EP0706838A1 - Maschine und Verfahren zur Sortierung verschiedener Gegenstände unter Verwendung zumindest eines Roboterarms - Google Patents

Maschine und Verfahren zur Sortierung verschiedener Gegenstände unter Verwendung zumindest eines Roboterarms Download PDF

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Publication number
EP0706838A1
EP0706838A1 EP95430008A EP95430008A EP0706838A1 EP 0706838 A1 EP0706838 A1 EP 0706838A1 EP 95430008 A EP95430008 A EP 95430008A EP 95430008 A EP95430008 A EP 95430008A EP 0706838 A1 EP0706838 A1 EP 0706838A1
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EP
European Patent Office
Prior art keywords
objects
automatic sorting
sorting
robotic
robotic arm
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.)
Granted
Application number
EP95430008A
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English (en)
French (fr)
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EP0706838B1 (de
Inventor
Antoine Bourely
Frédéric Caubel
Sylvain Balerin
Jean-Marc Van Der Kerkhove
Caroline Rousseau
Antoine Guignier
Patricia Renaud
Florent Masson
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Pellenc SAS
Original Assignee
Sita
Pellenc SAS
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Publication date
Application filed by Sita, Pellenc SAS filed Critical Sita
Publication of EP0706838A1 publication Critical patent/EP0706838A1/de
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Publication of EP0706838B1 publication Critical patent/EP0706838B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • 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
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras

