Abstract
A detection device for an at least semiautomated detection of multiple object data sets of at least one object is described. The detection devices includes a movement device for generating a defined relative movement between at least one object data detection unit and the at least one object.
Claims
1-19. (canceled)
20. A detection device for an at least semi-automated detection of multiple object data sets of at least one object, comprising: a movement device configured to generate a defined relative movement between at least one object data detection unit and the at least one object.
21. The detection device as recited in claim 20, wherein the movement device is configured for detecting object data from multiple perspectives.
22. The detection device as recited in claim 20, further comprising: a processing unit configured to carry out an object learning process.
23. The detection device as recited in claim 20, further comprising: a processing unit configured to utilize a forward movement and a backward movement of an object data detection unit and/or of the object for data detection.
24. The detection device as recited in claim 20, wherein the movement device includes at least one movement unit for a defined movement of at least one object data detection unit.
25. The detection device as recited in claim 24, wherein the movement unit is provided for guiding the at least one object data detection unit on an at least partially curved movement path.
26. The detection device as recited in claim 24, wherein the movement unit includes at least one partially curved path, and is configured to guide the at least one object data detection unit along the at least partially curved path.
27. The detection device as recited in claim 24, wherein the movement unit is configured to guide the at least one object data detection unit along a direction that is perpendicular to a movement path.
28. The detection device as recited in claim 20, wherein the object data detection unit includes at least one swivel axis and/or rotational axis about which the object data detection unit is swivelably and/or rotatably supported.
29. The detection device as recited in claim 24, wherein the movement unit includes a drive unit that is configured to automatedly move the object data detection unit.
30. The detection device as recited in claim 20, wherein the movement device includes at least one movement unit that is configured as a multiaxial robotic arm.
31. The detection device as recited in claim 30, wherein the movement unit is movably supported in multiple dimensions.
32. The detection device as recited in claim 30, wherein the at least one object data detection unit includes at least two object data detection units situated at the movement unit.
33. The detection device as recited in claim 30, wherein the at least one object data detection unit includes a plurality of object data detection units situated at the movement unit in a revolver-like manner.
34. The detection device as recited in claim 30, further comprising: at least one contrast unit, for an active illumination, situated at the movement unit.
35. The detection device as recited in claim 30, further comprising: at least one magazine unit configured to furnish a plurality of object data detection units and/or objects for a coupling to the movement unit.
36. The detection device as recited in claim 20, further comprising: at least one object carrier unit, the movement device including at least one scissor joint-like bearing unit via which the object carrier unit is movably supported.
37. A system, comprising: a detection device including a movement device configured to generate a defined relative movement between at least one object data detection unit and at least one object; a memory unit including data sets that are at least partially generated using the detection device; a mobile detection unit; and a processing unit configured to evaluate data that are detected by the mobile detection unit, at least taking data sets of the memory unit into account.
38. A method for detecting multiple object data sets of at least one object, the method comprising: providing a detection unit including a movement device configured to generate a defined relative movement between at least one object data detection unit and the at least one object; and using the detection unit to detect the multiple object data sets of the at least one object.
39. A method for detecting multiple object data sets of at least one object, the method comprising: providing a system, including: a detection device including a movement device configured to generate a defined relative movement between at least one object data detection unit and at least one object; a memory unit including data sets that are at least partially generated using the detection device; a mobile detection unit; and a processing unit configured to evaluate data that are detected by the mobile detection unit, at least taking data sets of the memory unit into account; and using the system to detect the multiple object data sets of the at least one object.
Description
BRIEF DESCRIPTION OF THE DRAWINGS
[0071] Further advantages result from the description below of the figures. Twelve exemplary embodiments of the present invention are shown in the figures. The figures and the description contain numerous features in combination. Those skilled in the art will also advantageously consider the features individually and combine them into further meaningful combinations.
[0072] FIG. 1 shows a schematic illustration of an example system according to the present invention for nontransparent object carriers.
[0073] FIG. 2 shows a schematic illustration of an example movement device, including a nontransparent object carrier.
[0074] FIG. 3 shows a schematic illustration of an example movement unit of the object detection unit.
[0075] FIG. 4 shows a schematic illustration of an example system for transparent object carriers.
[0076] FIG. 5 shows a schematic illustration of a movement device, including a transparent object carrier.
[0077] FIG. 6 shows a schematic illustration of a bearing unit in a lateral arrangement.
[0078] FIG. 7 shows a schematic illustration of the movement device, including a structural element for a simultaneous movement of the object data detection unit and the contrast unit.
[0079] FIG. 8 shows a schematic illustration of the bearing unit in an arrangement on the bottom side.
[0080] FIG. 9 shows a schematic illustration of the transport unit and a positioning unit.
[0081] FIG. 10 shows a schematic illustration of the transport unit and a further positioning unit.
