EP0763470B1 - Machine et procédé de tri et de regroupement d'articles individuels en vue de leur conditionnement par quantité prédéterminée - Google Patents

Machine et procédé de tri et de regroupement d'articles individuels en vue de leur conditionnement par quantité prédéterminée Download PDF

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Publication number
EP0763470B1
EP0763470B1 EP96460032A EP96460032A EP0763470B1 EP 0763470 B1 EP0763470 B1 EP 0763470B1 EP 96460032 A EP96460032 A EP 96460032A EP 96460032 A EP96460032 A EP 96460032A EP 0763470 B1 EP0763470 B1 EP 0763470B1
Authority
EP
European Patent Office
Prior art keywords
articles
comb
vision
lowering
teeth
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.)
Expired - Lifetime
Application number
EP96460032A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0763470A1 (fr
Inventor
Pierre Robert
Olivier Somville
Angel Delaballina
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.)
De la Ballina Freres SAS
Original Assignee
Individual
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Publication date
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Application filed by Individual filed Critical Individual
Publication of EP0763470A1 publication Critical patent/EP0763470A1/fr
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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
    • G06M3/00—Counters with additional facilities
    • G06M3/02—Counters with additional facilities for performing an operation at a predetermined value of the count, e.g. arresting a machine
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/20—Applications of counting devices for controlling the feed of articles

