient thresholds. For each pixel, the intensity value, the X gradient and the Y gradient are stored. Subsequently, the two images are linked together and the difference of the gray values of both images is stored and compared with a database. If the determined bottle crate data is known in the database, the crate is accepted by the return system. Overall, the image recognition should be about 1 - 2 seconds. The resolution of the box survey lies with the described inventive system at +/- 1 mm, so that all commercial types of bottles and boxes can be detected with high security.

Claims

Ansprüche claims
1. Einrichtung zur dreidimensionalen Vermessung von Objekten, insbesondere Behälter wie Flaschen und Flaschenkästen mit1. Device for the three-dimensional measurement of objects, in particular containers such as bottles and crates with
5 eingestellten Flaschen mit5 bottles set with
- einer Ablagefläche (2) für das Objekt (1 ),a storage surface (2) for the object (1),
- zumindest zwei Kameras (3,4), die oberhalb der Ablagefläche (2) für das Objekt (1 ) angeordnet sind,at least two cameras (3, 4) arranged above the depositing surface (2) for the object (1),
- einer Lichtquelle (5),a light source (5),
lo - und einer Bildverarbeitungseinrichtung zur Auswertung der aufgenommenen Bilder.lo - and an image processing device for evaluating the recorded images.
2. Einrichtung nach Anspruch 1 , dadurch gekennzeichnet, dass die beiden Kameras (3,4) achsenparallel angeordnet sind.2. Device according to claim 1, characterized in that the two cameras (3,4) are arranged axis-parallel.
3. Einrichtung nach Anspruch 1 , dadurch gekennzeichnet, dass die i5 Kameras (3,4) in einem Winkel zueinander angeordnet sind.3. Device according to claim 1, characterized in that the i5 cameras (3,4) are arranged at an angle to each other.
4. Einrichtung nach Anspruch 2 oder 3, dadurch gekennzeichnet, dass die Kameras (3, 4) mittels einer Kalibriereinrichtung kalibriert werden.4. Device according to claim 2 or 3, characterized in that the cameras (3, 4) are calibrated by means of a calibration device.
5. Einrichtung nach einem oder mehreren der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Lichtquelle (5) zwischen dem5. Device according to one or more of claims 1 to 4, characterized in that the light source (5) between the
20 Objekt (1 ) und den Kameras (3,4) angeordnet ist,20 object (1) and the cameras (3,4) is arranged,
6. Einrichtung nach einem oder mehreren der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Ablagefläche (2) als Transportband ausgebildet ist, das während der Bildaufnahme nicht bewegt wird. 6. Device according to one or more of claims 1 to 5, characterized in that the storage surface (2) is designed as a conveyor belt, which is not moved during the image recording.
7. Einrichtung nach einem oder mehreren der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Lichtquelle (5) als ringförmiges Lichtband ausgebildet ist.7. Device according to one or more of claims 1 to 6, characterized in that the light source (5) is designed as an annular band of light.
8. Einrichtung nach Anspruch 7, dadurch gekennzeichnet, dass das 5 Lichtband aus Kaltkathodenröhren besteht.8. Device according to claim 7, characterized in that the 5 light band consists of cold cathode tubes.
9. Einrichtung nach Anspruch 7, dadurch gekennzeichnet, dass das Lichtband aus Leuchtdioden besteht.9. Device according to claim 7, characterized in that the light band consists of light-emitting diodes.
10. Einrichtung nach einem oder mehreren der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass Diffusoren wie Streuscheiben lo vorgesehen sind.10. Device according to one or more of claims 1 to 9, characterized in that diffusers are provided as scattering discs lo.
11. Einrichtung nach einem oder mehreren der Ansprüche 1 bis 10, dadurch gekennzeichnet, dass eine weitere Kamera (6) insbesondere für Aufnahmen von Schriftzügen, Logos und dgl. am Objekt vorgesehen ist.11. Device according to one or more of claims 1 to 10, characterized in that a further camera (6) is provided in particular for taking pictures of logos, logos and the like. On the object.
i5 12. Einrichtung nach Anspruch 11 , dadurch gekennzeichnet, dass ein12. The device according to claim 11, characterized in that a
Umlenkspiegel (7) insbesondere für die Umlenkung des Bildes der Seitenfläche eines Flaschenkastens (1 ) zu der Kamera (6) vorgesehen ist.Deflection mirror (7) in particular for the deflection of the image of the side surface of a bottle crate (1) to the camera (6) is provided.
13. Verfahren zur dreidimensionalen Vermessung von Objekten, 20 insbesondere von Behältern wie insbesondere Flaschen und13. A method for three-dimensional measurement of objects, 20 in particular of containers such as bottles and
Flaschenkästen mit eingestellten FlaschenBottle crates with bottles set
- wobei sich das Objekt (1 ) auf einer Ablagefläche (2) befindet,- wherein the object (1) is located on a storage surface (2),
- zumindest zwei Bilder des Objektes (1 ) von zumindest zwei Kameras (3,4), die oberhalb der Ablagefläche (2) für das Objekt- At least two images of the object (1) of at least two cameras (3,4), above the shelf surface (2) for the object
25 (1 ) angeordnet sind, aufgenommen werden,25 (1) are arranged to be picked up,
- eine Lichtquelle (5) das Objekt (1 ) beleuchtet, - und eine Bildverarbeitungseinrichtung die aufgenommenen Bilder auswertet.a light source (5) illuminates the object (1), - And an image processing device evaluates the recorded images.
14. Einrichtung nach Anspruch 13, dadurch gekennzeichnet, dass die Kameras (3,4) mittels einer Kalibriereinrichtung kalibriert werden. 14. Device according to claim 13, characterized in that the cameras (3, 4) are calibrated by means of a calibrating device.
PCT/DE2005/001901 2004-10-29 2005-10-25 Device for the three-dimensional measurement of objects WO2006045285A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP05804638A EP1805478A1 (en) 2004-10-29 2005-10-25 Device for the three-dimensional measurement of objects
NO20072723A NO20072723L (en) 2004-10-29 2007-05-29 Device for three-dimensional painting of objects

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004052978.7 2004-10-29
DE102004052978 2004-10-29

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WO2009150020A1 (en) * 2008-05-28 2009-12-17 Wincor Nixdorf International Gmbh Optical detection and classification of empty objects in a system for returning empties
EP2698979A1 (en) * 2012-08-16 2014-02-19 Wincor Nixdorf International GmbH Method and device for presenting objects
EP2297676B1 (en) * 2008-05-28 2015-03-04 Wincor Nixdorf International GmbH Method and device for avoiding alias effects in the optical recognition of transport containers

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DE19509631A1 (en) * 1995-03-17 1996-09-19 Helmut A Kappner Bottle and bottle crate content detection and sorting method for plastic crate
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WO2003058158A2 (en) * 2001-12-28 2003-07-17 Applied Precision, Llc Stereoscopic three-dimensional metrology system and method

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DE102007014214A1 (en) * 2007-03-24 2008-09-25 Krones Ag Device for checking the handles of a bottle crate
WO2009150020A1 (en) * 2008-05-28 2009-12-17 Wincor Nixdorf International Gmbh Optical detection and classification of empty objects in a system for returning empties
EP2297676B1 (en) * 2008-05-28 2015-03-04 Wincor Nixdorf International GmbH Method and device for avoiding alias effects in the optical recognition of transport containers
EP2698979A1 (en) * 2012-08-16 2014-02-19 Wincor Nixdorf International GmbH Method and device for presenting objects

Also Published As

Publication number Publication date
NO20072723L (en) 2007-05-29
EP1805478A1 (en) 2007-07-11

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