EP0647479A2 - Système de tri de colis - Google Patents

Système de tri de colis Download PDF

Info

Publication number
EP0647479A2
EP0647479A2 EP94116090A EP94116090A EP0647479A2 EP 0647479 A2 EP0647479 A2 EP 0647479A2 EP 94116090 A EP94116090 A EP 94116090A EP 94116090 A EP94116090 A EP 94116090A EP 0647479 A2 EP0647479 A2 EP 0647479A2
Authority
EP
European Patent Office
Prior art keywords
parcel
label
image
conveyor
high resolution
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP94116090A
Other languages
German (de)
English (en)
Other versions
EP0647479A3 (fr
Inventor
Nir Karasikov
Zehava Ben-Ezer
Aviad Zlotnik
Walter Rosenbaum
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GALAI LABORATORIES Ltd
International Business Machines Corp
Original Assignee
GALAI LABORATORIES Ltd
International Business Machines Corp
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 GALAI LABORATORIES Ltd, International Business Machines Corp filed Critical GALAI LABORATORIES Ltd
Publication of EP0647479A2 publication Critical patent/EP0647479A2/fr
Publication of EP0647479A3 publication Critical patent/EP0647479A3/fr
Withdrawn legal-status Critical Current

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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
    • B07C3/00—Sorting according to destination
    • B07C3/10—Apparatus characterised by the means used for detection ofthe destination
    • B07C3/14—Apparatus characterised by the means used for detection ofthe destination using light-responsive detecting means

