EP1115507A1 - Method for detecting multiple presence of objects in a sorting machine - Google Patents

Method for detecting multiple presence of objects in a sorting machine

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Publication number
EP1115507A1
EP1115507A1 EP99942984A EP99942984A EP1115507A1 EP 1115507 A1 EP1115507 A1 EP 1115507A1 EP 99942984 A EP99942984 A EP 99942984A EP 99942984 A EP99942984 A EP 99942984A EP 1115507 A1 EP1115507 A1 EP 1115507A1
Authority
EP
European Patent Office
Prior art keywords
buckets
objects
track
images
upstream
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
EP99942984A
Other languages
German (de)
French (fr)
Other versions
EP1115507B1 (en
Inventor
Didier Thieriot
Dominique Audran
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LA POSTE
Original Assignee
LA POSTE
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Filing date
Publication date
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Publication of EP1115507A1 publication Critical patent/EP1115507A1/en
Application granted granted Critical
Publication of EP1115507B1 publication Critical patent/EP1115507B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H7/00—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles
    • B65H7/02—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors
    • B65H7/06—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed
    • B65H7/12—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed responsive to double feed or separation
    • B65H7/125—Controlling article feeding, separating, pile-advancing, or associated apparatus, to take account of incorrect feeding, absence of articles, or presence of faulty articles by feelers or detectors responsive to presence of faulty articles or incorrect separation or feed responsive to double feed or separation sensing the double feed or separation without contacting the articles
    • 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
    • B07C1/00—Measures preceding sorting according to destination
    • B07C1/02—Forming articles into a stream; Arranging articles in a stream, e.g. spacing, orientating
    • B07C1/04—Forming a stream from a bulk; Controlling the stream, e.g. spacing the articles
    • 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
    • B07C3/02—Apparatus characterised by the means used for distribution
    • B07C3/08—Apparatus characterised by the means used for distribution using arrangements of conveyors
    • B07C3/082—In which the objects are carried by transport holders and the transport holders form part of the conveyor belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2301/00—Handling processes for sheets or webs
    • B65H2301/30—Orientation, displacement, position of the handled material
    • B65H2301/32—Orientation of handled material
    • B65H2301/321—Standing on edge

Definitions

  • the present invention relates to the detection of the multiple presence of flat objects in the conveying containers called "V" bottom buckets of a sorting machine.
  • the buckets are intended to transport flat objects individually between a loading location and one of a plurality of destination locations along the conveyor line, selected according to the address of the object.
  • the unitary distribution of the objects in the buckets is carried out from unstacking devices.
  • the present invention results from a search for a solution to this problem, and it consists of a method and a device for detecting the multiple presence of flat objects in the buckets with a "V" bottom of a sorting machine, in downstream of the loading site, the difficulty of this detection being due in particular to fact that the objects being transported in abutment on their lower edge, this naturally descends to the bottom corner of the bucket, and that consequently, in case of plurality of objects in the same bucket, their lower edges will have a strong tendency to join against each other, without presenting any solutions of continuity between them.
  • the method according to the invention is characterized in that it comprises the following stages: (1) making the buckets cross, downstream from the loading place, a path oriented along the trajectory of the latter and constituted by the upper strand d '' an endless strip arrangement, said track running in the same direction as the buckets and at a speed equal to or slightly higher than that of the buckets, and passing inside the buckets when the latter cross it, at a slightly level higher than that of the lowest point of the interior bottom of the buckets, so that the transported objects engage on said track by their lower edges coming into contact with the upstream return means of said endless strip arrangement at a point in time position before twelve o'clock, to rise in the buckets during transit on the said track, and to be separated from one another if there are more than one in the same bucket;
  • step (2) make images of the lower edge of the objects transported during their passage on said track; and (3) processing the images produced in step (2) in order to obtain an indication of the multiple presence of objects or not in the buckets after each passage to said loading station.
  • the lighting is advantageously directed with a relatively grazing incidence relative to the objects transported, and from downstream to upstream relative to the direction of movement of the buckets.
  • the image obtained according to the method and processed in step (3) thus shows the lower edge of an object in the form of a light longitudinal stripe in a dark background.
  • a significant image of the multiple presence of objects therefore comprises at least one dark intermediate furrow between two light longitudinal zones.
  • the heterogeneity of the objects treated is not only dimensional, but also relates to the nature of the envelopes for which the film in synthetic material is used more and more. And in the case of transparent envelopes, the production of images in step (2) requires special care to discriminate between the presence in the cups of a single ply with such a transparent envelope and the presence of several objects.
  • a solution is provided to this problem by providing, in addition to the lighting in normal light necessary for obtaining images, additional lighting in structured light such as laser light, intended to produce a transverse trace in the form of a line on the image of the objects. If the object transported is a fold in a plastic envelope, which may have made appear on the image resulting from normal lighting a dark groove intermediate between two bright areas, the transverse trace resulting from said additional lighting is not interrupted at said dark intermediate furrow, and this indication is necessary for the erroneous indication of multiple presence of objects related to detection on the image of said intermediate groove. If, on the contrary, several objects are transported simultaneously in the same bucket, the transverse trace resulting from said additional lighting presents an interruption at said intermediate furrow, confirming the indication of multiple presence relative to the latter.
  • additional lighting in structured light such as laser light
  • said additional lighting can be emitted in the form of a flat brush, advantageously vertical, from a point below the buckets, and directed upwards and upstream by relative to the direction of movement of the buckets; and it can also be directed with a transverse obliquity with respect to the direction of movement of the buckets, in order to increase the legibility on the images of the interruptions of said trace coming from it, the interruptions then making said trace appear in the form of successive commas, of which the adjacent ends are clearly offset.
  • the invention also relates to a device for implementing said method, comprising in combination: an endless strip arrangement immediately downstream of the bucket loading location, the upper strand of which forms, from an upstream deflection means, a path oriented along the path of the buckets, which path is arranged in such a way that when it is crossed by the buckets, it penetrates inside them, at a level slightly above the lowest point of the interior bottom of the buckets, and scrolls in the same direction as the buckets and at an equal speed or slightly higher than that of the buckets; means for producing images of the lower edge of the objects transported during their passage on said track; and image processing means for detecting the multiple presence of objects in the buckets.
  • FIG. 1 is a schematic side view of the mechanical and optical parts for producing images of a device according to the invention, installed in a postal sorting machine;
  • Fig. 2 is a front view of the assembly shown in FIG. 1;
  • Fig. 3 is a schematic side view, illustrating the operating principle of the mechanical part;
  • Figs. 4 to 7 are views representing examples of images obtained with a device according to the invention.
  • Figs. 8 and 9 are graphs relating to the analysis of the images carried out in step (3) of the method according to the invention.
  • FIGs. 1 and 2 they therefore illustrate a device according to the invention installed in a postal sorting machine for flat objects comprising a carousel of buckets which serve a plurality of destinations downstream of a loading station.
  • the machine is schematically represented by a block of three successive buckets G located directly downstream of a loading station not shown, and moving in the direction of the arrow F.
  • the buckets G are intended to convey a single object at a time, which is loaded from the top and descends until it rests on the bottom by its lower edge, in the immediate vicinity of the same side for all the buckets (the right side in Fig. 2 ) due to a prior jogging of the objects.
  • the separation between lower sections of objects in the same bucket is created by making them meet the upstream deflection means Ra of a horizontal channel S in an endless band arranged longitudinally under the trajectory of the buckets, directly downstream from the loading station for these, said track S, when it is crossed by the buckets, penetrating inside them, at a level slightly above the internal bottom of the buckets G at their point P, and scrolling in the same direction as the buckets G, at a speed equal to theirs if not slightly higher.