Definitions

  • the invention relates to a machine and a method for sorting various objects, using at least one robotic arm, this machine possibly advantageously comprising a plurality of robotic arms arranged one after the other.
  • the object of the invention is to fully automate the sorting of various heterogeneous objects, the shape, weight and size of which can vary very significantly.
  • the invention can be advantageously implemented for carrying out automatic sorting, in particular with a view to their recycling, of the packaging discarded and forming part of household and similar waste, such as glass bottles or flasks, containers made of various plastic materials such as PVC (polyvinyl chloride), PET (polyester terephthalate), HDPE (high density polyethylene), food bricks made of mixed materials or cardboard, metal packaging, etc. whose weight can vary from 10 grams to 1000 grams and which are brought in bulk, in variable proportions, to sorting sites.
  • plastic materials such as PVC (polyvinyl chloride), PET (polyester terephthalate), HDPE (high density polyethylene), food bricks made of mixed materials or cardboard, metal packaging, etc.
  • the flow of household packaging waste to be sorted is, for example, from household waste for which a first sorting has been carried out, either directly for collection, or during previous sorting, according to known methods, to remove organic products and paper.
  • a - The automated sorting machines which consist in separating the objects, in order to make them pass in front of appropriate detectors, then in ejecting them selectively by means of pneumatic nozzles, in special tanks.
  • a machine of this kind is, for example, described in documents WO-A-92/07332, and WO-A-92/01272.
  • the objects are distributed on a conveyor, without being aligned, and subjected to the same type of detectors as above, but distributed in the plane. Ejection can also be done by nozzles.
  • a robot for sorting hospital waste which prevents contamination of operators. It is a robot arm whose movements are calculated in a Cartesian coordinate system, operating in remote control mode by an operator.
  • This sorting system does not include automatic recognition or location of waste, and operates on whole bags.
  • the present invention aims to create a machine and a fully automatic sorting process for heterogeneous objects in bulk on a conveyor belt and which are not affected by the shortcomings or drawbacks mentioned above, known sorting machines and methods.
  • the method and the automatic sorting machine according to the invention make it possible to make profitable the recycling of household packaging waste which is currently very little practiced; indeed, the only practical solution currently implemented for a set of heterogeneous wastes is manual sorting.
  • the modularity and the reduced dimensions allow a progressive implementation thus reducing the investment.
  • Figure 1 is a schematic view of a machine according to the invention comprising a plurality of robotic sorting stations.
  • Figure 2 is a perspective view, schematic, of an individual robotic sorting station.
  • FIG. 3 illustrates, in a longitudinal section view, a very interesting embodiment of the complementary detection system, according to which said system is embedded inside the gripper of the robotic arm, the system being represented in its position preceding the seizure of an object.
  • Figure 4 is a view similar to Figure 3 and showing the complementary detection system in its position resulting from the seizure of said object.
  • the conveyor belt 2 can be driven by means known per se, either at constant speed, or at controlled variable speed, or with intermittent stops. It can be formed continuously, or made up of several successive sections independent. In all cases, the robotic sorting station or each robotic sorting station must at least know the law of movement of the belt. This motion law is controlled by the supervision or supervisor module 5 which includes a computer or programmable automaton which receives information from the conveyor belt or conveyor belt 2 (speed measurement) as a function of the occupancy rate of the robots of the line and acts on the drive motor or motors 6 of said strip.
  • the conveyor belt 2 can advantageously be slaved to the operation of the robotic sorting station, so as to optimize the sorting rate, the speed of movement of said conveyor belt being accelerated when the vision system of the robotic sorting station does not detect more or very few objects, or, on the contrary, slowed down when the objects transported by the band are numerous.
  • the advantage of this management is to automatically adapt the waste stream to the processing capacity of all the robots on the same line. For example, for the sake of simplicity and reliability, this speed can be modified at discrete time intervals, instead of making it evolve continuously. The band movement law is then made up of successive speed steps.
  • the intermittent stop mode of movement consists of making the robots work on the stationary belt, which simplifies and facilitates docking of localized objects.
  • the strip is only activated at times, so as to empty the remaining objects which must leave at the end of the chain up to the waste receptacle 4a, and to simultaneously recharge a batch of new objects to be sorted.
  • the machine is provided with a plurality of complementary sensors 12, allowing the automatic identification of the objects by comparison of the information provided by at least one of them with that provided by the visual identification system 8, triggered according to needs, and taken into account according to predefined priorities.
  • the complementary detection system 12 is embedded inside the gripper 10 of the robotic arm 9, so as to follow all the movements of said arm and to make it possible to define the nature of the objects, from their seizure.
  • the inductive sensor 12A and the shock sensor 12B are placed at opposite ends of an elongated support, for example constituted by a tubular rod 19 passing through a guide 20 fixedly installed inside the rigid tube constituting the gripper 10.
  • the inductive sensor 12A is arranged at the front end of the rod 19, while the shock sensor 12B is arranged at the rear end of the latter.
  • the sensors 12A and 12B constitute, with the rod 19, a mobile assembly or assembly mounted with an ability to move axially in the gripper 10.