Definitions

  • the invention relates to a system and method for automatic detection and high resolution display of parcel labels scanned from a moving conveyor belt. It is primarily suited for automatic parcel sorting in depots.
  • the system working at high speed, automatically detects the relevant parcel label, by means of a two stage inspection technique, from a large scope of label colors, contrasts, sizes and positions.
  • the system automatically measures the length, width, and height of the parcel.
  • the system of the invention can be interfaced to a commercially available optical character recognition (OCR) system and/or bar code decoders (when the parcel has a bar code label). This parcel information can be transmitted to the sorting machine or to the depot database for follow up.
  • OCR optical character recognition
  • the system can deliver the high resolution image of the label to an operator for manual keying of the parcel label as remote video encoding (RVE) that will increase the speed and reliability of the sorting process.
  • RVE remote video encoding
  • Depot parcel sorting is generally done manually by the depot employees. By automating the process, one can reduce the number of employees in the depot as well as increase speed and reliability.
  • the invention relates to a system and to a method for the location of a relevant label on a package while this is moving on a conveyor.
  • the invention further relates to a system and method for determining the dimensions of such a parcel.
  • the main feature of the novel system and method is the ability to determine the location of the relevant label (which bears the address of the receiver of the parcel) and to focus on same so that its image can be projected to a desired location.
  • the system either recognizes which of these is the relevant one, or if this is not within the capability of the system, it projects the images of the labels which may be relevant to the desired location, where these images can be scanned and evaluated.
  • the image is one of high resolution, enabling to discern all required details and data on such label.
  • system of the invention makes it possible to project a sharp image of the relevant label, even if this is colored and even if the lettering is also colored.
  • the invention relates to a system for locating a relevant label bearing the data of the addressee on a parcel and its high resolution display, while this moves on a conveyor belt, and for optionally determining the dimensions of such parcel, which comprises: means for determining the height of the upper surface of the parcel above the conveyor band; a color frame grabber adapted to acquire a picture from the color CCD camera, means for determining the coordinates of the label on the surface of the parcel; means for actuating the picture acquisition as a function of the distance of the label from the front edge of the parcel and the velocity of movement on the conveyor; a camera and means for focusing such camera to the plane corresponding to the height of the parcel; means for distinguishing between a label bearing the data of the addressee and labels bearing other indications.
  • An alternative system is one where the surface of the moving conveyor band is scanned by means of a scanning mirror, picture acquisition of the relevant label being actuated when required according to the determination of label position on the moving parcel.
  • the height of the parcel is determined by means of an ultrasonic sensor.
  • a preferred system comprises a CCD camera for label coordinate detection, an acoustic sensor for height determination and a high resolution line scan camera enabling a high resolution line and high speed scan imaging the area of the relevant label.
  • a specific system comprises means for acquiring at a short time interval two images of the parcel moving in a linear motion on the conveyor, means for obtaining a subtration image of said images, and means for deducing from said subtraction image the outer edges of the parcel and the location and size of the relevant label, and means for providing a high resolution image of said label.
  • Another option is to use the system to display the high resolution video image to the depot employee for manual keying in of the parcel label. This mode of operation will increase dramatically the sorting capabilities of the depot because the employee will not have to find the label on the big parcel.
  • the big parcel label detecting and display increase the parcel sorting speed and reliability in the depot.
  • the system is interfaced with a commercially available optical character recognition (OCR) system, which reads the high resolution picture of the label.
  • OCR optical character recognition
  • the parcel In the sorting process the parcel is loaded manually on the conveyor belt with a typical velocity of one meter per second.
  • a proximity sensor such as keyence PZZ-41 signals the system when a parcel enters the imaging zone.
  • the height of the parcels varies, so a height measurement is performed using an ultra sonic height sensor microsonic MIC-100/IU with a one cm accuracy. This measurement enables an automatic focusing of a high magnification lens on camera B.
  • the automatic focus mechanism includes a stepper motor that is connected to the focus disk surrounding the lens.
  • a color frame grabber acquires a picture from a color video camera such as Sony 151-AP (Camera A) with a low magnification lens that displays the parcel on the conveyor just after the proximity sensor.
  • a color video camera such as Sony 151-AP (Camera A) with a low magnification lens that displays the parcel on the conveyor just after the proximity sensor.
  • the camera has a electronic shutter which enables high speed acquisition to avoid blurring as a result of the conveyor movement.