  • FIG. 3 which represents the two lower slices T of the same pair of objects, first at the time of their meeting with the upstream return means Ra, then during their transit on the channel S, the engagement of the slices T on said path S will have the effect of raising them relative to the bottom of the buckets, and therefore of offering them a wider space to allow them to move away.
  • the upstream return means A in a time position of about 11 hours, the adjacent sections T will be distant on the periphery of this one of a segment of rope ⁇ which will be kept horizontally provided that the grip on the track is satisfactory, which is the case using notched belts.
  • the spacing ⁇ thus created, even if minimal, will be sufficient to be effectively usable in the rest of the process.
  • said channel S is preferably chosen to be wide enough so that this difference is created over a significant part of the length of the lower sections of objects. Also note that said gap can be further increased by scrolling said channel S at a speed slightly higher than that of the buckets.
  • the device shown in Figs. 1 and 2 comprises the aforementioned means for spreading the lower sections of objects T, and associated means for producing images of the lower sections discarded during their passage on the track S, namely lighting means and a means taking pictures.
  • the device is mounted in a frame 1 essentially comprising two side plates 1a and 1b. It is arranged longitudinally under the path of the buckets G, near the same side of the latter corresponding to a jogging alignment, and directly downstream of the bucket loading station.
  • the endless strip arrangement constituting the track S comprises two identical sets in parallel, each comprising a belt 2 passing over upstream and downstream idler rollers, respectively 3 and 4, and a lower roller 5.
  • the upper horizontal strands of the two assemblies constituting the track S, as well as consequently the upper part of the idler rollers 3 and 4, are at a level slightly higher than that of the inner bottom of the buckets G when crossing by them of the two assemblies, the buckets G having openings or indentations of passage 6 at the bottom of their rear wall and of their flap V.
  • the drive of the belts 2 is ensured by the lower rollers 5 which, for this purpose, are mounted on the same transverse axis 7 connected to a drive means, not shown.
  • the upper rollers 3 and 4 are in turn mounted independently of each other on the side plates 1a and 1b, so that the upward space between the two assemblies is completely clear and available for the lighting and taking pictures.
  • the upstream idler rollers 3 have a diameter of 120 mm, the track S being raised by about
  • each upstream roller 3 which has the function of contributing to the passage of objects on the rollers 3, and which is especially useful for fine and light objects to avoid rebounds.
  • the lighting means comprise a light source 10, visible in FIG. 1 but not shown in FIG. 2 for clarity of the drawing.
  • the source 10 is arranged at the top and near the downstream end of the device, centrally between the two assemblies. It is directed longitudinally upwards and upstream, at an angle of approximately 20 ° with the horizontal, on the front part of the track S.
  • To this lighted area corresponds an opening 11 in the bottom of the buckets G , consisting of notches in their rear wall and their flap V.
  • the gripping means image 15 advantageously being a digital camera or a laser sensor, is placed vertically, just below the illuminated area, the focusing being made on the plane of track S. It is triggered by a detector 16 placed slightly upstream of the illuminated area to signal the arrival of the buckets G.
  • the detector 16 is advantageously a contactor, actuated when pessage the buckets by a stud fixed on the side thereof.
  • a lighting in structured light for example in the form of a laser line, coming from a source 12 placed below the main source 10. This light is directed on the same zone as the main lighting. , at an angle of about 40 ° with the horizontal, but instead of being longitudinal, it has a certain transverse obliquity, fixed in the example shown at 25 °.
  • the line is advantageously a flat vertical brush, preferably divergent.
  • Figs. 4 to 7 represent the images which are obtained with a device such as that which has just been described.
  • the image in Fig. 4 is representative of an empty bucket.
  • the two clear upper and lower lines 20 identified represent the two sides of the window 11 in the bottom of the bucket, and indicate that the lighting has worked well. The absence of these lines indicates a malfunction such as absence of lighting.
  • Fig. 5 corresponds to the presence of a single object in the bucket considered, appearing in the form of a single clear transverse band.
  • the image in Fig. 6 corresponds to the presence of two objects appearing in the form of two bands clear transverse, clearly separated by a dark intermediate furrow or border representative of the interval between lower sections of the two objects.
  • the image of FIG. 7 corresponds to the particular case of a single object (transparent envelope) whose image resulting from the main lighting source does not differ sufficiently from an image of multiple presence to allow discrimination.
  • this discrimination becomes evident in view of the oblique transverse trace 21 resulting from the additional lighting, because it is not here interrupted in the crossing of the dark intermediate groove normally indicative of an interval between objects, and is very clearly differentiated from trace 21 of the
  • Fig. 6 resulting similarly from the additional lighting and which, for its part, consists of two segments spaced from each other at the level of the intermediate groove, and the adjacent ends of which are clearly offset in the transverse direction.
  • Step 1 It is performed on digital images each of whose pixels has a gray level or luminance value between 0 and 255. Step 1:
  • the algorithm performs a horizontal profile, Fig. 6, and determines whether it has a peak, as illustrated in the graph of FIG. 8 where the horizontal coordinates of the pixels are plotted on the abscissa and the luminance or gray level values on the ordinate.
  • Fig. 6 detection begins at mid-height of the image and takes place downwards. If on arrival at the bottom of the image, there was no detection of a peak, this indicates the absence of an object in the bucket, or else a lighting defect, and the distinction may be made between these two possibilities by providing in the algorithm for detection of the high and low traces 20 appearing on the image of FIG. 4.
  • the previous profile, Fig. 8, made it possible to determine whether or not there is an object or objects in the bucket corresponding to the image processed.
  • This profile with a view to optimizing the processing time, is advantageously produced by summing a few horizontal lines, and it can therefore have sudden variations due to the noise of the system.
  • the diagram in FIG. 9 has a profile with a peak where the first two minima A and B meet the three criteria (a), (b) and (c) and will therefore be used for the rest of the processing, while minima C will be ignored.
  • a minimum In a first phase of this stage, it is sought line by line, from the place where the profile was produced, the presence of a minimum.
  • the area of search is restricted according to the coordinates of the minima and the two peaks surrounding it (maxima) found on the starting profile.
  • maxima On each line, we look for the minimum and the two maxima, then we measure the difference between the two maxima, which must be significant enough (for example greater than 5 pixels) to be taken into account.
  • the second phase consists in determining the point of the lowest luminescence minima, which will be used to determine the starting point for processing the next line, exactly above or below depending on the direction of the operation. This point immediately above or below must also have a very low luminance. Otherwise, a penalty is assigned to the area explored.
  • the point of lower luminance is also used for the detection of a trace 21 resulting from additional lighting in structured light (such as laser light), which detection will be carried out in the next stage of processing.
  • a score is calculated, which determines whether the area explored is sufficiently significant of a space between objects. To do this, the number of weakest luminescence points is cumulated for which the aforementioned condition of deviation between maxima beyond the minimum is satisfied. This score is reduced by the number of penalties, and it is normalized in relation to the length of the contour.
  • Step 4 This involves analyzing the aforementioned trace 21 resulting from the additional lighting to confirm or refute the indications of multiple presence of objects resulting from the previous step. If in the second phase of the previous step, a first point of exploration of a line is detected which should be a minimum with a luminance value significantly higher than that of the point immediately above or below (for example greater than the half-sum of the values of this adjacent minima and one of its maxima), the algorithm proceeds to the search for a trace 21. For this, an exploration takes place to the right and to the left of said first point detected to find a saturated area of small width.
  • the algorithm stops the exploration of the contour considered, concluding that there is no interruption of the trace 21 at the level of this contour, and that consequently, the latter does not correspond to a space between two objects.