[0082] FIG. 11 shows a schematic illustration of the lock unit.
[0083] FIG. 12 shows a schematic illustration of a portion of one alternative detection device.
[0084] FIG. 13 shows a schematic illustration of a portion of a further alternative detection device.
[0085] FIG. 14 shows a schematic illustration of a portion of a further alternative detection device.
[0086] FIG. 15 shows a schematic illustration of a portion of a further alternative detection device.
[0087] FIG. 16 shows a schematic illustration of a portion of a further alternative detection device.
[0088] FIG. 17 shows a schematic illustration of a portion of a further alternative detection device.
[0089] FIG. 18 shows a schematic illustration of the method for detecting a multiple object data set.
[0090] FIG. 19 shows a schematic illustration of the method for recognizing objects.
DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS
[0091] FIG. 1 shows an example system that includes a detection device with a memory unit 92a including data sets that are at least partially generated using the detection device, and including a mobile detection unit 94a and a processing unit 16a that is provided for evaluating data that are detected with mobile detection unit 94a, at least taking memory unit 92a into account. The detection device includes a processing unit 16a that is provided for carrying out an object learning process.
[0092] The detection device includes a housing unit 62a that is provided for at least partially shielding an object detection area from the outside. The detection device includes a transport unit 54a that is provided for supplying objects 10a to the object detection area in an at least partially automated manner. Transport unit 54a includes a path conveyor unit 56a, in particular a conveyor belt unit. Transport unit 54a is provided for transporting at least two detachably connected object carriers 46a. Transport unit 54a preferably transports a plurality of object carriers 46a, an illustrated number of object carriers 46a preferably being strictly by way of example. In particular, object carriers 46a are each loaded with one object 10a in a loading area 104a. Objects 10a, after a detection in object detection areas enclosed by housing units 62a, are preferably removed from object carriers 46a in an unloading area 106a. The loading and/or unloading take(s) place manually, for example, in particular by an operator. In another embodiment, the loading and/or unloading of transport unit 54a may also take place in particular automatically with the aid of a logistics and conveying system, in particular with the aid of a robot.
[0093] The detection device includes an identification unit 84a for an advance detection of object parameters. The detection device includes an identification unit 84a for an advance detection of object carrier parameters. In particular, each identification unit 84a includes a scanning unit that is situated at housing units 62a. Identification unit 84a preferably includes a mobile scanning unit. The mobile scanning unit is provided in particular for detecting an object parameter as well as an object carrier parameter. In particular, the mobile scanning unit reads in an identification number of object carrier 46a during loading of object carrier 46a. Beforehand or afterward, the mobile scanning unit preferably reads in an identification number of object 10a. However, it would also be possible for an identification number of object 10a to be manually associated with the identification number of object carrier 46a and merely queried by the scanning unit. Object parameters are preferably queried by an internal and/or external database, based on the identification number of object 10a. The detection device includes a communication device 86a for receiving object parameters. In particular, in addition to the object parameters, communication device 86a receives the identification number of object carrier 46a which carries associated object 10a. Path conveyor unit 56a preferably transports object 10a on object carrier 46a after reading in the identification numbers to the first object data detection area. Identification unit 84a is provided for evaluating an object carrier parameter with regard to an object parameter. In particular, the scanning unit situated at housing unit 62a detects the identification number of object carrier 46a upon entry into the inner space of housing unit 62a. In particular, the object parameters received by communication device 86a are selected based on the identification number of object carrier 46a. The detection device includes a control and/or regulation unit 82a that is provided for setting at least one operating parameter of the detection device as a function of at least one object parameter.
[0094] In one example embodiment including nontransparent object carriers 46a, for detecting the side of an object 10a resting on object carrier 46a, the object must be turned 103a at least once. To achieve higher throughput rates, the system includes a further object detection area that is provided for carrying out an additional detection of object 10a after object 10a is turned 103a. The object detection areas in particular have an identical design. However, it would also be possible for a second object detection area to have a reduced functionality compared to the first object detection area.
[0095] FIG. 2 shows the detection device for an at least semiautomated detection of multiple object data sets at least of object 10a, including a movement device 12a for generating a defined relative movement between at least one object data detection unit 14a and the at least one object 10a. Movement device 12a is provided for detecting object data from multiple perspectives.