  • An image processing algorithm detects the labels on the parcel and provides the coordinates X, Y of the label (see Fig. 3) in reference to the fornt edge point. In addition, the algorithm decides in the case of more than one label, which is the relevant label.
  • variable scan frame grabber With the knowledge of the label location on the parcel and the conveyor velocity, the computer signals the variable scan frame grabber the time and place to grab the high resolution picture.
  • the time when to acquire depends on the label Y coordinate in respect to the parcel front edge and the conveyor velocity which defines the time to pass the Y distance.
  • the variable scan frame grabber is connected to three Fairchild 2000 pixels line scan cameras placed across the conveyor allowing coverage of the full belt (Width Order of 1 meter) and yet achieve high resolution of 400 DPI required by the OCR algorithms.
  • the number of line cameras is dependent on the width of the specific conveyor belt.
  • a full image of the label is contructed line by line as the label passes under the line scan camera.
  • FIG. 2 Another option (see Fig. 2) for achieving the high resolution and large field of view is to use a scanning mirror that will can the entire belt instead of using a few line scan cameras.
  • the X coordinate of the label will define which line scan camera will take the picture or where to scan the mirror in the second option.
  • the enlarged two dimensional image can be stored in the computer memory.
  • the system of the invention provides the volume measurement of the parcel using the coordinates of the parcel generated by the image processing algorithm and the height measurement of the ultrasonic sensor. There is an option of restoring the color image of the parcel for future claims of parcel damage.
  • the illumination of camera A is the room illumination, while camera B illumination is provided by a quartz halogen bulb attached to a cylindrical optic, which provides line illumination on the parcel.
  • the image processing algorithm takes advantage of the conveyor belt movement in a definite direction.
  • Camera A acquires two images (with a slight time delay between acquisitions) of the parcel on the conveyor (see Fig. 5). Substraction of these two images, creates a third image, the subtraction image. This image will have the edges of the parcels and the label.
  • the subtraction image (see Fig. 4) is the input for the algorithm for detecting the parcel location (outer edges detection) and the label location from the inner edges in the subtraction image. This information along with the ultrasonic height measurement of the parcel allows the volume measurement of the parcel.
  • the label position in respect to the parcel's front edge allows the optimal acquisition of camera B.
  • the outer edges of the subtraction image are detected in order to give the parcel location - x,y coordinates of a mono-color parcel.
  • the single address label on top of the mono-color parcel is found from the inner edges in the subtraction image.
  • the x,y coordinates of the label can be measured in order to acquire the high resolution image of the label with camera B.
  • the image processing algorithm finds the relevant label based on size, color, and number of rows written for the address.
  • the system of Figure 1 comprises of a conveyor belt 11 which moves a parcel 12 with a label 13 on the upper surface of the parcel 12.
  • the parcel 12 is examined after trigger from a proximity sensor 20 by camera 14 which is a color CCD camera with electronic shutter to avoid blurring as the parcel moves on the conveyor.
  • the low magnification image of camera 14 indicates the dimension of the upper surface of parcel 12 and the size and location of the label 13.
  • ultrasonic height sensor 15 measures the height of the parcel to enable volume measurement of the parcel 12 together with the measurement of the upper surface of the parcel 12 performed by the image of camera 14.
  • the height measurement automatically controls the focus mechanism of cameras 16, 17 and 18.
  • the measurement of the coordinates of the label 13 in respect to the parcel 12 front edge as measured by camera 14 actuates the high resolution line scan cameras 16, 17 and 18 at the right time.
  • the images from cameras 14, 16, 17, and 18 is stored in the computer memory by a color and variable scan frame grabber 19.
  • the system of Figure 2 comprises the same elements as of the system described by Figure 1 except that instead of three line scan cameras 16, 17 and 18, the high resolution image of the label is acquired by one line scan camera 21, with a rotating mirror scanning mechanism that enables the full coverage of the conveyor belt 11 width.
  • the position of the label measured by camera 14 actuates the scanning mechanism of camera 21.
  • Figure 3 depicts the image as seen by camera 14 in Figure 1 and 2.
  • the image contains part of the conveyor belt 22 and the parcel 23 with the label 24 on top surface of the parcel 23.
  • the image processing algorithm measures the x,y coordinates of the label 24 edges, in respect to the parcel 23, outer edges.
  • F Figure 4 describes the method to locate the label on the parcel.
  • the system detects the outer edges 26, which specify the parcel location 28, in repsect to pre-defined coordinates.
  • the system detects from the subtraction image 25, the inner edges 27, which specify the label location 31, in respect to the parcel.
  • Figure 5 depicts the subtraction image used to locate the parcel and labels.
  • Camera 14 of Figures 1 and 2 acquires two images, with a slight time delay between acquisitions of the parcel on the conveyor 31, 32.
  • the subtraction image 33, of the image 31, 32 contains the outer edges of the parcel and the inner edges of the labels. This image is the input for the algonithm for detecting parcel and label location.