  • the coordinates of the ends of the trace 21 are saved for the next step.
  • trace 21 is only found in one of the parts of the images, and that its search is therefore only carried out in this part.

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  • Sorting Of Articles (AREA)

Abstract

The invention -oncerns a method to be used in machines wherein objects are transported on their edge in conveying buckets with V-shaped base. The method consists in: (1) causing the buckets (G) to cross, downstream of the loading site, a path (S) which constitutes the carrying side of an endless belt arrangement, moving in the same direction and at the same speed as the buckets, and passing through the bases thereof when they cross it, such that the edges of the transported objects are raised on the path (S), and are spaced from one another when there are several of them; (2) producing images of said edges when they cross the path (S); and (3) processing said images to detect the multiple presence of objects.

Description

DETECTION DE PRESENCE MULTIPLE DOBJECTS DANS UNE MACHINE DE TRIMULTIPLE OBJECT DETECTION IN A SORTING MACHINE
La présente invention concerne la détection de la présence multiple d'objets plats dans les conteneurs de convoyage dit godets à fond en "V" d'une machine de tri. Dans ce type de machines, les godets sont destinés à transporter unitairement des objets plats entre un lieu de chargement et l'un parmi une pluralité de lieux de destination le long de la ligne de convoyage, sélectionné en fonction de l'adresse de l'objet. En règle générale la distribution unitaire des objets dans les godets est effectuée à partir de dispositifs de dépilage.The present invention relates to the detection of the multiple presence of flat objects in the conveying containers called "V" bottom buckets of a sorting machine. In this type of machine, the buckets are intended to transport flat objects individually between a loading location and one of a plurality of destination locations along the conveyor line, selected according to the address of the object. In general, the unitary distribution of the objects in the buckets is carried out from unstacking devices.
Dans la pratique, et pour diverses raisons dont le caractère fortement hétérogène des objets traités dans la principale application qui est le tri postal, les incidents de dépilage sont fréquents, qui se traduisent par le chargement de plusieurs objets au lieu d'un seul dans un même godet. Et dans ce cas, les objets indûment transportés ont toutes les chances d'être ensuite mal acheminés, pour arriver à leur destinataire très retardés et au terme d'un périple qui aura fait monter nettement le prix de revient de l'opération.In practice, and for various reasons including the highly heterogeneous nature of the objects treated in the main application which is postal sorting, unstacking incidents are frequent, which result in the loading of several objects instead of just one in one same bucket. And in this case, the unduly transported objects are likely to be then misdirected, to arrive at their destination very delayed and at the end of a journey which will have significantly raised the cost price of the operation.
La présente invention résulte d'une recherche de solution à ce problème, et elle consiste en un procédé et un dispositif de détection de la présence multiple d'objets plats dans les godets à fond en "V" d'une machine de tri, en aval du lieu de chargement, la difficulté de cette détection étant due notamment au fait que les objets étant transportés en appui sur leur tranche inférieure, celle-ci descend naturellement jusque dans le coin de fond du godet, et que par conséquent, en cas de pluralité d'objets dans le même godet, leurs tranches inférieures auront fortement tendance à s'accoler les unes contre les autres, sans présenter entre elles de solutions de continuité.The present invention results from a search for a solution to this problem, and it consists of a method and a device for detecting the multiple presence of flat objects in the buckets with a "V" bottom of a sorting machine, in downstream of the loading site, the difficulty of this detection being due in particular to fact that the objects being transported in abutment on their lower edge, this naturally descends to the bottom corner of the bucket, and that consequently, in case of plurality of objects in the same bucket, their lower edges will have a strong tendency to join against each other, without presenting any solutions of continuity between them.
Le procédé selon l'invention est caractérisé en ce qu'il comprend les étapes suivantes : (1) faire franchir par les godets, en aval du lieu de chargement, une voie orientée selon la trajectoire de ces derniers et constituée par le brin supérieur d'un arrangement en bande sans fin, ladite voie défilant dans le même sens que les godets et à une vitesse égale ou légèrement supérieure à celle des godets, et passant à l'intérieur des godets lorsque ceux-ci la franchissent, à un niveau légèrement supérieur à celui du point le plus bas du fond intérieur des godets, de telle manière que les objets transportés s'engagent sur ladite voie par leurs tranches inférieures venant en contact avec le moyen de renvoi amont dudit arrangement en bande sans fin en un point en position horaire antérieure à douze heures, pour s'élever dans les godets lors du transit sur ladite voie, et être écartées entre elles si elles sont plusieurs dans un même godet ;The method according to the invention is characterized in that it comprises the following stages: (1) making the buckets cross, downstream from the loading place, a path oriented along the trajectory of the latter and constituted by the upper strand d '' an endless strip arrangement, said track running in the same direction as the buckets and at a speed equal to or slightly higher than that of the buckets, and passing inside the buckets when the latter cross it, at a slightly level higher than that of the lowest point of the interior bottom of the buckets, so that the transported objects engage on said track by their lower edges coming into contact with the upstream return means of said endless strip arrangement at a point in time position before twelve o'clock, to rise in the buckets during transit on the said track, and to be separated from one another if there are more than one in the same bucket;
(2) réaliser des images de la tranche inférieure des objets transportés lors de leur passage sur ladite voie ; et (3) traiter les images réalisées à l'étape (2) en vue d'obtenir une indication de présence multiple d'objets ou non dans les godets après chaque passage audit poste de chargement. Pour obtenir des images significatives à l'étape(2) make images of the lower edge of the objects transported during their passage on said track; and (3) processing the images produced in step (2) in order to obtain an indication of the multiple presence of objects or not in the buckets after each passage to said loading station. To get meaningful images in step
(2), l'éclairage est avantageusement dirigé avec une incidence relativement rasante par rapport aux objets transportés, et de l'aval vers l'amont relativement à direction de déplacement des godets.(2), the lighting is advantageously directed with a relatively grazing incidence relative to the objects transported, and from downstream to upstream relative to the direction of movement of the buckets.
L'image obtenue selon le procédé et traitée à l'étape (3) fait ainsi apparaître la tranche inférieure d'un objet sous forme d'une bande longitudinale claire dans un fond sombre. Une image significative de présence multiple d'objets comporte donc au moins un sillon intermédiaire sombre entre deux zones longitudinales claires.The image obtained according to the method and processed in step (3) thus shows the lower edge of an object in the form of a light longitudinal stripe in a dark background. A significant image of the multiple presence of objects therefore comprises at least one dark intermediate furrow between two light longitudinal zones.
Dans l'application pour laquelle l'invention a été réalisée, s'agissant du tri postal, l'hétérogénéité des objets traités n'est pas seulement d'ordre dimensionnel, mais elle porte également sur la nature des enveloppes pour lesquelles du film en matière synthétique est de plus en plus utilisé. Et dans le cas d'enveloppes transparentes, la réalisation d'images à l'étape (2) nécessite un soin particulier pour faire la discrimination entre la présence dans les godets d'un pli unique avec une telle enveloppe transparente et la présence de plusieurs objets.In the application for which the invention was made, with regard to postal sorting, the heterogeneity of the objects treated is not only dimensional, but also relates to the nature of the envelopes for which the film in synthetic material is used more and more. And in the case of transparent envelopes, the production of images in step (2) requires special care to discriminate between the presence in the cups of a single ply with such a transparent envelope and the presence of several objects.