  • a means tends to push, permanently, the mobile assembly 12A-12B-19 in the direction of the active end of the gripper 10.
  • This means is, for example, constituted by a spring 21 acting in compression and wedged, by the intermediate of its opposite ends, on the one hand, against a bulge that has the front part of the rod 19, and, on the other hand, against the front end of the guide 20.
  • a mechanical stop 22 makes it possible to stop the mobile assembly in its extreme forward position ( Figure 3).
  • the mechanical stop 22 is fixed to the rear part of the rod 19 of the mobile assembly. It is shaped to protect the shock sensor 12B and it extends in front of the latter. In the position of extreme advance of the mobile assembly, it abuts against the rear end of the guide 20.
  • the cables 23 from the inductive sensor 12A and the shock sensor 12B pass through the rod 19, to exit, together, through a sealing piece 24 equipping the rear end of said rod.
  • the signals emitted by the sensors 12A and 12B are transmitted to shaping means known per se, enabling them to be used by an identification system.
  • the accelerometer 12B mounted on the mobile assembly 12A-12B-19 transmits the value of the acceleration undergone by said mobile assembly to an electronic conversion card.
  • This card transforms the analog input signal from the accelerometer into a binary or analog output signal that can be used by the identification system.
  • This output signal has the value 0 (or 1) when the input signal is weak and the value 1 (or 0 respectively), when the input signal is strong.
  • the electronic card has a system for adjusting the minimum value of the input signal giving an output signal equal to 1.
  • the products to be sorted are poured in bulk into the hopper of the feeder 1 and brought, by the unloading belt 1a of the latter, to the extreme upstream part of the conveyor belt 2 in movement.
  • the supervision module 5 starts the cycle simultaneously for all the robotic sorting stations of the machine.
  • the image acquisitions are taken at regular intervals, until the vision system 8, controlled by the software module 15, signals the presence of an object, locates it, and determines if this object is to be grabbed. If the object is to be grasped, the position of its center of gravity (X, Y) in the field of vision, as well as the position of the conveyor belt 2 during the acquisition of images are provided by the software module 15 to the software module 16. The software module 16 then gives the robotic arm 9 the order to carry out the sorting cycle. If the object is not to be grasped, it continues on its conveyor belt 2, to the next robotic sorting station or, as the case may be, to the waste receptacle 4a.
  • the sorting cycle breaks down as follows: the robotic arm 9 is deployed, its gripping end is oriented towards the center of gravity of the object identified and its gripper 10 is activated (for example by switching on the aspiration). He advances towards the object, in order to seize it. If the object is in motion, the arm is controlled by the software module 16, so as to anticipate the position of said object during docking, as a function of the speed of movement of the conveyor belt. It stops either at the end of its travel, or when the control sensors 11 signal the presence of the object or of an obstacle. The sensors 11 make it possible to determine whether the arm has indeed taken an object or encountered an obstacle. If it is indeed an object, it grasps it via its gripper 10, then activates the analysis sensor or sensors 12 to determine the material of which it is made.
  • the inductive sensor is constantly analyzed by the identification system.
  • the inductive sensor 12A Upon contact with a metallic object, the inductive sensor 12A signals the presence of metal.
  • the shock sensor 12B transmits the value of the acceleration undergone by the mobile assembly, to an electronic conversion card.
  • the arm is oriented and moves above the chute 17 leading to the particular receptacle 4 intended for the reception of objects made of this material.
  • the removal of the object removed from the planar flow, in the appropriate chute 17, can be done by simply releasing said object.
  • This removal can also be advantageously carried out by blowing by the gripper 10.
  • the removal by blowing has the advantage of not requiring an approach movement of the arm in the direction of the depositing area in the chute 17, nor, consequently, of backward movement, which allows thus saving time in the cycle.
  • the arrangement of the troughs 17 can be optimized to avoid any extension of the robotic arm before removal.
  • the robotic arm When the robotic arm has not taken an object following its deployment, it returns to the folded fixed rest position. It waits, from the control software module 16, for the order to chain to the next object, either from this rest position, or from its removal position.
  • the sorting machine or installation can comprise several robotic arms 9 placed in series one after the other, along the conveyor belt, which gives several additional advantages in the configuration of the installation.
  • robotic sorting stations can thus be produced in the form of modules which can be added one after the other.
  • each sorting station being then assigned to the recognition and removal of objects belonging to a specific category of objects. (e.g. PVC bottles) and being programmed accordingly.
  • a specific category of objects e.g. PVC bottles
  • five associated robotic arms 9, each with 4 discharge channels 17, allow up to twenty output categories, a very high number given the size of the installation.
  • This specialization can be dynamic, that is to say depend on the average composition observed or known in advance of a given batch of waste.
  • one of the sensors of the complementary detection system 12 is constituted by a spectroscopic analysis sensor, it can be installed so as to be able to carry out, by a multiplexing technique, measurements on several robotic cells.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Sorting Of Articles (AREA)
  • Manipulator (AREA)
  • Control Of Conveyors (AREA)
EP95430008A 1994-10-12 1995-10-11 Maschine und Verfahren zur Sortierung verschiedener Gegenstände unter Verwendung zumindest eines Roboterarms Expired - Lifetime EP0706838B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9412436A FR2725640B1 (fr) 1994-10-12 1994-10-12 Machine et procede pour le tri d'objets divers a l'aide d'au moins un bras robotise
FR9412436 1994-10-12