Definitions

  • the field of the invention is that of packaging articles from, for example, a manufacturing line industrialized. More specifically, the invention relates to a machine and a method of sorting and grouping individual items, so that these can be conditioned in quantity predetermined.
  • the invention applies in particular, but not exclusively, sorting and grouping frozen pastries, bakery or pastry (croissants, for example) in view of their bagging, each sachet must contain a number given frozen products.
  • the sorting and grouping and the bagging operation are carried out in a packaging room, located between a freezer and a cold storage room.
  • Frozen products arrive usually in the packing room arranged in bulk on a conveyor.
  • the freezer and the cold room of storage are at a very low temperature (usually -40 ° C), while the conditioning room is at one higher temperature (usually + 10 ° C). Indeed, it must be possible, inside this conditioning room, to do work people and machines with electronics.
  • frozen products cannot stay a few minutes in the conditioning room and, therefore, sorting and grouping operations as well as bagging should be done very quickly.
  • the packaging operation is carried out by a suitable machine, for example a bagger in the application supra.
  • a suitable machine for example a bagger in the application supra.
  • the invention relates only to the sorting and consolidation, the packaging operation is not discussed in more detail later in this description.
  • a first known solution consists in using a centrifuge of the type comprising a slightly conical plate dimpled around its perimeter.
  • the platform is fed vertically, by the top, and turns slowly. Its low slope combined with its rotation ensures flow and distribution of items to alveoli.
  • a conveyor belt for the discharge of articles to a packaging is placed under the centrifuge plate. Each cell, when it passes over the evacuation belt, opens to drop the item it contains. So the items are deposited one by one on the discharge mat and it is so easy to count them.
  • the centrifuge is blocked. As soon as the current bagging is finished, the next cycle can start: we unlock the centrifuge which again releases the items one by one on the conveyor belt.
  • a second known technique for sorting and grouping items arrive on a conveyor belt unique.
  • two doors allow to direct items to either facility packaging parallels.
  • a vision system including in particular image processing means and a linear camera placed upstream of the junction point between the two facilities, can detect and count items that arrive. All items that pass are first directed to one packaging facilities. When the number of items past reaches predetermined quantity of items to be packaged together the infeed treadmill is stopped after the last items to top up the desired number have past the junction point. Then the doors are moved, from way that all of the following items are directed to each other conditioning system, and the conveyor belt restarts.
  • the two packaging facilities are supposed to alternately receive a predetermined amount articles.
  • This second known sorting and grouping technique has the major drawback of not being able to process a flow of continuous articles while almost all production flows in output from industrialized production lines are precisely continuous type. Indeed, the periodic stop of the conveyor belt in the case of a continuous article flow would result in a unacceptable crowding of items on this conveyor belt.
  • Document FR-A-2 613 957 also discloses a device for counting moving articles and for separate into numerically identical groups.
  • This device is equipped with a row of retractable fingers which are controlled from from information provided by a linear video camera and allow better separation of articles into groups identical.
  • the invention particularly aims to overcome these various drawbacks of the state of the art.
  • one of the objectives of this invention is to provide a method and a machine for sorting and grouping of individual articles to ensure that the number of items packaged together is always equal or more than a maximum of one predetermined quantity.
  • Another objective is that they are configurable so as to be able to be used with any type of article.
  • Another objective of the invention is that they are self-adaptive depending on the nature of the items.
  • Yet another object of the invention is to provide a very flexible operation and allowing to reach rates very high.
  • a complementary objective of the invention is to reduce the packaging costs.
  • the method and the machine of the invention do not use a line camera but a matrix camera, which is much more advantageous. Indeed, the use of a camera matrix allows in particular to tolerate a sliding of objects on the carpet (since we reason in terms of objects on images). However, such a slip, which is frequent, results if we use a linear camera by counting errors.
  • the articles passing into the vision zone are counted at their first appearance on an image. If articles have not had time to cross the entire vision area before taking the digital image next, they are still present on the next image, but at different locations.
  • the artificial vision system recognizes and does not take them into account again.
  • all the articles present on an image are divided into one or more groups.
  • Each group of articles appears for the comb as a single element that it can only let pass or retain as a whole.
  • the notion of group of articles is directly linked to mechanical stresses, such as in particular the spacing and inertia of the teeth of the comb, and the drive speed of the supply means.
  • a predetermined calculation strategy consists, by example, to calculate all the possible possibilities with the groups found in the previous step, and choose the one that leads to an equal or nearest number of items by excess of the predetermined amount.
  • all the articles present on an image are distributed in one or more spots.
  • a stain may not understand that an article, if it is isolated from other articles. All the articles which are attached to each other belong to the same spot, because the same outline allows them to be included all.
  • each group consists of a whole number of spots.
  • the supply means comprise, upstream of the vision zone, an acceleration zone, allowing to spread the articles on the means of supply.
  • the machine according to the invention preferably comprises, upstream of the vision area, a brush placed above the supply means and turning in opposite direction drive means, so as to eliminate all overlay of articles on the means of supply.
  • the brush and the acceleration zone which are two means can be combined, on the one hand facilitate the identification and counting of items by the machine vision system, and others apart from the selective blocking of certain articles by the comb.
  • the invention therefore relates to a machine and a method of sorting and grouping individual articles in view of their packaging by predetermined quantity during successive conditioning cycles.