[0096] Movement device 12a includes at least one movement unit 24a for a defined movement of the at least one object data detection unit 14a. Movement unit 24a is provided for guiding the at least one object data detection unit 14a on an at least partially curved movement path 26a. Movement unit 24a includes at least one partially curved path 28a, and is provided for guiding the at least one object data detection unit 14a along at least partially curved path 28a. It is possible to use multiple object data detection units 14a. A further object data detection unit 108a is indicated in FIG. 2. In particular, each object data detection unit 14a, 108a could cover a subsection of curved path 28a for quicker detection of object data from multiple perspectives. In particular, object data detection units 14a, 108a could be moved simultaneously or independently of one another. Movement unit 24a is provided for guiding the at least one object data detection unit 14a along a direction 30a that is at least essentially perpendicular to a movement path 26a. Object data detection unit 14a has at least one swivel axis and/or rotational axis 32a about which object data detection unit 14a is swivelably and/or rotatably supported. The detection device includes a dimension detection unit 88a. Dimension detection unit 88a is preferably designed as a laser module. Dimension detection unit 88a is preferably mounted on a guide carriage of movement unit 24a that is shared with object data detection unit 14a.
[0097] The detection device includes an object carrier unit 36a. Movement device 12a includes a bearing unit 38a via which object carrier unit 36a is movably supported. Bearing unit 38a has at least one swivel axis and/or rotational axis 40a about which object carrier unit 36a is swivelably and/or rotatably supported. Bearing unit 38a includes at least one movement path 42a along which object carrier unit 36a is movably supported. Movement device 12a includes a drive unit 44a that is provided for automatedly moving object carrier unit 36a.
[0098] Object carrier unit 36a is provided for an active illumination. Object carrier unit 36a includes at least one light source 52a. Object carrier unit 36a includes at least one light-emitting diode (LED), in particular at least one organic light-emitting diode (OLED). Light source 52a preferably includes an OLED screen that is flatly situated at object carrier 46a. The object carrier unit preferably includes at least one transparent protective layer for protecting light source 52a.
[0099] Object carrier unit 36a includes a weight detection unit. Object carrier unit 36a includes at least one detachably connected object carrier 46a. Object carrier 46a is preferably raised from path conveyor unit 56a by bearing unit 38a (see FIG. 1) for detecting object data. After object data are detected, object carrier 46a is preferably lowered onto path conveyor unit 56a with the aid of bearing unit 38a. For raising and lowering object carrier 46a, path conveyor unit 56a preferably includes a corresponding recess through which bearing unit 38a may be temporarily connected to object carrier 46a in a form-fit and/or force-fit manner.
[0100] The detection device includes a processing unit 18a that is provided for utilizing a forward movement 20a, 20a and a backward movement 22a, 22a of an object data detection unit 14a and/or of an object 10a for data detection.
[0101] The detection device includes a contrast unit 72a that is provided for an active illumination. The detection device includes a contrast unit 72a that includes at least one light source 74a. The detection device includes a contrast unit 72a that includes at least one light-emitting diode, in particular at least one organic light-emitting diode. Contrast unit 72a is preferably situated at object carrier unit 36a in at least one operating state. Light source 74a preferably includes an OLED screen that is flatly situated at contrast unit 72a.
[0102] FIG. 3 shows one possible embodiment of movement unit 24a. Movement unit 24a includes a drive unit 34a that is provided for automatedly moving object data detection unit 14a. In particular, movement unit 24a includes a guide carriage on which object data detection unit 14a is mounted. Curved path 28a is preferably designed as a guide rail that includes a guide 112a. In particular, curved path 28a includes two paths extending in parallel. The guide carriage is preferably situated between the parallel paths.
[0103] FIGS. 18 and 19 each show a method that includes a detection device according to the present invention and/or a system according to the present invention.
[0104] FIG. 18 shows a schematic illustration of the method for detecting a multiple object data set. In an initial phase 136a it is preferably ensured that movement device 12a is in a designated starting position 98a. Operating parameters at least for movement device 12a and object data detection unit 14a are preferably automatically established with the aid of control and/or regulation unit 82a, in particular based on an advance detection of object parameters. In particular, a list containing positions for object carrier unit 36a and object data detection unit 14a is created for which a detection of object data takes place with the aid of object data detection unit 14a. Movement unit 24a of object data detection unit 14a is preferably controlled and/or regulated to the first position in a further method step 164a. Object carrier unit 36a is preferably driven in uniform rotation 138a about rotational axis and/or swivel axis 40a with the aid of drive unit 44a in a further method step or while movement unit 24a is being moved to a new position. Object data are preferably detected with object data detection unit 14a at regular intervals, for example every 10 of the rotational movement of object carrier unit 36a, in a further method step 140a. In particular, the individual detections may be triggered with the aid of a rotational path sensor, for example, or may take place at regular time intervals that are coordinated with a rotational speed of object carrier unit 36a. After an in particular complete revolution of object carrier unit 36a, a check 142a is preferably made in a further method step as to whether an end of the list containing positions is reached. In the event of a negative result of check 142a, movement unit 24a of object data detection unit 14a is preferably controlled and/or regulated to the next position. In the event of a positive result of check 142a, a backward movement 22a is initiated in a further method step 166a. In the method, at least one multiple data set is collected in at least one method step 96a during a backward movement 22a of movement device 12a, after a forward movement 20a, back into a starting position 98a of movement device 12a. In particular, a further list containing positions for a backward movement 22a is dealt with analogously. If an end of the further list containing positions is reached in a corresponding further check 144a, movement device 12a is preferably controlled into starting position 98a. At least one list preferably contains standard positions, for example 0, 45, and 90 with respect to starting position 98a for a circular path of the object data detection unit.
