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WO2012031651A1 - Procédé et dispositif pour détecter des récipients de marchandise vide - Google Patents

Procédé et dispositif pour détecter des récipients de marchandise vide Download PDF

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Publication number
WO2012031651A1
WO2012031651A1 PCT/EP2011/003930 EP2011003930W WO2012031651A1 WO 2012031651 A1 WO2012031651 A1 WO 2012031651A1 EP 2011003930 W EP2011003930 W EP 2011003930W WO 2012031651 A1 WO2012031651 A1 WO 2012031651A1
Authority
WO
WIPO (PCT)
Prior art keywords
empty container
container
reference pattern
pixels
empties
Prior art date
Application number
PCT/EP2011/003930
Other languages
German (de)
English (en)
Inventor
Lioubov Jokhovets
Reiner Seitz
Andreas Littel
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 EP11741122.3A priority Critical patent/EP2614335A1/fr
Publication of WO2012031651A1 publication Critical patent/WO2012031651A1/fr

Links

Classifications

    • 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
    • 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
    • B07C5/126—Sorting according to size characterised by the application to particular articles, not otherwise provided for for bottles, ampoules, jars and other glassware by means of photo-electric sensors, e.g. according to colour
    • 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
    • B07C5/3404—Sorting according to other particular properties according to properties of containers or receptacles, e.g. rigidity, leaks, fill-level
    • B07C5/3408—Sorting according to other particular properties according to properties of containers or receptacles, e.g. rigidity, leaks, fill-level for bottles, jars or other glassware
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • G06T7/001—Industrial image inspection using an image reference approach
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/12—Edge-based segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/46—Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07F—COIN-FREED OR LIKE APPARATUS
    • G07F7/00—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus
    • G07F7/06—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus by returnable containers, i.e. reverse vending systems in which a user is rewarded for returning a container that serves as a token of value, e.g. bottles
    • G07F7/0609—Mechanisms actuated by objects other than coins to free or to actuate vending, hiring, coin or paper currency dispensing or refunding apparatus by returnable containers, i.e. reverse vending systems in which a user is rewarded for returning a container that serves as a token of value, e.g. bottles by fluid containers, e.g. bottles, cups, gas containers
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection

Definitions

  • the invention relates to a method for detecting empties containers in reverse vending machines, wherein the empties container is illuminated and detected by means of an optical detection unit, so that at least one identification feature identifying the empties container is determined from the determined image data.
  • the invention relates to a device for detecting empties containers in a reverse vending machine with a lighting unit for illuminating the empties container and with an optical detection unit for detecting at least one identification feature of the empties container.
  • a device for detecting empties containers in a reverse vending machine which has two optical detection units.
  • a first optical detection unit cooperates with a rotary member, by means of which the empty container can be rotated about its longitudinal axis.
  • the first optical detection unit serves to locate an identification feature of the empty container, in particular a bar code of the same.
  • the bar code can be detected by means of a second optical detection unit. If the identifier of the empties container is the same as the shape or contour, the two-stage optical recognition is not necessary.
  • the optical detection units may include, for example, CCD cameras, as described in DE 10 2008 006 382 A1 for detecting the material and the filling state of the empties container.
  • containers are known.
  • the lighting unit has a relatively large surface, which, however, can easily become dirty and thus falsify the image acquisition. It requires a relatively large amount of computation or data for the extraction of the identification features characterizing the shape of the empty container from the image data.
  • the lighting unit is relatively bulky, which increases the footprint of the device.
  • the object of the invention is therefore to provide a method and a device for detecting empties containers in reverse vending machines such that in a simple and secure manner, in particular a form of the empty container can be detected.
  • the inventive method in conjunction with the preamble of claim 1 is characterized in that the empties container is positioned in front of a reference pattern surface and then from the empty container and its surroundings a supervisory image is generated, depending on a deviation of the detected pixel values a predetermined threshold, an at least partial contour of the empty container is determined.
  • the particular advantage of the method according to the invention is that a secure shape recognition of empty containers can be made relatively quickly and safely and with little effort. No computationally expensive algorithms are required. Furthermore, the requirements for the illuminance for the empties container to be detected are relatively low.
  • the basic idea of the invention is to assign a reference pattern area to the empties container, so that pixels of the empties container and the reference pattern area are detected and set in relation to one another using an incident light method.
  • the optical detection unit forms a disturbance in the recording of the reference pattern.
  • This areal disturbance of the reference pattern is detected and used for the identification of a particular contour or shape of the empty container. Since the reference pattern is designed so that deviations are recognizable to an at least partially transparent before the same body, the data and computational effort for the contour detection of the empty container is relatively low.
  • the reference pattern surface is formed by a regular reference pattern. Furthermore, only locally selected pixels of the detection area are detected, which coincide with predetermined pixels, for example pixels of minimum or maximum intensity and / or brightness of the reference pattern area. By a change in intensity of the detected pixel, the contour of the empty container can be detected. It is thus sufficient to detect the detection area in a grid-like manner, brightness differences and / or intensity differences of the pixels pointing to the contour of the empties container. The data expenditure as well as the expenditure for the data processing can thus be kept low. The accuracy of the contour information depends on the number of captured raster pixels and the density of the regular reference pattern.
  • the detected pixel values are compared with a predetermined threshold value. If the threshold is exceeded, these pixels are recognized as background image data. If the threshold value is undershot, these pixel values are recognized as empties image data.
  • the boundary between the background image data on one side and the empties image data on the other side can serve as an identifier for the contour of the empties container.
  • pixel values of the reference pattern are stored in a reference data memory.
  • a reference data memory For the purpose of detecting the empty container, it is positioned between the reference pattern surface and an optical recognition unit, so that subsequently the pixel values of the detection range exceeding a predetermined threshold value are detected. Since the pixel values lie below the threshold value at least in the region of the contour of the empty container, the contour of the empty container can be determined by subtracting the entire background pixels from the reference pixels.
  • a trapped by the contour of the empty container detection field can be checked within the supervisory image for compliance with the reference pattern.
  • a transparency and / or a color and / or a material of the empty container can be detected.
  • a functional extension can be achieved with little effort.
  • the device according to the invention in connection with the preamble of claim 6 is characterized in that the empties container is disposed between the optical detection unit and a reference pattern surface, wherein the reference pattern surface forms a background for a recorded by the optical detection unit supervisory image of the empty container, and in that the reference pattern surface has such a reference pattern that a shape characteristic of the empties container can be derived from the acquired supervisory image as the identification feature.
  • the particular advantage of the device according to the invention is that a contour of the empty container can be determined in a simple and secure manner.
  • the identification of the empty container is carried out by a number of - -
  • the reference pattern is formed as a stripe pattern having a number of stripes of different brightness and / or color.
  • the stripe pattern is selected to have a different structure to the empty container in terms of light intensity.
  • the contour of the empty container can thereby be determined relatively quickly by comparison.
  • the stripe patterns are formed by a series of alternating black stripes and white stripes in one direction. This makes it possible to form "zebra stripes as a background surface, which enable effective contour recognition of the empty containers.
  • the reference pattern is applied to a support surface on which the empty container is positioned.
  • this may also be a conveyor belt, by means of which the empty container is transported. Thus, no additional space is required by the reference pattern.