Selon une caractéristique additionnelle de l'invention, une solution est apportée à ce problème en prévoyant en plus de l'éclairage en lumière normale nécessaire à l'obtention d'images, un éclairage additionnel en lumière structurée telle que lumière laser, destiné à produire une trace transversale sous forme d'une ligne sur l'image des objets. Si l'objet transporté est un pli sous enveloppe en matière plastique, qui a pu faire apparaître sur l'image résultant de l'éclairage normal un sillon sombre intermédiaire entre deux zones claires, la trace transversale résultant dudit éclairage additionnel n'est pas interrompue au niveau dudit sillon intermédiaire sombre, et cette indication s'impose à l'indication erronée de présence multiple d'objets liée à la détection sur l'image dudit sillon intermédiaire. Si, au contraire, plusieurs objets sont transportés simultanément dans un même godet, la trace transversale résultant dudit éclairage additionnel présente une interruption au niveau dudit sillon intermédiaire, confirmant l'indication de présence multiple relative à ce dernier.According to an additional characteristic of the invention, a solution is provided to this problem by providing, in addition to the lighting in normal light necessary for obtaining images, additional lighting in structured light such as laser light, intended to produce a transverse trace in the form of a line on the image of the objects. If the object transported is a fold in a plastic envelope, which may have made appear on the image resulting from normal lighting a dark groove intermediate between two bright areas, the transverse trace resulting from said additional lighting is not interrupted at said dark intermediate furrow, and this indication is necessary for the erroneous indication of multiple presence of objects related to detection on the image of said intermediate groove. If, on the contrary, several objects are transported simultaneously in the same bucket, the transverse trace resulting from said additional lighting presents an interruption at said intermediate furrow, confirming the indication of multiple presence relative to the latter.
Selon d'autres caractéristiques de l'invention, ledit éclairage additionnel peut être émis sous forme d'un pinceau plat, avantageusement vertical, à partir d'un point au-dessous des godets, et dirigé vers le haut et vers l'amont par rapport à la direction de déplacement des godets ; et il peut en outre être dirigé avec une obliquité transversale par rapport à la direction de déplacement des godets, pour augmenter la lisibilité sur les images des interruptions de ladite trace issue de lui, les interruptions faisant alors apparaître ladite trace sous forme de virgules successives dont les extrémités adjacentes sont nettement décalées.According to other characteristics of the invention, said additional lighting can be emitted in the form of a flat brush, advantageously vertical, from a point below the buckets, and directed upwards and upstream by relative to the direction of movement of the buckets; and it can also be directed with a transverse obliquity with respect to the direction of movement of the buckets, in order to increase the legibility on the images of the interruptions of said trace coming from it, the interruptions then making said trace appear in the form of successive commas, of which the adjacent ends are clearly offset.
D'autres caractéristiques du procédé selon l'invention, concernant notamment le traitement d'image de l'étape (3) , apparaîtront dans la description suivante. L'invention concerne également un dispositif pour mettre en oeuvre ledit procédé, comprenant en combinaison : un arrangement en bande sans fin immédiatement en aval du lieu de chargement des godets, dont le brin supérieur forme à partir d'un moyen de renvoi amont une voie orientée selon la trajectoire des godets, laquelle voie est disposée de telle manière que lorsqu'elle est franchie par les godets, elle pénètre à l'intérieur de ceux-ci, à un niveau légèrement au-dessus du point le plus bas du fond intérieur des godets, et défile dans le même sens que les godets et à une vitesse égale ou légèrement supérieure à celle des godets ; des moyens de réalisation d'images de la tranche inférieure des objets transportés lors de leur passage sur ladite voie ; et des moyens de traitement d'images pour détecter la présence multiple d'objets dans les godets.Other characteristics of the method according to the invention, relating in particular to the image processing of step (3), will appear in the following description. The invention also relates to a device for implementing said method, comprising in combination: an endless strip arrangement immediately downstream of the bucket loading location, the upper strand of which forms, from an upstream deflection means, a path oriented along the path of the buckets, which path is arranged in such a way that when it is crossed by the buckets, it penetrates inside them, at a level slightly above the lowest point of the interior bottom of the buckets, and scrolls in the same direction as the buckets and at an equal speed or slightly higher than that of the buckets; means for producing images of the lower edge of the objects transported during their passage on said track; and image processing means for detecting the multiple presence of objects in the buckets.
Ces caractéristiques et avantages de l'invention, ainsi que d'autres, apparaîtront plus clairement à la lecture de la description suivante, faite en relation avec les dessins joints, dans lesquels : la Fig. 1 est une vue schématique, de côté, des parties mécanique et optique pour la réalisation d'images d'un dispositif selon l'invention, installées dans une machine de tri postal ; la Fig. 2 est une vue de devant de l'ensemble représenté à la Fig. 1 ; la Fig. 3 est une vue de côté schématique, illustrant le principe de fonctionnement de la partie mécanique ;These characteristics and advantages of the invention, as well as others, will appear more clearly on reading the following description, given in relation to the accompanying drawings, in which: FIG. 1 is a schematic side view of the mechanical and optical parts for producing images of a device according to the invention, installed in a postal sorting machine; Fig. 2 is a front view of the assembly shown in FIG. 1; Fig. 3 is a schematic side view, illustrating the operating principle of the mechanical part;
Les Figs. 4 à 7 sont des vues représentant des exemples d'images obtenues avec un dispositif selon l'invention ; et les Figs. 8 et 9 sont des graphiques relatifs à l'analyse des images réalisée à l'étape (3) du procédé selon l'invention.Figs. 4 to 7 are views representing examples of images obtained with a device according to the invention; and Figs. 8 and 9 are graphs relating to the analysis of the images carried out in step (3) of the method according to the invention.
Considérant d'abord les Figs. 1 et 2, elles illustrent donc un dispositif selon l'invention installé dans une machine de tri postal pour objets plats comportant un carrousel de godets qui desservent une pluralité de destinations en aval d'un poste de chargement. A la Fig. 1, la machine est schématiquement représentée par un bloc de trois godets successifs G se trouvant directement en aval d'un poste de chargement non montré, et se déplaçant dans la direction de la flèche F. Les godets G ont pour vocation d'acheminer un seul objet à la fois, lequel est chargé par le haut et descend jusqu'à s'appuyer sur le fond par sa tranche inférieure, à proximité immédiate d'un même côté pour tous les godets (le côté de droite à la Fig. 2) en raison d'un taquage préalable des objets.First considering Figs. 1 and 2, they therefore illustrate a device according to the invention installed in a postal sorting machine for flat objects comprising a carousel of buckets which serve a plurality of destinations downstream of a loading station. In Fig. 1, the machine is schematically represented by a block of three successive buckets G located directly downstream of a loading station not shown, and moving in the direction of the arrow F. The buckets G are intended to convey a single object at a time, which is loaded from the top and descends until it rests on the bottom by its lower edge, in the immediate vicinity of the same side for all the buckets (the right side in Fig. 2 ) due to a prior jogging of the objects.