[0105] At least one list preferably contains object-specific positions. It is also possible for all positions in which a detection takes place to be uniformly distributed over all lists. In particular after the detection of a data set in method step 96a, 140a, rotation 138a may be stopped, or continuously maintained until movement device 12a returns into starting position 98a.
[0106] FIG. 19 shows a schematic illustration of the method for recognizing an object 10a. In particular, FIG. 19 shows a method that includes a system according to the present invention in which the created object data sets are evaluated for machine learning 100a in at least one method step. A distinction is preferably made between two phases. In particular, a distinction is made between a learning phase and a recognition phase. A check 152a is preferably carried out in at least one method step concerning in which phase the method is in. At least one multiple object data set of at least one object 10a is preferably detected, using the detection device, in a first method step 150a. The multiple object data set is preferably stored in memory unit 92a in a further method step 168a. In the learning phase, the created object data sets are preferably evaluated for machine learning 100a in at least one method step. The data sets that arise in machine learning 100a are preferably stored in memory unit 92a in a further method step 154a. In particular, the original multiple object data sets may be deleted in method step 154a. The system for recognizing previously detected objects 10a may preferably be utilized after completion of the learning phase. Object data concerning an object 10a to be recognized are preferably detected using a mobile detection unit 94a. Alternatively, the detection device is utilized for detecting object data in method step 150a. The object data are preferably supplied to processing unit 16a. In the method, the created object data sets are evaluated for recognizing 102a object 10a in at least one method step. In the method, the data detected using mobile detection unit 94a are evaluated for recognizing 102a object 10a in at least one method step. In particular, a check is made as to whether the object data sets created in method step 150a using the detection device and/or the data detected in method step 170a using mobile detection unit 94a at least partially agree with the data sets created in the learning phase after an evaluation by processing unit 16a. Two data sets preferably partially agree when one data set is a subset of the other. A check is preferably made in a further method step 156a as to whether recognition 102a was successful, in particular whether at least one agreement could be found. If it was not possible to bring the detected object data into agreement with a previously detected object, a decision 146a of an operator is queried in an optional step as to whether the detected object data are to be used for machine learning 100a in order to expand the list of recognizable objects and/or to modify the data set, stored in the memory unit, for an object that is already known. In the event of a negative decision 146a, the object data are preferably deleted in a subsequent method step 148a. After a successful recognition 102a, a count 158a of the data sets that agree with the detected data is preferably carried out in a further method step. In the event of a single partial agreement in a final method step 160a, a piece of information concerning the object in question, for example a name, an identification number, and/or an order number, is preferably output. For multiple objects in question, a list of all agreements is preferably output in a method step 162a. A piece of information is preferably output, on the basis of which the objects may be distinguished. In the method, a material is deduced from least one data set in at least one method step. A material is preferably deduced during machine learning 100a and/or recognition 102a. It is also possible for the detection device to utilize at least one object data set in the detection of a multiple object data set in method step 150a in order to deduce a material.
[0107] A further exemplary embodiment of the present invention is shown in each of FIGS. 4 through 6, 7 through 8, 9, 10, 11, 12, 13, 14, 15, 16, and 17. The following descriptions and the drawings are limited essentially to the differences between the exemplary embodiments; with regard to components that are denoted in the same way, in particular with regard to components having the same reference numerals, reference may basically also be made to the drawings and/or the description of the other exemplary embodiment, in particular in FIGS. 1 through 3 and 18 and 19. To distinguish between the exemplary embodiments, the letter a is added as a suffix to the reference numerals of the exemplary embodiment in FIGS. 1 through 3 and 18 and 19. In the exemplary embodiment in FIGS. 4 through 6, 7 through 8, 9, 10, 11, 12, 13, 14, 15, 16, and 17, the letter a is replaced by the letters b through 1.
[0108] FIG. 4 shows a schematic illustration of a system that includes a single object data detection area that is enclosed by a housing unit 62b. In particular, manual turning 103a (see FIG. 1) of the object may be avoided by using an object carrier 46b with an object carrier wall 48b (see FIG. 5) that is transparent in at least one operating state.