  • a further optical recognition unit can be provided, which is able to detect a bar code as a recognition feature of the empty container. This advantageously makes it possible to detect an emptied container provided with a bar code.
  • the additional shape recognition prevents the deposit of deposit money in reverse vending machines by supplying not associated with a container empties barcodes.
  • FIG. 1 shows a schematic side view of a device according to the invention with a bottle-shaped empties container which is positioned on a conveyor belt and is detected by an optical detection unit, a section of the plan view according to FIG. 2 in a detection field of the empties container , wherein the empties container consists of a plastic material, and a section of the plan view of Figure 2 in a detection field of the empty container, wherein the empties container consists of a glass material.
  • a device for detecting empties containers 1 is integrated in a reverse vending machine, not shown, which is adapted to receive empty containers, possibly to sort different types of empty containers to collect the empties container 1 in a container and the user of the reverse vending machine a Bon with the appropriate deposit value.
  • the empty container 1 may be formed as a bottle, which is made of a transparent material, such as plastic or glass. customary Licher way, the empty container 1 has a label which is provided with a bar code as an identifying feature.
  • the device For detecting a shape or contour of the empties container 1, the device essentially comprises an optical recognition unit 2 and a lighting unit 3, which are arranged on a common side with respect to the empties container 1.
  • the lighting unit 3 may comprise a plurality of LED lights that illuminate a detection area 4, in which the empty container 1 is arranged.
  • the optical detection unit 2 may comprise an image sensor or a camera, which is designed to generate a supervisory image from the detection area 4.
  • a processing or evaluation device CCD camera
  • the empties container 1 is on a support surface 5, which may for example be designed as a means of transport (conveyor belt) positioned.
  • the support surface 5 forms a reference pattern surface, which has for example a printed reference pattern 6, see Figure 2.
  • the reference pattern surface 5 forms a background for the empty container 1 and is arranged on a side facing away from the optical detection unit 2 of the empty container 1.
  • the reference pattern 6 extends over a larger area than the empty container 1 and extends at least over the entire detection area 4.
  • the optical detection unit 2 and the reference pattern 6 allow capturing of oversight images, by means of which a feature or a contour feature of the empties container 1 as an identification feature can be determined.
  • the reference pattern 6 is formed by a stripe pattern having a number of alternately arranged black stripes 7 and white stripes 8. These strips 7, 8 extend substantially perpendicular to a longitudinal axis of the empty container 1 or perpendicular to a longitudinal side V of the empty container 1.
  • pixels of the detection area 4 are detected and then sent for further processing.
  • the resolution of the image sensor device can be chosen so that pixels (pixel values) in a grid of lines Z1, Z2, ... Zn and columns S1, S2, ... Sn are read out to form the supervisor image, the column width with the distance between two black stripes 7 and white stripes 8 matches.
  • These lattice-like or grid-like detected pixels P are now compared with a predetermined threshold.
  • the threshold value may be, for example, a light intensity value.
  • the threshold value may be just above a light intensity value for the black stripes 7, so that when the threshold value is undershot by the pixels, these are recognized as pixels P1 lying on the black stripe. This ensures that along the black stripes 7 of the reference pattern surface 5 pixels P1 (background image data) are determined, of which only a few are shown by way of example in FIG.
  • pixels P3 are obtained, which are shown in square fashion for clarity in FIG. These pixels P3 form the contour of the empty container 1.
  • the feature of the empties container 1 is thus recognized, the empties container 1 can be transported within the reverse vending machines and a corresponding deposit amount credited.
  • a bar code reader can be integrated in the optical recognition unit 2, so that in addition a bar code applied to the label of the empty container 1 can also be detected.
  • the device comprises a rotary member for aligning the bar code in the direction of the optical detection unit 2. In this way it can be ensured that an empty container 1 has been obtained by reading the bar code.
  • the bar code reader can also be arranged outside the optical recognition unit 2.
  • the pixels P1 of the reference pattern 6 located in the detection region 4 can be stored in advance as reference pixels in a reference data memory. These reference pixels are detected when no empty container 1 rests on the support surface 5. This results in a number of maximum reference pixels Nmax.
  • a supervisor image with pixels of the detection region 4 is detected, wherein the pixels exceeding the threshold value are classified as background image data.
  • This number of background pixels may be N1, which is smaller than the maximum number of pixels Nmax.
  • the contour P3 of the empty container 1 can be determined, as shown in FIG.
  • pixels are detected in a grid-like manner, adjacent pixels being at the same distance from each other.
  • the determination of the contour of the empty container 1 is characterized in that a difference is formed between the reference pattern 6 representing pixels of a first supervisory image, which have been determined without empty container 1 and in a second supervisory image with empty container 1.
  • the pixels can be detected in a predetermined, preferably in a close to the bottle neck region of the empty container 1 detection field 10 to determine the material and / or the color and / or the transparency of the empty container 1.
  • a light intensity range of the pixels to a reference pattern 6, as already described above.
  • a transparent empty container 11 made of plastic material even rows of pixels P5 are detected, while in the case of a transparent empty container 1 'made of glass material, a row of arcuately arranged pixels P6 is detected.
  • An empty container 11 made of plastic material preferably has thinner walls than a glass bottle 11 ', so that the regular structure of the reference pattern 6 is maintained. This can thus serve as a criterion for the determination of a material-related identification feature of the empties container 11, 11 '.
  • certain characteristic contour points, for example corner points, of the empties container 1 can also be determined by the detection method described above.
  • the strips 7, 8 are rectilinear.
  • these may also have a serpentine or another shape or color. This depends on the shape and transparency of the empty container 1.
  • pixels of the white stripes 8 can also be used to determine the background image data.
  • the threshold value has a relatively high brightness value, at which point the pixels are recognized as background pixels.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Quality & Reliability (AREA)
  • Control Of Vending Devices And Auxiliary Devices For Vending Devices (AREA)