Le déchargement des godets G est assuré par escamotage du fond qui, à cet effet, consiste en un volet pivotant V. Pour des raisons d'efficacité de déchargement, le volet V est assez fortement incliné et forme donc avec la paroi arrière de godet un coin interne d'angle relativement fermé ou pointe P. De ce fait, et comme l'illustre le dessin, les objets pour la plupart descendent dans les godets jusqu'à ce que leur tranche inférieure T vienne se placer au plus profond dans la pointe P. Et si par inadvertance, deux objetsThe unloading of buckets G is ensured by retraction of the bottom which, for this purpose, consists of a pivoting flap V. For reasons of unloading efficiency, the flap V is quite inclined and therefore forms with the rear wall of the bucket a Internal corner of relatively closed angle or point P. Therefore, and as illustrated in the drawing, the objects for the most part descend into the buckets until their lower edge T comes to be placed deepest in the point P. And if inadvertently two objects
(ou plus) ont été chargés dans un même godet, dans la grande majorité des cas, leurs tranches inférieures T seront accolées les unes contre les autres, sans espacement aucun, comme illustré dans le godet amont à la Fig. 1. Devant cette problématique, il a néanmoins été choisi, selon l'invention, pour la détection de présence multiple d'objets dans les godets (au sens ici de plusieurs objets se trouvant ensemble dans un même godet) , d'opérer par le bas au niveau des tranches des objets, en intégrant dans le processus de détection une première étape consistant en une action sur lesdites tranches inférieures, en vue de créer entre elles si elles sont plusieurs dans un même godet, une séparation significative pour la suite du processus.(or more) have been loaded into the same bucket, in the vast majority of cases, their lower sections T will be joined against one another, without any spacing, as illustrated in the upstream bucket in FIG. 1. Faced with this problem, it was nevertheless chosen, according to the invention, for the detection of multiple presence of objects in the buckets (in the sense here of several objects being together in the same bucket), to operate from below at level of the slices of the objects, by integrating into the detection process a first step consisting of an action on said lower slices, with a view to creating between them if they are several in the same bucket, a significant separation for the rest of the process.
Selon l'invention, la séparation entre tranches inférieures d'objets dans un même godet est créée en les faisant rencontrer le moyen de renvoi amont Ra d'une voie horizontale S en bande sans fin disposée longitudinalement sous la trajectoire des godets, directement en aval du poste de chargement de ceux-ci, ladite voie S, lorsqu'elle est franchie par les godets, pénétrant à l'intérieur de ceux-ci, à un niveau légèrement au-dessus du fond interne des godets G en leur pointe P, et défilant dans le même sens que les godets G, à une vitesse égale à la leur sinon légèrement supérieure.According to the invention, the separation between lower sections of objects in the same bucket is created by making them meet the upstream deflection means Ra of a horizontal channel S in an endless band arranged longitudinally under the trajectory of the buckets, directly downstream from the loading station for these, said track S, when it is crossed by the buckets, penetrating inside them, at a level slightly above the internal bottom of the buckets G at their point P, and scrolling in the same direction as the buckets G, at a speed equal to theirs if not slightly higher.
Comme l'illustre clairement la Fig. 3 qui représente les deux tranches inférieures T d'une même paire d'objets, d'abord au moment de leur rencontre avec le moyen de renvoi amont Ra, puis lors de leur transit sur la voie S , l'engagement des tranches T sur ladite voie S aura pour effet de les élever par rapport au fond des godets, et donc de leur offrir un espace plus large pour leur permettre de s'écarter. D'autre part, en rencontrant le moyen de renvoi amont A dans une position horaire d'environ 11 heures, les tranches T adjacentes seront distantes sur la périphérie de celui-ci d'un segment de corde δ qui va se conserver horizontalement pourvu que l'adhérence sur la voie soit satisfaisante, ce qui est le cas en utilisant des courroies crantées. L'écartement δ ainsi créé, même s'il est minime, sera suffisant pour être efficacement exploitable dans la suite du procédé. A noter qu'on choisira de préférence ladite voie S assez large pour que cet écart soit créé sur une partie importante de la longueur des tranches inférieures d'objets. A noter également que ledit écart peut encore être augmenté en faisant défiler ladite voie S à une vitesse légèrement supérieure à celle des godets.As clearly illustrated in FIG. 3 which represents the two lower slices T of the same pair of objects, first at the time of their meeting with the upstream return means Ra, then during their transit on the channel S, the engagement of the slices T on said path S will have the effect of raising them relative to the bottom of the buckets, and therefore of offering them a wider space to allow them to move away. On the other hand, by meeting the upstream return means A in a time position of about 11 hours, the adjacent sections T will be distant on the periphery of this one of a segment of rope δ which will be kept horizontally provided that the grip on the track is satisfactory, which is the case using notched belts. The spacing δ thus created, even if minimal, will be sufficient to be effectively usable in the rest of the process. It should be noted that said channel S is preferably chosen to be wide enough so that this difference is created over a significant part of the length of the lower sections of objects. Also note that said gap can be further increased by scrolling said channel S at a speed slightly higher than that of the buckets.
Le dispositif représenté aux Figs. 1 et 2 comporte les moyens précités pour écarter les tranches inférieures d'objets T, et des moyens associés pour la réalisation d'images des tranches inférieures écartées lors de leur passage sur la voie S, à savoir des moyens d'éclairage et un moyen de prise d'images.The device shown in Figs. 1 and 2 comprises the aforementioned means for spreading the lower sections of objects T, and associated means for producing images of the lower sections discarded during their passage on the track S, namely lighting means and a means taking pictures.
Le dispositif est monté dans un bâti 1 comportant pour l'essentiel deux plaques latérales la et lb. Il est disposé longitudinalement sous la trajectoire des godets G, à proximité d'un même côté de ces derniers correspondant à un alignement de taquage, et directement en aval du poste de chargement des godets. L'arrangement en bande sans fin constituant la voie S comprend deux ensembles identiques en parallèle, chacun comprenant une courroie 2 passant sur des galets de renvoi amont et aval, respectivement 3 et 4, et un galet inférieur 5. Les brins supérieurs horizontaux des deux ensembles constituant la voie S, ainsi que par conséquent la partie supérieure des galets de renvoi 3 et 4, sont à un niveau légèrement supérieur à celui du fond intérieur des godets G lors du franchissement par eux des deux ensembles, les godets G présentant des ajours ou echancrures de passage 6 dans le bas de leur paroi arrière et de leur volet V.The device is mounted in a frame 1 essentially comprising two side plates 1a and 1b. It is arranged longitudinally under the path of the buckets G, near the same side of the latter corresponding to a jogging alignment, and directly downstream of the bucket loading station. The endless strip arrangement constituting the track S comprises two identical sets in parallel, each comprising a belt 2 passing over upstream and downstream idler rollers, respectively 3 and 4, and a lower roller 5. The upper horizontal strands of the two assemblies constituting the track S, as well as consequently the upper part of the idler rollers 3 and 4, are at a level slightly higher than that of the inner bottom of the buckets G when crossing by them of the two assemblies, the buckets G having openings or indentations of passage 6 at the bottom of their rear wall and of their flap V.
Dans les deux ensembles, l'entraînement des courroies 2 est assuré par les galets inférieurs 5 qui, à cet effet, sont montés sur un même axe transversal 7 connecté à un moyen d'entraînement, non montré. Les galets supérieurs 3 et 4 sont quant à eux montés indépendamment les uns des autres sur les plaques latérales la et lb, de sorte que l'espace vers le haut entre les deux ensembles est complètement dégagé et disponible pour les moyens d'éclairage et de prise d'images. A titre d'indication, dans un prototype ayant donné satisfaction, les galets de renvoi amont 3 ont un diamètre de 120 mm, la voie S étant surélevée d'environIn the two assemblies, the drive of the belts 2 is ensured by the lower rollers 5 which, for this purpose, are mounted on the same transverse axis 7 connected to a drive means, not shown. The upper rollers 3 and 4 are in turn mounted independently of each other on the side plates 1a and 1b, so that the upward space between the two assemblies is completely clear and available for the lighting and taking pictures. As an indication, in a successful prototype, the upstream idler rollers 3 have a diameter of 120 mm, the track S being raised by about
20 mm au-dessus du coin intérieur P des godets G. Est visible également à la Fig. 1, une rampe de glissement20 mm above the interior corner P of the buckets G. Is also visible in FIG. 1, a sliding ramp
8 menant d'amont en aval en montant sur la périphérie de chaque galet amont 3 , qui a pour fonction de contribuer au passage des objets sur les galets 3, et qui est surtout utile pour les objets fins et légers pour éviter les rebonds.8 leading from upstream to downstream by going up on the periphery of each upstream roller 3, which has the function of contributing to the passage of objects on the rollers 3, and which is especially useful for fine and light objects to avoid rebounds.