[0109] FIG. 5 shows a schematic illustration of movement device 12b, and FIG. 6 shows a schematic illustration of bearing unit 38b. Object carrier unit 36b includes at least one object carrier 46b that includes an object carrier wall 48b, which is transparent in at least one operating state. Object carrier unit 36b includes an adjustment unit 50b, with the aid of which a reflectance, an absorbance, and/or a transmittance are/is adjustable. Adjustment unit 50b is in particular connected to object carrier wall 48b via a sliding contact 118b. The transparency of object carrier 46b preferably allows a detection of object data from the side of object carrier 46b facing away from object 10b. For a detection of a multiple object data set, object 10b is preferably turned by 360 about swivel axis and/or rotational axis 40b. Object data detection unit 14b is preferably moved along curved path 28b at least on a circular arc having a center angle of 180. Any arbitrary perspective, at least within a control and/or regulation accuracy of movement device 12b, may be assumed.
[0110] Bearing unit 38b is preferably situated to the side of object carrier unit 36b in order not to block a line of sight of object data detection unit 14b onto object 10b. Bearing unit 38b at least partially encompasses object carrier unit 36b. Object carrier unit 36b in particular includes a groove 114b for accommodating a rolling element 116b of bearing unit 38b. Groove 114b and rolling element 116b could also be designed as a rack and pinion gear, for example. In particular, the rotational axes of rolling element 116b are movably supported to allow locking/release of object carrier unit 36b to/from bearing unit 38b.
[0111] The detection device includes a contrast unit 72b, movement device 12b including a drive unit 76b for automatedly moving contrast unit 72b. The detection device includes a contrast unit 72b, movement device 12b including a movement unit 78b that is provided for simultaneously moving contrast unit 72b and object data detection unit 14b. In particular, movement unit 78b synchronizes drive units 76b and the drive unit, not illustrated in greater detail, of movement unit 24b. Processing unit 18b and movement unit 78b are preferably designed as a single central processing unit.
[0112] A dimension detection unit 88b includes a movement unit, in particular a guide carriage, which is independent from object data detection unit 14b.
[0113] In FIG. 7, the detection device includes a contrast unit 72c, movement unit 78c including a structural unit 80c which in at least one operating state essentially rigidly connects contrast unit 72c and object data detection unit 14c to one another in an. In particular, structural unit 80c is designed as a shared guide carriage. Contrast unit 72c is preferably provided for an active illumination. A light source 74c is in particular situated behind contrast unit 72c, viewed from object carrier unit 36c. The detection device includes a permeation unit 89c, in particular an X-ray unit, which is provided for at least partially permeating at least one object 10c. Permeation unit 89c preferably includes at least one beam source 90c and a shield 91c. Permeation unit 89c is preferably situated at movement unit 24c of object data detection unit 14c. Object data detection unit 14c at the same time is preferably utilized as a dimension detection unit 88c by linking the multiple object data sets in particular to a rotational speed of object carrier unit 36c about swivel axis and/or rotational axis 40c.
[0114] FIGS. 7 and 8 show a schematic illustration of bearing unit 38c. Bearing unit 38c preferably has a two-part design. Bearing unit 38c is provided for accommodating a drive ring 122c, situated on the side of object carrier unit 36c facing away from object 10c, in a groove 120c of the bearing unit.
[0115] FIG. 9 shows a detection device in which transport unit 54d is situated to the side of housing unit 62d. Transport unit 54d includes a positioning unit 58d for positioning an object in an object detection area 60d, in particular down from path conveyor unit 56d. In particular, positioning unit 58d is designed as extendable gripper units that are pushed beneath an object carrier 46d on transport unit 54d. Object carrier 46d preferably includes a recess on the side facing path conveyor unit 56d for accommodating a gripper unit. A connection of object carrier 46d to bearing unit 40d is preferably established when the gripper units are retracted.
[0116] The detection device includes an anti-pollution unit 64d that is provided for at least reducing a pollution of an object detection area 60d and/or an area of an object data detection unit 14d, in particular within housing unit 62d. Anti-pollution unit 64d is provided for generating a positive pressure within housing unit 62d. In particular, due to arranging anti-pollution unit 64d behind object data detection unit 14d and/or behind object detection area 60d, viewed from the opening of housing unit 62d, a fluid flow is generated that is directed from object data detection unit 14d and/or object detection area 60d to the opening of housing unit 62d. Penetration of dust and/or other dirt particles is advantageously reduced. The detection device includes a preparation unit 66d that is provided for preparing, in particular cleaning, at least one object prior to an object data set detection. Preparation unit 66d includes a fluid control unit 70d for controlling and/or regulating a fluid flow. In particular, the fluid control unit includes air nozzles. Fluid control unit 70d preferably generates an air flow that is directed away from housing unit 62d. An air flow that is generated by fluid control unit 70d is preferably directed onto an object carrier 46d situated in front of the opening of housing unit 62d. An air flow that is generated by fluid control unit 70d is preferably provided for blowing away dust particles and other pollution present on object carrier 46d and/or on an object on object carrier 46d, in particular in a direction facing away from housing unit 62d.