  • Articles 2 are for example frozen pastries and the packaging is for example a bagging machine.
  • a conveyor belt constitutes, for example, the supply means 1.
  • the artificial vision system 3 notably includes a camera 7 and image processing means 8.
  • the camera 7 is for example a matrix camera. So even if items are not stationary on the treadmill, they will not appear not distorted in the images.
  • the camera 7 is fixed and located opposite the conveyor belt 1.
  • the viewing area 9 of camera 7 includes a portion of conveyor belt 1 so that all items 2 pass in this vision area 9.
  • Each image taken by the camera 7 comprises for example 200,000 pixels.
  • the image processing means 8 are for example produced under the form of a wired card, so as to increase the speed of processing.
  • the vision system artificial 3 makes it possible to identify and count the items passing through the vision zone 9, that is to say all the items driven by the treadmill 1 to the device packaging (not shown).
  • the artificial vision system 3 delivers information 14 from comb control 4 and barrier control information 15 5.
  • the teeth 11 in the rest position are represented by a circle, while the teeth 10 in the retention position are represented by a black disc.
  • the barrier 5 is placed downstream of the comb 4. It can take two positions, at know a rest position and a retention position. Unlike comb 4, whose the teeth 10, 11 are independent and may not be lowered simultaneously, the barrier 5 is in one piece.
  • the machine of the invention may include a brush 12 and / or the treadmill 1 may include an area acceleration 13.
  • the brush 12 is placed above the conveyor belt 1, upstream of the vision 9. It turns in the opposite direction to the direction of training of the treadmill. She permits to remove any overlapping of articles, and therefore to make all the articles visible by the artificial vision system 3.
  • the acceleration zone 13 of the treadmill 1 is located upstream of the vision 9 of the camera 7. It makes it possible to spread the articles on the conveyor belt 1, and therefore to facilitate their discernment by the artificial vision system 3.
  • the carpet roller 1 can pass, in acceleration zone 13, from a speed of 10m / min to 70m / min.
  • FIG. 4 presents a block diagram of a embodiment of the method of the invention.
  • the steps 41 and 42 implemented in the artificial vision system 3 constitute an iterative process comprising one (41) or two (41 and 42) steps, depending on whether the predetermined quantity N 0 of articles is reached or not.
  • Each iteration of the process implemented in the artificial vision system 3 has for example a duration approximately equal to 90 ms, if it comprises a single step 41, or to 150 ms, if it comprises two steps 41 and 42.
  • the information 14 for controlling the comb 4 is such that the lowering of certain teeth is delayed, so as to selectively authorize the passage of the last item (s) making it possible to add the number N of items to the predetermined quantity N 0 .
  • the barrier control information 15 is such that the lowering of the barrier 5 is delayed relative to the complete lowering of the comb 4, so as to allow the passage of the last article (s) allowing the topping up (and that comb 4 has also let pass).
  • the instant of lowering of the barrier 5 is for example calculated, from the instant of complete lowering of the comb 4, taking into account the speed of the treadmill 1 and the distance between the comb 4 and the barrier 5, so that the last items that comb 4 has passed pass barrier 5 before the barrier is lowered.
  • the comb 4 can be reassembled before the barrier 5 is lowered. Indeed, the minimum duration during which the comb 4 must remain in position lowered is the one that allows the last item of a cycle to be moved aside enough and the first article of the following cycle, so that barrier 5 has time to descend between the moments of passage of these last and first articles of two successive cycles.
  • each figure (3A to 3E) there is shown the treadmill 1, the vision area 9, comb 4, barrier 5, and individual items 2.
  • Each area of comb 4 is represented either by a circle, if it is in the rest position, or by a black disc, if it is in the retention position.
  • the barrier 5 is represented either by dotted lines, if it is in the rest position, or in solid lines, if it is in the retention position.
  • the machine does not have a barrier 5.
  • the comb 4 is lowered until the end of the current conditioning cycle.
  • spot here is meant a set of one or more adjacent articles or side by side, which is seen by the artificial vision system 3 as having an outline unique.
  • the artificial vision system cannot distinguish individually each item of a stain and therefore treats it as an element as such, having coordinates (e.g. minimal abscissa and maximum, and minimum and maximum ordinates) and a surface.
  • the artificial vision 3 can for example manage a task list, associating with each task its surface, its coordinates and the number of products it contains.
  • a task list associating with each task its surface, its coordinates and the number of products it contains.
  • the calculation (73) of the number of new articles contained in each new task is to divide the surface of the latter by an article surface predetermined.
  • an article we define an article as an element having a given area. You can also perform calculations with article surfaces minimum and maximum, so as to best approximate reality.
  • group is meant here a set of one or more adjacent articles or joined, which is indivisible by the comb 4.
  • the comb 4 because in particular the inertia of the teeth, the speed of the treadmill or the authorized play movement of articles, does not allow part of the articles to pass through group and to retain the others: he can only treat all these articles as one together, hold it back or let it pass.
  • the artificial vision system sees spots 81, which it brings together in groups 82 depending in particular on the mechanical constraints (inertia of the teeth, not the comb, speed of the treadmill), of the authorized play of movement stains, and the arrangement and size of tasks.
  • the artificial vision system 3 does not distinguish items within tasks, these items being simply defined, in general, by a surface and possibly a capacity for movement.
  • a strategy can consist in calculating all the possibilities, and in choosing that which leads to a number N of articles equal to the predetermined quantity N 0 , or to a number N which comes closest to it by excess.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Container Filling Or Packaging Operations (AREA)
  • Control Of Conveyors (AREA)
  • Length Measuring Devices By Optical Means (AREA)
EP96460032A 1995-09-18 1996-09-18 Machine et procédé de tri et de regroupement d'articles individuels en vue de leur conditionnement par quantité prédéterminée Expired - Lifetime EP0763470B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9511127 1995-09-18
FR9511127A FR2738799B1 (fr) 1995-09-18 1995-09-18 Machine et procede de tri et de regroupement d'articles individuels en vue de leur conditionnement par quantite predeterminee