Les moyens d'éclairage comprennent une source de lumière 10, visible à la Fig. 1 mais non représentée à la Fig. 2 à des fins de clarté du dessin. La source 10 est disposée dans le haut et près de l'extrémité aval du dispositif, centralement entre les deux ensembles. Elle est dirigée longitudinalement vers le haut et vers l'amont, selon un angle d'environ 20° avec l'horizontale, sur la partie avant de la voie S. A cette zone éclairée, correspond un ajour 11 dans le fond des godets G, consistant en des echancrures dans leur paroi arrière et leur volet V. Le moyen de prise d'image 15, s'agissant avantageusement d'une caméra numérique ou d'un capteur laser, est placé verticalement, juste au-dessous de la zone éclairée, la mise au point étant faite sur le plan de la voie S. Il est déclenché par un détecteur 16 placé légèrement en amont de la zone éclairée pour signaler l'arrivée des godets G. Le détecteur 16 est avantageusement un contacteur, actionné au pssage des godets par un plot fixé sur le côté de ceux-ci. A cet éclairage principal, est associé un éclairage en lumière structurée, par exemple sous forme de raie laser, provenant d'une source 12 placée au- dessous de la source principale 10. Cette lumière est dirigée sur la même zone que l'éclairage principal, selon un angle d'environ 40° avec l'horizontale, mais au lieu d'être longitudinale, elle présente une certaine obliquité transversale, fixée dans l'exemple représenté à 25°. La raie est avantageusement un pinceau plat vertical, de préférence divergent. Les Figs. 4 à 7 représentent les images que l'on obtient avec un dispositif tel que celui qui vient d'être décrit.The lighting means comprise a light source 10, visible in FIG. 1 but not shown in FIG. 2 for clarity of the drawing. The source 10 is arranged at the top and near the downstream end of the device, centrally between the two assemblies. It is directed longitudinally upwards and upstream, at an angle of approximately 20 ° with the horizontal, on the front part of the track S. To this lighted area corresponds an opening 11 in the bottom of the buckets G , consisting of notches in their rear wall and their flap V. The gripping means image 15, advantageously being a digital camera or a laser sensor, is placed vertically, just below the illuminated area, the focusing being made on the plane of track S. It is triggered by a detector 16 placed slightly upstream of the illuminated area to signal the arrival of the buckets G. The detector 16 is advantageously a contactor, actuated when pessage the buckets by a stud fixed on the side thereof. With this main lighting, there is associated a lighting in structured light, for example in the form of a laser line, coming from a source 12 placed below the main source 10. This light is directed on the same zone as the main lighting. , at an angle of about 40 ° with the horizontal, but instead of being longitudinal, it has a certain transverse obliquity, fixed in the example shown at 25 °. The line is advantageously a flat vertical brush, preferably divergent. Figs. 4 to 7 represent the images which are obtained with a device such as that which has just been described.
L'image de la Fig. 4 est représentative d'un godet vide. Les deux raies claires haute et basse repérées 20 représentent les deux côtés de la fenêtre 11 dans le fond du godet, et indiquent que l'éclairage a bien fonctionné. L'absence de ces raies témoigne d'un défaut de fonctionnement tel qu'absence d'éclairage.The image in Fig. 4 is representative of an empty bucket. The two clear upper and lower lines 20 identified represent the two sides of the window 11 in the bottom of the bucket, and indicate that the lighting has worked well. The absence of these lines indicates a malfunction such as absence of lighting.
L'image de la Fig. 5 correspond à la présence d'un seul objet dans le godet considéré, apparaissant sous la forme d'une unique bande transversale claire.The image in Fig. 5 corresponds to the presence of a single object in the bucket considered, appearing in the form of a single clear transverse band.
L'image de la Fig. 6 correspond à la présence de deux objets apparaissant sous la forme de deux bandes claires transversales, nettement séparées par un sillon intermédiaire sombre ou frontière représentatif de l'intervalle entre tranches inférieures des deux objets. Enfin, l'image de la Fig. 7 correspond au cas particulier d'un seul objet (enveloppe transparente) dont l'image résultant de la source d'éclairage principale ne se différencie pas suffisamment d'une image de présence multiple pour permettre une discrimination. En revanche, on voit que cette discrimination devient évidente au vu de la trace transversale oblique 21 résultant de l'éclairage additionnel, du fait qu'elle n'est pas ici interrompue dans la traversée du sillon intermédiaire sombre normalement indicateur d'un intervalle entre objets, et se différencie très nettement de la trace 21 de laThe image in Fig. 6 corresponds to the presence of two objects appearing in the form of two bands clear transverse, clearly separated by a dark intermediate furrow or border representative of the interval between lower sections of the two objects. Finally, the image of FIG. 7 corresponds to the particular case of a single object (transparent envelope) whose image resulting from the main lighting source does not differ sufficiently from an image of multiple presence to allow discrimination. On the other hand, it can be seen that this discrimination becomes evident in view of the oblique transverse trace 21 resulting from the additional lighting, because it is not here interrupted in the crossing of the dark intermediate groove normally indicative of an interval between objects, and is very clearly differentiated from trace 21 of the
Fig. 6 résultant de même de l'éclairage additionnel et qui, elle, se compose de deux segments écartés l'un de l'autre au niveau du sillon intermédiaire, et dont les extrémités adjacentes sont nettement décalées dans la direction transversale.Fig. 6 resulting similarly from the additional lighting and which, for its part, consists of two segments spaced from each other at the level of the intermediate groove, and the adjacent ends of which are clearly offset in the transverse direction.
Le traitement de ces images va maintenant être décrit, dont le but est de contrôler les godets après chargement, en vue d'acheminer vers des destinations de la machine de tri réservées à cet effet, les objets anormalement transportés à plusieurs dans un même godet.The processing of these images will now be described, the purpose of which is to control the buckets after loading, with a view to conveying, to destinations of the sorting machine reserved for this purpose, the abnormally transported objects in the same bucket.
Il est effectué sur des images numériques dont chacun des pixels est doté d'une valeur de niveau de gris ou luminance entre 0 et 255. Etape 1 :It is performed on digital images each of whose pixels has a gray level or luminance value between 0 and 255. Step 1:
Elle consiste à déterminer si l'image à traiter comporte une information de présence d'objet. On peut déduire qu'il y a présence d'objet si l'image présente localement une zone de luminance plus élevée.It consists in determining whether the image to be processed contains object presence information. We can deduce that there is an object if the image locally has a higher luminance area.
Afin de détecter une telle zone de luminance plus élevée, l'algorithme réalise un profil horizontal, Fig. 6, et détermine si celui-ci a un pic, comme illustré au graphique de la Fig. 8 où sont reportées en abscisses les coordonnées horizontales des pixels et en ordonnées les valeurs de luminance ou niveau de gris. Comme indiqué sur la Fig. 6, la détection commence à mi-hauteur de l'image et se déroule vers le bas. Si à l'arrivée en bas de l'image, il n'y a pas eu détection d'un pic, cela indique l'absence d'objet dans le godet, ou bien un défaut d'éclairage, et la distinction peut être faite entre ces deux éventualités en prévoyant dans l'algorithme une détection des traces haute et basse 20 apparaissant sur l'image de la Fig. 4.In order to detect such a higher luminance area, the algorithm performs a horizontal profile, Fig. 6, and determines whether it has a peak, as illustrated in the graph of FIG. 8 where the horizontal coordinates of the pixels are plotted on the abscissa and the luminance or gray level values on the ordinate. As shown in Fig. 6, detection begins at mid-height of the image and takes place downwards. If on arrival at the bottom of the image, there was no detection of a peak, this indicates the absence of an object in the bucket, or else a lighting defect, and the distinction may be made between these two possibilities by providing in the algorithm for detection of the high and low traces 20 appearing on the image of FIG. 4.