[0117] FIG. 10 shows a detection device in which transport unit 54e is situated to the side of housing unit 62e. Transport unit 54e includes a positioning unit 58e for positioning an object in an object detection area 60e, in particular down from path conveyor unit 56e. In particular, positioning unit 58e includes a magnetic base 128e that is movably supported in a guide path 130e. Magnetic base 128e preferably includes an electromagnet for switching the magnetic force. Alternatively, the magnetic base includes a permanent magnet. Magnetic base 128e is preferably automatically pushed beneath an object carrier 46e on the path conveyor unit 56e. Path conveyor unit 56e preferably includes a recess 132e through which magnetic base 128e establishes a force-fit connection to object carrier 46e. Object carrier 46e is preferably guided through recess 132e from path conveyor unit 56e to object carrier unit 36e. Object carrier unit 36e preferably includes a counterpart that is complementary to object carrier 46e. In particular, in at least one designated operating state the counterpart and object carrier 36e complement one another to form an essentially circular disk. In particular, object carrier unit 36e includes a recess 124e that is designed essentially as a negative shape of object carrier 46e. In particular, recess 124e includes a shoulder 126e for depositing object carrier 46e. The detection device includes an anti-pollution unit 64e that is provided for at least reducing a pollution of an area of an object data detection unit 14e, in particular within housing unit 62e. In particular, anti-pollution unit 64e is designed as an air nozzle. In particular, anti-pollution unit 64e generates a constant air flow that is directed away from object data detection unit 14e.
[0118] FIG. 11 shows the detection device, including a preparation unit 66f that is provided for preparing, in particular cleaning, at least one object 10f prior to an object data set detection. Preparation unit 66f includes a lock unit 68f. In particular, lock unit 68f includes a fluid restriction unit 134f. Fluid restriction unit 134f in particular includes plastic lamellae. Fluid restriction unit 134f preferably generates a flow resistance, in particular for a flow into lock unit 68f. Preparation unit 66f includes a fluid control unit 70f for controlling and/or regulating a fluid flow. Fluid control unit 70f preferably generates an air flow that is directed away from lock unit 68f. An air flow generated by fluid control unit 70f is preferably directed onto an object carrier 46f situated directly in front of fluid restriction unit 134f. An air flow generated by fluid control unit 70f is preferably provided for blowing away dust particles and other pollution present on object carrier 46f and/or on an object 10f, in particular in a direction facing away from lock unit 68f. It is possible for further fluid control units to be mounted within lock unit 68f, for example for generating a positive pressure in lock unit 68f. It is also possible for the lock unit to include a fluid control unit for generating a water jet in order to clean an object situated in lock unit 68f. Airlock unit 68f preferably includes a fluid control unit in the form of a heater fan in order to dry an object situated in lock unit 68f.
[0119] FIG. 12 shows a schematic illustration of a portion of an alternative detection device. The detection device includes a movement device 12g. Movement device 12g includes at least one movement unit 24g, 24g that is designed as a multiaxial robotic arm. Movement device 12g includes a movement unit 24g and a further movement unit 24g. Movement unit 24g is provided for accommodating at least one object data detection unit 14g. Object data detection unit 14g is firmly fixed to movement unit 24g. Alternatively, it is possible for movement unit 24g to include at least one gripper for accommodating object data detection unit 14g. In particular, movement unit 24g includes at least one arm subsegment 174g, 176g, 178g, preferably at least two arm subsegments 174g, 176g, 178g, and particularly preferably at least three arm subsegments 174g, 176g, 178g. Movement unit 24g includes a first arm subsegment 174g, a second arm subsegment 176g, and a third arm subsegment 178g. In each case two arm subsegments 174g, 176g, 178g of movement unit 24g are connected to one another with the aid of at least one articulated element 180g, 182g, in particular with the aid of a ball joint, of movement unit 24g. First arm subsegment 174g and second arm subsegment 176g are connected to one another with the aid of a first articulated element 180g of movement unit 24g. Second arm subsegment 176g and third arm subsegment 178g are connected to one another with the aid of a second articulated element 182g of movement unit 24g. First arm subsegment 174g and second arm subsegment 176g are swivelable and/or rotatable relative to one another, in particular in an arbitrary angular range, with the aid of first articulated element 180g. Second arm subsegment 176g and third arm subsegment 178g are swivelable and/or rotatable relative to one another, in particular in an arbitrary angular range, with the aid of second articulated element 182g. Object data detection unit 14g is fastened to third arm subsegment 178g of movement unit 24g with the aid of a third articulated element 184g of movement unit 24g. Movement unit 24g includes in particular at least one articulated element 180g, 182g, 184g, preferably at least two articulated elements 180g, 182g, 184g, and particularly preferably at least three articulated elements 180g, 182g, 184g. Arm subsegments 174g, 176g, 178g are swivelable and/or rotatable relative to one another with the aid of articulated elements 180g, 182g, 184g in such a way that movement unit 24g may move object data detection unit 14g at an arbitrary point within a hemisphere spanned by a maximum extension of movement unit 24g. Movement unit 24g is provided for moving object data detection unit 14g at an arbitrary point about an object 10g to be detected. Movement unit 24g may additionally be provided for accommodating object data detection unit 14g in order to accommodate further components of the detection device, such as a depth sensor, and/or for placing object 10g to be detected. Object 10g is situated on an object carrier unit 36g of the detection device.