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  • Sorting Of Articles (AREA)
EP94116090A 1993-10-12 1994-10-12 Système de tri de colis. Withdrawn EP0647479A3 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
IL10726593 1993-10-12
IL107265A IL107265A0 (en) 1993-10-12 1993-10-12 Parcel sorting system

Publications (2)

Publication Number Publication Date
EP0647479A2 true EP0647479A2 (fr) 1995-04-12
EP0647479A3 EP0647479A3 (fr) 1995-10-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP94116090A Withdrawn EP0647479A3 (fr) 1993-10-12 1994-10-12 Système de tri de colis.

Country Status (2)

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EP (1) EP0647479A3 (fr)
IL (1) IL107265A0 (fr)

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997011790A1 (fr) * 1995-09-29 1997-04-03 United Parcel Service Of America, Inc. Systeme et procede de lecture d'informations sur des colis
WO1997013223A1 (fr) * 1995-09-29 1997-04-10 Siemens Nixdorf Procede et dispositif de traitement du courrier
EP0796671A1 (fr) * 1996-03-22 1997-09-24 Alcatel Postal Automation Systems Système d'acquisition d'images pour le tri de paquets
WO1998032545A1 (fr) * 1997-01-23 1998-07-30 United Parcel Service Of America, Inc. Systeme de lecture d'inscriptions a guidage optique
WO1998043751A1 (fr) * 1997-03-27 1998-10-08 Siemens Aktiengesellschaft Procede pour detecter des signes et des caracteres a la surface d'envois postaux
US5920056A (en) * 1997-01-23 1999-07-06 United Parcel Service Of America, Inc. Optically-guided indicia reader system for assisting in positioning a parcel on a conveyor
US5923017A (en) * 1997-01-23 1999-07-13 United Parcel Service Of America Moving-light indicia reader system
EP0961217A2 (fr) * 1998-05-28 1999-12-01 Nec Corporation Lecteur de code optique
EP1343110A2 (fr) * 2002-03-08 2003-09-10 Nec Corporation Appareil d'entrée d'image
EP1389493A1 (fr) * 2002-08-12 2004-02-18 MIT Management intelligenter Technologien GmbH Procédé et dispositif pour le marquage automatique d'un champ d'adresse
EP1505533A2 (fr) * 2003-08-08 2005-02-09 Hitachi, Ltd. Système de lecteur d'étiquettes avec réglage de résolution
EP1645838A1 (fr) * 2004-10-11 2006-04-12 Sick AG Dispositif et procédé pour surveiller des objets en motion
DE102006015314B3 (de) * 2006-03-30 2007-08-30 Siemens Ag Einrichtung zur Bestimmung der Ausdehnung eines Objekts, insbesondere eines im Wesentlichen quaderförmigen Pakets
EP1845336A1 (fr) * 2006-04-11 2007-10-17 Sick Ag Procédé et dispositif pour la détection optique des objets en mouvement
EP1870170A2 (fr) 2001-01-18 2007-12-26 Federal Express Corporation Capture d'une image non séparée d'une pluralité de formes se déplaçant sur une courroie de transporteur en mouvement
EP1535226A4 (fr) * 2002-08-07 2008-01-23 United Parcel Service Inc Distribution de service ou de colis avec des fenetres temporelles partiellement programmees
EP1986165A1 (fr) * 2000-05-23 2008-10-29 Munroe Chirnomas Procédé et appareil pour inclure l'identification d'un article dans un dispositif de traitement d'articles
US7721964B2 (en) 2004-10-11 2010-05-25 Sick Ag Apparatus and method for monitoring moved objects
CN104307758A (zh) * 2014-09-25 2015-01-28 浙江海洋学院 一种快递件分拣机
CN105817422A (zh) * 2016-04-21 2016-08-03 石河子大学 基于机器人的自动采集随机摆放快递包裹信息系统及其方法
CN107051891A (zh) * 2017-04-24 2017-08-18 常州工学院 一种基于条形码的运动小车定位识别方法
CN108217133A (zh) * 2018-03-12 2018-06-29 王兴阳 板料堆放方法
CN109396053A (zh) * 2018-10-30 2019-03-01 福建省亿顺机械设备有限公司 智能分拣方法
US10471478B2 (en) 2017-04-28 2019-11-12 United Parcel Service Of America, Inc. Conveyor belt assembly for identifying an asset sort location and methods of utilizing the same
CN110554062A (zh) * 2019-10-15 2019-12-10 实源科技(广州)有限公司 快递邮品违禁品检测装置及检测方法
CN111038894A (zh) * 2019-12-09 2020-04-21 苏州诚满信息技术有限公司 一种用于智能仓储的分拣设备及其工作方法
CN114472181A (zh) * 2021-12-22 2022-05-13 上海仁悦物流有限公司 一种物流领域用区域快递识别分拣系统