Etape 2 :2nd step :
Il s'agit de rechercher des minima dans un pic détecté à l'étape 1.This involves looking for minima in a peak detected in step 1.
Le profil précédent, Fig. 8, a permis de déterminer s'il y a présence ou non d'objet (s) dans le godet correspondant à l'image traitée. Ce profil, en vue d'optimiser le temps de traitement, est avantageusement réalisé en sommant quelques lignes horizontales, et il peut donc présenter des variations brusques dues au bruit du système. Afin de les éliminer, il est réalisé, à l'endroit où a été détectée la présence d'au moins un objet à l'étape 1, un nouveau profil correspondant à un plus grand nombre de lignes horizontales, par exemple cinquante, lequel profil sera suffisamment lisse pour la suite du traitement. A partir du profil obtenu, sont déterminés tous les minima locaux susceptibles de représenter la séparation entre deux objets. Les minima, pour être retenus, devront répondre à trois critères : (a) la dynamique des crêtes encadrant le minima doit être égale à au moins 30 ; la dynamique étant la différence entre les valeurs de luminance de la crête et du minima ;The previous profile, Fig. 8, made it possible to determine whether or not there is an object or objects in the bucket corresponding to the image processed. This profile, with a view to optimizing the processing time, is advantageously produced by summing a few horizontal lines, and it can therefore have sudden variations due to the noise of the system. In order to eliminate them, a new profile corresponding to a greater number of horizontal lines, for example fifty, is produced, at the place where the presence of at least one object was detected in step 1. will be smooth enough for further treatment. From the profile obtained, all the local minima capable of representing the separation between two objects are determined. To be accepted, the minima must meet three criteria: (a) the dynamics of the ridges surrounding the minima must be at least 30; the dynamics being the difference between the luminance values of the peak and the minimum;
(b) les pentes de part et d'autre du minima jusqu'aux crêtes qui l'encadrent doivent être suffisamment importantes ;(b) the slopes on either side of the minimum to the ridges which surround it must be sufficiently large;
(c) les valeurs mesurées des deux pentes de part et d'autre du minima doivent être du même ordre.(c) the measured values of the two slopes on either side of the minimum must be of the same order.
Le diagramme de la Fig. 9 comporte un profil avec un pic où les deux premiers minima A et B répondent aux trois critères (a) , (b) et (c) et seront donc retenus pour la suite du traitement, tandis que le minima C sera ignoré.The diagram in FIG. 9 has a profile with a peak where the first two minima A and B meet the three criteria (a), (b) and (c) and will therefore be used for the rest of the processing, while minima C will be ignored.
Etape 3 :Step 3:
Elle consiste en un suivi de contour sur l'image d'origine. A partir des coordonnées du minima retenu sur le profil et de la position du profil sur l'image, il est possible de retrouver où se trouve le minima dans l'image d'origine. Dans cette étape, il sera vérifié si le minima retenu qui indique un écart potentiel entre deux objets est suffisamment important. A cet effet, il est procédé à un suivi de contour de l'espace du minima et à une mesure de sa longueur, de la façon illustrée à la Fig. 6.It consists of a contour tracking on the original image. From the coordinates of the minima retained on the profile and the position of the profile on the image, it is possible to find where the minima is in the original image. In this step, it will be checked whether the minimum adopted which indicates a potential difference between two objects is sufficiently large. To this end, the contour of the minimum space is followed and its length is measured, as illustrated in FIG. 6.
Dans une première phase de cette étape, il est recherché ligne à ligne, à partir de l'endroit où a été réalisé le profil, la présence d'un minima. La zone de recherche est restreinte en fonction des coordonnées du minima et des deux crêtes l'encadrant (maxima) trouvés sur le profil de départ. A chaque ligne, on recherche le minima et les deux maxima, puis on mesure l'écart entre les deux maxima, qui doit être suffisamment significatif (par exemple supérieur à 5 pixels) pour être pris en compte.In a first phase of this stage, it is sought line by line, from the place where the profile was produced, the presence of a minimum. The area of search is restricted according to the coordinates of the minima and the two peaks surrounding it (maxima) found on the starting profile. On each line, we look for the minimum and the two maxima, then we measure the difference between the two maxima, which must be significant enough (for example greater than 5 pixels) to be taken into account.
La deuxième phase consiste à déterminer le point du minima de plus faible luminescence, qui servira à déterminer le point de départ pour le traitement de la ligne suivante, exactement au-dessus ou au-dessous suivant le sens de déroulement de l'opération. Ce point immédiatement au-dessus ou au-dessous doit avoir lui aussi une luminance très faible. Dans le cas contraire, une pénalité est affectée à la zone explorée. Le point de plus faible luminance sert également pour la détection d'une trace 21 résultant d'un éclairage additionnel en lumière structurée (telle que lumière laser) , laquelle détection sera effectuée à l'étape suivante du traitement.The second phase consists in determining the point of the lowest luminescence minima, which will be used to determine the starting point for processing the next line, exactly above or below depending on the direction of the operation. This point immediately above or below must also have a very low luminance. Otherwise, a penalty is assigned to the area explored. The point of lower luminance is also used for the detection of a trace 21 resulting from additional lighting in structured light (such as laser light), which detection will be carried out in the next stage of processing.
Dans la troisième phase, un score est calculé, qui détermine si la zone explorée est suffisamment significative d'un espace entre objets. Pour ce faire, est cumulé le nombre de points de plus faible luminescence pour lesquels la condition précitée d'écart entre maxima au-delà du minimum est satisfaite. Ce score est diminué du nombre de pénalités, et il est normalisé par rapport à la longueur du contour.In the third phase, a score is calculated, which determines whether the area explored is sufficiently significant of a space between objects. To do this, the number of weakest luminescence points is cumulated for which the aforementioned condition of deviation between maxima beyond the minimum is satisfied. This score is reduced by the number of penalties, and it is normalized in relation to the length of the contour.
Il est conclu à la présence multiple d'objets à la double condition que le score soit supérieur à 70 % et que le nombre de pénalités ne dépasse pas 20.It is concluded that there are multiple objects on the double condition that the score is greater than 70% and that the number of penalties does not exceed 20.
Etape 4 : Il s'agit d'analyser la trace 21 précitée résultant de l'éclairage additionnel pour confirmer ou infirmer les indications de présence multiple d'objets résultant de l'étape précédente. Si dans la deuxième phase de l'étape précédente, il est détecté un premier point d'exploration d'une ligne qui devrait être un minima avec une valeur de luminance nettement supérieure à celle du point immédiatement au-dessus ou au-dessous (par exemple supérieure à la demi-somme des valeurs de ce minima adjacent et d'un de ses maxima) , l'algorithme procède à la recherche d'une trace 21. Pour cela, une exploration a lieu à droite et à gauche dudit premier point détecté pour rechercher une zone saturée de faible largeur. Si le critère est vérifié à gauche et à droite dudit premier point, l'algorithme arrête l'exploration du contour considéré, concluant qu'il n'y a pas interruption de la trace 21 au niveau de ce contour, et que par conséquent, ce dernier ne correspond pas à un espace entre deux objets. Les coordonnées des extrémités de la trace 21 sont sauvegardées pour l'étape suivante.Step 4: This involves analyzing the aforementioned trace 21 resulting from the additional lighting to confirm or refute the indications of multiple presence of objects resulting from the previous step. If in the second phase of the previous step, a first point of exploration of a line is detected which should be a minimum with a luminance value significantly higher than that of the point immediately above or below (for example greater than the half-sum of the values of this adjacent minima and one of its maxima), the algorithm proceeds to the search for a trace 21. For this, an exploration takes place to the right and to the left of said first point detected to find a saturated area of small width. If the criterion is verified to the left and to the right of said first point, the algorithm stops the exploration of the contour considered, concluding that there is no interruption of the trace 21 at the level of this contour, and that consequently, the latter does not correspond to a space between two objects. The coordinates of the ends of the trace 21 are saved for the next step.