Publications (2)

Publication Number Publication Date
EP0706838A1 true EP0706838A1 (de) 1996-04-17
EP0706838B1 EP0706838B1 (de) 2000-08-09

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP95430008A Expired - Lifetime EP0706838B1 (de) 1994-10-12 1995-10-11 Maschine und Verfahren zur Sortierung verschiedener Gegenstände unter Verwendung zumindest eines Roboterarms

Country Status (5)

Country Link
EP (1) EP0706838B1 (de)
AT (1) ATE195272T1 (de)
DE (1) DE69518293T2 (de)
ES (1) ES2151587T3 (de)
FR (1) FR2725640B1 (de)

Cited By (37)

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FR2775204A1 (fr) * 1998-02-25 1999-08-27 Pellenc Sa Procede et installation de tri de fruits et legumes, permettant la mesure d'au moins une de leurs caracteristiques
EP1063501A1 (de) * 1999-06-24 2000-12-27 Sony International (Europe) GmbH Messkopf für optisches Messgerät
WO2001022043A2 (en) * 1999-09-10 2001-03-29 Scanvægt International A/S A grader apparatus
WO2006130911A1 (en) * 2005-06-08 2006-12-14 Majek Automation Pty. Ltd. A sorting apparatus
ES2283173A1 (es) * 2005-02-14 2007-10-16 Logifruit S.L. Clasificador automatico de paletas de carga.
DE102007049702A1 (de) * 2007-10-17 2009-04-23 Robert Bosch Gmbh Pickerstrasse
WO2012136885A1 (en) * 2011-04-05 2012-10-11 Zenrobotics Oy Method for invalidating sensor measurements after a picking action in a robot system
CN103008263A (zh) * 2012-12-10 2013-04-03 吴江市博众精工科技有限公司 一种取放模组
CN103974785A (zh) * 2011-09-09 2014-08-06 吉恩-艾伯特·德普雷 用于将物品存储在预定存储容器中的系统
CN104275311A (zh) * 2014-09-27 2015-01-14 吴玲玲 自动归类分拣装置
WO2015173760A1 (en) * 2014-05-14 2015-11-19 Tyco Electronics (Shanghai) Co. Ltd. Automatic distributing equipment
CN106475773A (zh) * 2015-08-28 2017-03-08 泰科电子(上海)有限公司 自动装配系统及方法
EP3056288B1 (de) 2015-02-10 2018-03-14 Veolia environnement-VE Selektives sortierverfahren und entsprechende vorrichtung
EP3056289B1 (de) 2015-02-10 2018-04-11 Veolia environnement-VE Selektives sortierverfahren und entsprechende vorrichtung
CN108107889A (zh) * 2017-12-07 2018-06-01 浙江理工大学 一种自带分拣装置的高效率物流小车
WO2019081751A1 (de) * 2017-10-27 2019-05-02 Robert Bosch Gmbh Erfassungsvorrichtung und verfahren zu einer erfassung von multiplen objektdatensätzen zumindest eines objekts
CN109712509A (zh) * 2018-12-29 2019-05-03 天津市天森智能设备有限公司 一种模拟生产线实训平台
WO2019100857A1 (zh) * 2017-11-21 2019-05-31 北京京东尚科信息技术有限公司 分拣装置和分拣方法
WO2019207203A1 (en) * 2018-04-22 2019-10-31 Zenrobotics Oy Waste sorting gantry robot comprising an integrated maintenance hatch
WO2019207202A1 (en) * 2018-04-22 2019-10-31 Zenrobotics Oy Force control coupling for a robotic end effector for a waste sorting robot
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CN110550352A (zh) * 2019-10-12 2019-12-10 上海宝冶集团南京建筑有限公司 一种建筑工地垃圾识别分类智能垃圾回收装置
CN110624857A (zh) * 2019-10-21 2019-12-31 广东弓叶科技有限公司 物件类别识别方法及分拣设备
WO2020093902A1 (zh) * 2018-11-08 2020-05-14 深圳蓝胖子机器人有限公司 物流分拣系统及物流分拣方法