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0036149A2 (fr) * 1980-03-14 1981-09-23 Kabushiki Kaisha Toshiba Lecteur optique de caractères
DE3942932A1 (de) * 1989-12-23 1991-06-27 Licentia Gmbh Verfahren zum verteilen von paketen o. ae.
JPH03268497A (ja) * 1990-03-19 1991-11-29 Matsushita Electric Ind Co Ltd 実装部品の位置ずれ検出方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0036149A2 (fr) * 1980-03-14 1981-09-23 Kabushiki Kaisha Toshiba Lecteur optique de caractères
DE3942932A1 (de) * 1989-12-23 1991-06-27 Licentia Gmbh Verfahren zum verteilen von paketen o. ae.
JPH03268497A (ja) * 1990-03-19 1991-11-29 Matsushita Electric Ind Co Ltd 実装部品の位置ずれ検出方法

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
IBM TECHNICAL DISCLOSURE BULLETIN, vol. 15, no. 4, September 1972 US, pages 1170-1171, 'Parcel Positioning Scanning and Sorting System' *
PATENT ABSTRACTS OF JAPAN vol. 16 no. 79 (E-1171) ,26 February 1992 & JP-A-03 268497 (MATSUSHITA ELECTRIC IND CO) 29 November 1991, *

Cited By (43)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997013223A1 (fr) * 1995-09-29 1997-04-10 Siemens Nixdorf Procede et dispositif de traitement du courrier
US5770841A (en) * 1995-09-29 1998-06-23 United Parcel Service Of America, Inc. System and method for reading package information
WO1997011790A1 (fr) * 1995-09-29 1997-04-03 United Parcel Service Of America, Inc. Systeme et procede de lecture d'informations sur des colis
EP0858055A2 (fr) * 1995-09-29 1998-08-12 Siemens Nixdorf Informationssysteme AG Dispositif de mesure d'objets postaux
EP0858055A3 (fr) * 1995-09-29 1998-09-09 Siemens Nixdorf Informationssysteme AG Dispositif de mesure d'objets postaux
US6169978B1 (en) 1995-09-29 2001-01-02 Siemens Aktiengesellschaft Mail handling process and device
US6122001A (en) * 1996-03-22 2000-09-19 Alcatel Postal Automation Systems Image acquisition system for sorting packets
EP0796671A1 (fr) * 1996-03-22 1997-09-24 Alcatel Postal Automation Systems Système d'acquisition d'images pour le tri de paquets
FR2746330A1 (fr) * 1996-03-22 1997-09-26 Alcatel Postal Automation Syst Systeme d'acquisition d'images pour le tri de paquets
WO1998032545A1 (fr) * 1997-01-23 1998-07-30 United Parcel Service Of America, Inc. Systeme de lecture d'inscriptions a guidage optique
US5923017A (en) * 1997-01-23 1999-07-13 United Parcel Service Of America Moving-light indicia reader system
US5920056A (en) * 1997-01-23 1999-07-06 United Parcel Service Of America, Inc. Optically-guided indicia reader system for assisting in positioning a parcel on a conveyor
EP1371424A2 (fr) * 1997-01-23 2003-12-17 United Parcel Service Of America, Inc. Système de lecture d'un indice guidé optiquement
EP1371424A3 (fr) * 1997-01-23 2004-04-28 United Parcel Service Of America, Inc. Système de lecture d'un indice guidé optiquement
WO1998043751A1 (fr) * 1997-03-27 1998-10-08 Siemens Aktiengesellschaft Procede pour detecter des signes et des caracteres a la surface d'envois postaux
EP0961217A2 (fr) * 1998-05-28 1999-12-01 Nec Corporation Lecteur de code optique
EP0961217A3 (fr) * 1998-05-28 2001-03-28 Nec Corporation Lecteur de code optique