[0120] Movement unit 24g is movably supported, in particular in multiple dimensions. Movement unit 24g is movably supported at a wall 186g, in particular at a top wall, of a housing unit 62g of the detection device. Movement unit 24g is movably supported in particular in at least one spatial direction, preferably in at least two spatial directions, and particularly preferably in three spatial directions. In the present exemplary embodiment, movement unit 24g is movably supported in two spatial directions by way of example. Movement unit 24g is rotatably supported on wall 186g. Alternatively or additionally, it is possible for movement unit 24g to be displaceably and/or swivelably supported at wall 186g. Movement unit 24g is rotatably supported with the aid of a rotary table 188g of movement device 12g. In another embodiment, it is possible for rotary table 188g to have a displaceable design, in particular to be displaceable along a rotational axis of rotary table 188g. Alternatively or additionally, it is possible for movement unit 24g to be displaceably supported with the aid of a rail guide and/or swivelably supported with the aid of an eccentric arm. Further movement unit 24g is rotatably supported at wall 186g with the aid of rotary table 188g.
[0121] The detection device includes at least one contrast unit 72g, in particular for an active illumination, that is situated at further movement unit 24g. As an alternative or in addition to an active illumination, it is also possible for illumination unit 72g to be provided for a passive illumination, for example with the aid of a fluorescent coating. Further movement unit 24g has a design that is at least essentially analogous to movement unit 24g. Contrast unit 72g is situated at further movement unit 24g, at least essentially analogously to an arrangement of object data detection unit 14g at movement unit 24g. Contrast unit 72g is designed as a light panel, in particular including LEDs. Alternatively, it is possible for contrast unit 72g to be designed as a light panel including lamps that are different from LEDs. Contrast unit 72g is provided for illuminating object 10g to be detected by object data detection unit 14g.
[0122] FIG. 13 shows a schematic illustration of a portion of a further alternative detection device. The detection device includes a movement device 12h. Movement device 12h includes a movement unit 24h. Movement unit 24h is designed as a multiaxial robotic arm. An object data detection unit 14h is situated at movement unit 24h. Movement unit 24h is illustrated in one possible position of movement unit 24h. Another possible position of movement unit 24h is illustrated in dashed lines. Movement unit 24h is movably supported at a wall 186h, in particular at a top wall, of a housing unit 62h of the detection device. Movement unit 24h is movably supported along two spatial directions. Movement unit 24h is displaceably supported with the aid of an asymmetrical rail guide 190h of movement device 12h, in particular along a transverse direction 192h and at a right angle to transverse direction 192h.
[0123] The detection device includes at least one object carrier unit 36h, movement device 12h including at least one scissor joint-like bearing unit 38h via which object carrier unit 36h is movably supported. Bearing unit 38h includes a movement path 42h along which object carrier unit 36h is movably supported. Movement path 42h extends vertically, in particular at least essentially perpendicularly with respect to transverse direction 192h. Bearing unit 38h includes at least one scissor joint 194h for a movement along movement path 42h. Bearing unit 38h is height-adjustable with the aid of scissor joint 194h. Alternatively, bearing unit 38h may also be height-adjustable in some other way that appears meaningful to those skilled in the art, for example with the aid of a piston.
[0124] FIG. 14 shows a schematic illustration of a portion of a further alternative detection device. The detection device includes a movement device 12i. Movement device 12i includes a movement unit. Movement unit 24i is designed as a multiaxial robotic arm.
[0125] At least two object data detection units 14i, 14i, 14i are situated at movement unit 24i. Three object data detection units 14i, 14i, 14i, in particular an object data detection unit 14i, a further object data detection unit 14i, and an additional object data detection unit 14i, are situated at movement unit 24i. Object data detection units 14i, 14i, 14i are situated at movement unit 24i at an offset and at an angle relative to one another. Further object data detection unit 14i and additional object data detection unit 14i are situated swivelably relative to one another and relative to object data detection unit 14i at movement unit 24i. Object data detection units 14i, 14i, 14i are situated at a third arm subsegment 178i of movement unit 24i, so as to be rotatable by 360, with the aid of a third articulated element 184i of movement unit 24i. Object data detection units 14i, 14i, 14i have different designs, in particular with regard to a focal length, a resolution, a color spectrum, or the like.