EP3674040A1 (de) 2018-12-28 2020-07-01 Bollegraaf Patents and Brands B.V. Saugkopf für ein abfallsortiersystem
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CN112691925A (zh) * 2020-12-09 2021-04-23 安徽机电职业技术学院 物料堆栈自动在线分拣方法
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GB2612653A (en) * 2021-11-09 2023-05-10 Danu Robotics Ltd Robotic system and method for picking and/or sorting objects
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CN116329237A (zh) * 2023-04-06 2023-06-27 广州拓源电子科技有限公司 基于视觉识别的智能回收系统
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CN107999399A (zh) * 2017-12-27 2018-05-08 华侨大学 基于点阵高光谱检测的建筑垃圾在线分拣系统和方法
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Cited By (54)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2775204A1 (fr) * 1998-02-25 1999-08-27 Pellenc Sa Procede et installation de tri de fruits et legumes, permettant la mesure d'au moins une de leurs caracteristiques
EP1063501A1 (de) * 1999-06-24 2000-12-27 Sony International (Europe) GmbH Messkopf für optisches Messgerät
US7258237B2 (en) 1999-09-10 2007-08-21 Scanvaegt International A/S Grader apparatus
WO2001022043A2 (en) * 1999-09-10 2001-03-29 Scanvægt International A/S A grader apparatus
WO2001022043A3 (en) * 1999-09-10 2001-10-18 Scanvaegt Int As A grader apparatus
ES2283173A1 (es) * 2005-02-14 2007-10-16 Logifruit S.L. Clasificador automatico de paletas de carga.
WO2006130911A1 (en) * 2005-06-08 2006-12-14 Majek Automation Pty. Ltd. A sorting apparatus
DE102007049702A1 (de) * 2007-10-17 2009-04-23 Robert Bosch Gmbh Pickerstrasse
US8387342B2 (en) 2007-10-17 2013-03-05 Robert Bosch Gmbh Picking line and method for inserting products into a packaging container
WO2012136885A1 (en) * 2011-04-05 2012-10-11 Zenrobotics Oy Method for invalidating sensor measurements after a picking action in a robot system
CN103974785A (zh) * 2011-09-09 2014-08-06 吉恩-艾伯特·德普雷 用于将物品存储在预定存储容器中的系统
CN103974785B (zh) * 2011-09-09 2016-05-25 吉恩-艾伯特·德普雷 用于将物品存储在预定存储容器中的系统
CN103008263A (zh) * 2012-12-10 2013-04-03 吴江市博众精工科技有限公司 一种取放模组
US10363581B2 (en) 2014-05-14 2019-07-30 Tyco Electronics (Shanghai) Co. Ltd. Automatic distributing equipment
WO2015173760A1 (en) * 2014-05-14 2015-11-19 Tyco Electronics (Shanghai) Co. Ltd. Automatic distributing equipment
CN104275311A (zh) * 2014-09-27 2015-01-14 吴玲玲 自动归类分拣装置
EP3056288B1 (de) 2015-02-10 2018-03-14 Veolia environnement-VE Selektives sortierverfahren und entsprechende vorrichtung
EP3056289B1 (de) 2015-02-10 2018-04-11 Veolia environnement-VE Selektives sortierverfahren und entsprechende vorrichtung
CN106475773B (zh) * 2015-08-28 2019-06-14 泰科电子(上海)有限公司 自动装配系统及方法
CN106475773A (zh) * 2015-08-28 2017-03-08 泰科电子(上海)有限公司 自动装配系统及方法
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DE69518293T2 (de) 2001-03-29
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EP0706838B1 (de) 2000-08-09
FR2725640A1 (fr) 1996-04-19
ATE195272T1 (de) 2000-08-15
FR2725640B1 (fr) 1997-01-10

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