US6752318B2 (en) 1998-05-28 2004-06-22 Nec Corporation Optical symbol reading device
EP1986165A1 (fr) * 2000-05-23 2008-10-29 Munroe Chirnomas Procédé et appareil pour inclure l'identification d'un article dans un dispositif de traitement d'articles
EP1870170A2 (fr) 2001-01-18 2007-12-26 Federal Express Corporation Capture d'une image non séparée d'une pluralité de formes se déplaçant sur une courroie de transporteur en mouvement
US7778443B2 (en) 2002-03-08 2010-08-17 Nec Corporation Image focusing device with motor
EP1343110A3 (fr) * 2002-03-08 2005-03-30 Nec Corporation Appareil d'entrée d'image
EP1343110A2 (fr) * 2002-03-08 2003-09-10 Nec Corporation Appareil d'entrée d'image
EP1535226A4 (fr) * 2002-08-07 2008-01-23 United Parcel Service Inc Distribution de service ou de colis avec des fenetres temporelles partiellement programmees
EP1389493A1 (fr) * 2002-08-12 2004-02-18 MIT Management intelligenter Technologien GmbH Procédé et dispositif pour le marquage automatique d'un champ d'adresse
EP1505533A3 (fr) * 2003-08-08 2006-02-08 Hitachi, Ltd. Système de lecteur d'étiquettes avec réglage de résolution
EP1505533A2 (fr) * 2003-08-08 2005-02-09 Hitachi, Ltd. Système de lecteur d'étiquettes avec réglage de résolution
EP1645838A1 (fr) * 2004-10-11 2006-04-12 Sick AG Dispositif et procédé pour surveiller des objets en motion
US7721964B2 (en) 2004-10-11 2010-05-25 Sick Ag Apparatus and method for monitoring moved objects
DE102006015314B3 (de) * 2006-03-30 2007-08-30 Siemens Ag Einrichtung zur Bestimmung der Ausdehnung eines Objekts, insbesondere eines im Wesentlichen quaderförmigen Pakets
EP1845336A1 (fr) * 2006-04-11 2007-10-17 Sick Ag Procédé et dispositif pour la détection optique des objets en mouvement
CN104307758A (zh) * 2014-09-25 2015-01-28 浙江海洋学院 一种快递件分拣机
CN105817422A (zh) * 2016-04-21 2016-08-03 石河子大学 基于机器人的自动采集随机摆放快递包裹信息系统及其方法
CN105817422B (zh) * 2016-04-21 2018-07-27 石河子大学 基于机器人的自动采集随机摆放快递包裹信息系统及其方法
CN107051891A (zh) * 2017-04-24 2017-08-18 常州工学院 一种基于条形码的运动小车定位识别方法
US10471478B2 (en) 2017-04-28 2019-11-12 United Parcel Service Of America, Inc. Conveyor belt assembly for identifying an asset sort location and methods of utilizing the same
US11090689B2 (en) 2017-04-28 2021-08-17 United Parcel Service Of America, Inc. Conveyor belt assembly for identifying an asset sort location and methods of utilizing the same
US11858010B2 (en) 2017-04-28 2024-01-02 United Parcel Service Of America, Inc. Conveyor belt assembly for identifying an asset sort location and methods of utilizing the same
CN108217133A (zh) * 2018-03-12 2018-06-29 王兴阳 板料堆放方法
CN109396053A (zh) * 2018-10-30 2019-03-01 福建省亿顺机械设备有限公司 智能分拣方法
CN110554062A (zh) * 2019-10-15 2019-12-10 实源科技(广州)有限公司 快递邮品违禁品检测装置及检测方法
CN111038894A (zh) * 2019-12-09 2020-04-21 苏州诚满信息技术有限公司 一种用于智能仓储的分拣设备及其工作方法
CN114472181A (zh) * 2021-12-22 2022-05-13 上海仁悦物流有限公司 一种物流领域用区域快递识别分拣系统

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Publication number Publication date
EP0647479A3 (fr) 1995-10-11
IL107265A0 (en) 1994-01-25

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