Publications (2)

Publication Number Publication Date
EP0763470A1 EP0763470A1 (fr) 1997-03-19
EP0763470B1 true EP0763470B1 (fr) 2003-10-15

Family

ID=9482822

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96460032A Expired - Lifetime EP0763470B1 (fr) 1995-09-18 1996-09-18 Machine et procédé de tri et de regroupement d'articles individuels en vue de leur conditionnement par quantité prédéterminée

Country Status (5)

Country Link
EP (1) EP0763470B1 (es)
AT (1) ATE252021T1 (es)
DE (2) DE763470T1 (es)
ES (1) ES2208723T3 (es)
FR (1) FR2738799B1 (es)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2929481B1 (fr) 2008-03-26 2010-12-24 Ballina Freres De Procede et installation d'examen visiometrique de produits en defilement
FR2929405B1 (fr) * 2008-03-28 2010-04-02 Ballina Freres De Procede et installation de controle de qualite par examen visiometrique
FR2939769B1 (fr) * 2008-12-11 2010-12-31 Ballina Freres De Procede et installation de distribution de produits pour leur conditionnement
BE1018917A3 (nl) * 2009-02-24 2011-11-08 Pattyn Packing Lines Nv Inrichting voor het afscheiden van een vooraf bepaalde hoeveelheid stukgoederen.
CN102390578B (zh) * 2011-07-29 2014-05-28 上海朝洋机电设备有限公司 定量数粒的实现方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3490197A (en) * 1968-04-15 1970-01-20 American Home Prod Tablet counting and bottling machine
CH527093A (de) * 1970-08-03 1972-08-31 Sig Schweiz Industrieges Abzähleinrichtung für gleichmässig geformte, vorzugsweise flache Gegenstände, z.B. Biskuits
ES384171A1 (es) * 1970-09-21 1973-06-01 Mateo Grau E Hijos S A Aparato para contar objetos analogos, previamente clasifi- cados en varios tipos por tamano, peso o cualquier otra ca- racteristica.
US4062438A (en) * 1976-08-12 1977-12-13 Champion International Corporation Stick separating apparatus
US4528680A (en) * 1983-08-04 1985-07-09 Archambeault William J Apparatus for counting articles traveling in a random pattern
FR2613957A1 (fr) * 1987-04-17 1988-10-21 Panavi Sa Dispositif pour compter des articles en mouvement et pour les separer en groupes numeriquement identiques

Also Published As

Publication number Publication date
DE763470T1 (de) 2002-08-22
ATE252021T1 (de) 2003-11-15
EP0763470A1 (fr) 1997-03-19
FR2738799A1 (fr) 1997-03-21
DE69630349D1 (de) 2003-11-20
DE69630349T2 (de) 2004-07-08
FR2738799B1 (fr) 1997-12-05
ES2208723T3 (es) 2004-06-16

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