Abstract

L'invention concerne un procédé pour détecter des récipients de marchandise vide dans des automates de restitution de marchandise vide, le récipient de marchandise vide étant éclairé et étant détecté au moyen d'une unité d'identification optique, de sorte qu'au moins une caractéristique d'identification identifiant le récipient de marchandise vide soit déterminée à partir des données d'image déterminées, le récipient de marchandise vide étant positionné en amont d'une surface de modèle de référence et une image de surveillance étant générée ensuite pour le récipient de marchandise vide et son environnement, un contour au moins partiel du récipient de marchandise vide étant déterminé en fonction d'un écart entre les valeurs de point d'image enregistrées et une valeur seuil prédéfinie.
PCT/EP2011/003930 2010-09-10 2011-08-05 Procédé et dispositif pour détecter des récipients de marchandise vide WO2012031651A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP11741122.3A EP2614335A1 (fr) 2010-09-10 2011-08-05 Procédé et dispositif pour détecter des récipients de marchandise vide

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102010037448A DE102010037448A1 (de) 2010-09-10 2010-09-10 Verfahren und Vorrichtung zur Erfassung von Leergutbehältern
DE102010037448.2 2010-09-10

Publications (1)

Publication Number Publication Date
WO2012031651A1 true WO2012031651A1 (fr) 2012-03-15

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PCT/EP2011/003930 WO2012031651A1 (fr) 2010-09-10 2011-08-05 Procédé et dispositif pour détecter des récipients de marchandise vide

Country Status (3)

Country Link
EP (1) EP2614335A1 (fr)
DE (1) DE102010037448A1 (fr)
WO (1) WO2012031651A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2636458A1 (fr) * 2012-03-08 2013-09-11 Wincor Nixdorf International GmbH Dispositif et procédé destinés à la reconnaissance de la forme et du poid de récipients d'emballage vides

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DE102012211734A1 (de) 2012-07-05 2014-01-23 Dr. Johannes Heidenhain Gmbh Verfahren und Vorrichtung zum Erfassen der Lage eines Objekts in einer Werkzeugmaschine
EP2698979B1 (fr) * 2012-08-16 2017-05-03 Wincor Nixdorf International GmbH Dispositif et procédé de présentation d'objets
DE102018107305A1 (de) * 2018-03-27 2019-10-02 Krones Ag Vorrichtung und Verfahren zur optischen Positionserkennung transportierter Objekte
CN110047067B (zh) * 2019-04-02 2021-06-22 广州大学 一种用于瓶子分类的瓶肩检测方法
CN113409239B (zh) * 2020-12-04 2022-07-19 中广核贝谷科技有限公司 一种基于辐射成像的集装箱空箱检测方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2636458A1 (fr) * 2012-03-08 2013-09-11 Wincor Nixdorf International GmbH Dispositif et procédé destinés à la reconnaissance de la forme et du poid de récipients d'emballage vides

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EP2614335A1 (fr) 2013-07-17
DE102010037448A1 (de) 2012-03-15

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