[0126] FIG. 15 shows a schematic illustration of a portion of a further alternative detection device. The detection device includes a movement device 12j. Movement device 12j includes a movement unit 24j. Movement unit 24j is designed as a multiaxial robotic arm. A plurality of object data detection units 14j, 14j, 14j is situated at movement unit 24j in a revolver-like manner. In particular, at least three, preferably at least four, and particularly preferably at least five, object data detection units 14j, 14j, 14j are situated at movement unit 24j in a revolver-like manner. In the present exemplary embodiment, three object data detection units 14j, 14j, 14j, in particular an object data detection unit 14j, a further object data detection unit 14j, and an additional object data detection unit 14j, are situated at movement unit 24j by way of example. Object data detection units 14j, 14j, 14j are situated at movement unit 24j at least essentially analogously to chambers in a revolver cylinder, in particular rotatable about at least one rotational axis 196j. Further object data detection unit 14j and additional object data detection unit 14j are situated swivelably and displaceably relative to one another and relative to object data detection unit 14j at movement unit 24j. Further object data detection unit 14j is swivelable with the aid of a fourth articulated element 198j of movement unit 24j. Additional object data detection unit 14j is swivelable with the aid of a fifth articulated element 200j of movement unit 24j. Further object data detection unit 14j and additional object data detection unit 14j have an extendable design, in particular at least essentially in parallel to rotational axis 196j along a displacement direction 202j. Object data detection units 14j, 14j, 14j have different designs, in particular with regard to a focal length, a resolution, a color spectrum, or the like. Object data detection units 14j, 14j, 14j are transferable from a rest position into an operating position by a rotation of movement unit 24j, in particular about rotational axis 196j.
[0127] FIG. 16 shows a schematic illustration of a portion of a further alternative detection device. The detection device includes a movement device 12k. Movement device 12k includes a movement unit 24k. Movement unit 24k is designed as a multiaxial robotic arm. The detection device includes at least one contrast unit 72k, in particular for an active illumination, situated at movement unit 24k. Contrast unit 72k is situated at movement unit 24k in addition to an object data detection unit 14k. Contrast unit 72k and object data detection unit 14k are situated swivelably and rotatably relative to one another at movement unit 24k. Object data detection unit 14k is fastened to a fifth arm subsegment 206k of movement unit 24k with the aid of a sixth articulated element 204k of movement unit 24k. Fifth arm subsegment 206k is fastened to a fourth arm subsegment 208k of movement unit 24k with the aid of a fourth articulated element 198k of movement unit 24k. Contrast unit 72k is fastened to fourth arm subsegment 208k of movement unit 24k with the aid of a fifth articulated element 200k of movement unit 24k. Contrast unit 72k is designed as a light panel. Contrast unit 72k is provided for illuminating an object to be detected (not illustrated here) by object data detection unit 14k.
[0128] FIG. 17 shows a schematic illustration of a portion of a further alternative detection device. The detection device includes a movement device 12l. Movement device 12l includes a movement unit 24l. Movement unit 24l is designed as a multiaxial robotic arm. The detection device includes at least one magazine unit 172l that is provided for furnishing a plurality of object data detection units 14l, 14l and/or objects 10l, 10l for a coupling to movement unit 24l. In the present exemplary embodiment, magazine unit 172l is provided by way of example for furnishing an object data detection unit 14l, a further object data detection unit 14l, an object 10l, and a further object 10l for a coupling to movement unit 24l. Magazine unit 172l is provided for storing the plurality of object data detection units 14l, 14l and objects 10l, 10l. Movement unit 24l is provided for removing a required object data detection unit 14l, 14l and/or a required object 10l, 10l from magazine unit 172l, in particular with the aid of a gripper 210l of movement unit 24l. Magazine unit 172l has an at least semiautomated design. Magazine unit 172l is provided for actively providing movement unit 24l with required object data detection unit 14l, 14l and/or required object 10l, 10l. Magazine unit 172l is provided for conveying required object data detection unit 14l, 14l and/or required object 10l, 10l into a removal position in which object data detection unit 14l, 14l and/or object 10l, 10l are/is coupleable to movement unit 24l, in particular are/is receivable by movement unit 24l. Object data detection unit 14l is illustrated in the removal position by way of example in FIG. 17. Magazine unit 172l is designed as a revolver magazine that is provided for conveying required object data detection unit 14l, 14l and/or required object 10l, 10l by rotation into the removal position. Alternatively or additionally, it is possible for magazine unit 172l to be provided to furnish movement unit 24l with required object data detection unit 14l, 14l and/or required object 10l, 10l through an opening of a storage compartment in which object data detection unit 14l, 14l and/or object 10l, 10l are/is stored, by an elevator-like transport of object data detection unit 14l, 14l and/or of object 10l, 10l, or in some other way that appears meaningful to those skilled in the art.