Etape 5 :Step 5:
Il s'agit de l'analyse finale. L'image a été subdivisée en deux parties indépendantes haute et basse qui ont subi chacune le traitement des étapes 1 à 4. Et la synthèse des résultats obtenus sur les deux parties de l'image est maintenant effectuée. L'indication de présence multiple d'objets est finalement déclarée s'il est satisfait cumulativement à trois conditions :This is the final analysis. The image has been subdivided into two independent upper and lower parts which have each undergone the processing of steps 1 to 4. And the synthesis of the results obtained on the two parts of the image is now carried out. The indication of multiple presence of objects is finally declared if it is cumulatively satisfied with three conditions:
- qu'il y ait eu détection de présence multiple dans les deux parties de l'image ; - que les sillons ou frontières entre objets détectés sur les deux demi-images soient geographiquement proches (par exemple distants de moins de vingt pixels) ;- that there was multiple presence detection in the two parts of the image; - that the grooves or borders between objects detected on the two half-images are geographically close (for example, less than twenty pixels apart);
- que le sillon détecté ne soit pas compris entre les deux extrémités d'une trace 21 détectée.- that the groove detected is not between the two ends of a trace 21 detected.
A noter que la trace 21 ne se trouve que dans une des parties des images, et que sa recherche n'est donc effectuée que dans cette partie. Note that trace 21 is only found in one of the parts of the images, and that its search is therefore only carried out in this part.

Claims

REVENDICATIONS 1) Procédé de détection de présence multiple d'objets dans les godets (G) à fond en "V" d'une machine de tri d'objets plats, dans laquelle les objets sont transportés debout sur leur tranche inférieure dans les godets (G) , lequel procédé est caractérisé en ce qu'il comprend les étapes suivantes : CLAIMS 1) Method for detecting the multiple presence of objects in the buckets (G) with a "V" bottom of a flat object sorting machine, in which the objects are transported upright on their lower edge in the buckets ( G), which process is characterized in that it comprises the following steps:
(1) faire franchir par les godets (G) , en aval du lieu de chargement, une voie (S) orientée selon la trajectoire de ces derniers et constituée par le brin supérieur d'un arrangement en bande sans fin, la voie (S) défilant dans le même sens que les godets et à une vitesse égale ou légèrement supérieure à celle des godets, et passant à l'intérieur des godets lorsque ceux-ci la franchissent, à un niveau légèrement supérieur à celui du point le plus bas (P) du fond intérieur des godets, de telle manière que les objets transportés s'engagent sur la voie (S) par leurs tranches inférieures (T) venant en contact avec le moyen de renvoi amont (Ra) dudit arrangement en bande sans fin en un point en position horaire antérieure à douze heures, pour s'élever dans les godets (G) lors du transit sur la voie (S) , et être écartées entre elles si elles sont plusieurs dans un même godet ;(1) cause the buckets (G), downstream of the loading place, to cross a track (S) oriented according to the trajectory of the latter and constituted by the upper strand of an endless belt arrangement, the track (S ) moving in the same direction as the buckets and at a speed equal to or slightly higher than that of the buckets, and passing inside the buckets when they cross it, at a level slightly higher than that of the lowest point ( P) of the interior bottom of the buckets, in such a way that the objects transported engage on the track (S) by their lower edges (T) coming into contact with the upstream return means (Ra) of said endless belt arrangement in a point in the clock position prior to twelve o'clock, to rise in the buckets (G) during transit on the track (S), and to be spaced apart from each other if there are several in the same bucket;
(2) réaliser des images de la tranche inférieure (T) des objets transportés lors de leur passage sur la voie (S) ; et(2) produce images of the lower section (T) of the objects transported as they pass on the track (S); And
(3) traiter les images réalisées à l'étape (2) en vue d'obtenir une indication de présence multiple d'objets ou non dans les godets (G) après chaque passage au lieu de chargement. 2) Procédé selon la revendication 1, caractérisé en ce que pour réaliser les images à l'étape (2), il est prévu un éclairage dirigé avec une incidence relativement rasante par rapport aux objets transportés, et de l'aval vers l'amont relativement à la direction de déplacement des godets.(3) process the images produced in step (2) in order to obtain an indication of multiple presence of objects or not in the buckets (G) after each passage to the loading location. 2) Method according to claim 1, characterized in that to produce the images in step (2), directed lighting is provided with a relatively grazing incidence in relation to the objects transported, and from downstream to upstream relative to the direction of movement of the buckets.
3) Dispositif selon la revendication 1 ou 2, caractérisé en ce que pour réaliser les images à l'étape (2) , il est prévu en plus d'un éclairage en lumière normale nécessaire à l'obtention d'images, un éclairage additionnel en lumière structurée, destiné à produire une trace transversale (21) sous forme d'une ligne sur l'image des objets.3) Device according to claim 1 or 2, characterized in that to produce the images in step (2), additional lighting is provided in normal light necessary to obtain images, additional lighting in structured light, intended to produce a transverse trace (21) in the form of a line on the image of the objects.
4) Procédé selon la revendication 3, caractérisé en ce que ledit éclairage additionnel est une source de lumière laser.4) Method according to claim 3, characterized in that said additional lighting is a laser light source.
5) Procédé selon la revendication 3 ou 4, caractérisé en ce que ledit éclairage additionnel est émis sous forme d'un pinceau plat, à partir d'un point au-dessous des godets (G) , dirigé vers le haut et vers l'amont par rapport à la direction de déplacement des godets, et avec une obliquité transversale par rapport à la direction de déplacement des godets, pour augmenter la lisibilité sur les images des interruptions de ladite trace (21) issue de lui, les interruptions faisant alors apparaître ladite trace sous forme de virgules successives dont les extrémités adjacentes sont nettement décalées transversalement.5) Method according to claim 3 or 4, characterized in that said additional lighting is emitted in the form of a flat brush, from a point below the buckets (G), directed upwards and towards the upstream relative to the direction of movement of the buckets, and with a transverse obliquity relative to the direction of movement of the buckets, to increase the readability on the images of the interruptions of said trace (21) coming from it, the interruptions then showing said trace in the form of successive commas whose adjacent ends are clearly offset transversely.
6) Procédé selon l'une des revendications 1 à 5, caractérisé en ce que l'étape (3) de traitement d'image comprend elle-même les étapes suivantes :6) Method according to one of claims 1 to 5, characterized in that the image processing step (3) itself comprises the following steps:
- détecter une information de présence d'objet dans le godet correspondant à l'image considérée, cette information se présentant sous la forme d'un pic de luminance sur un profil horizontal réalisé sur 1' image ;- detect information on the presence of an object in the bucket corresponding to the image considered, this information in the form of a luminance peak on a horizontal profile produced on the image;
- en cas de détection positive, rechercher des minima dans un pic détecté et retenir ceux qui potentiellement sont représentatifs d'une séparation entre deux objets ; effectuer un suivi de contour sur l'image considérée à partir des coordonnées d'un minima retenu, et déterminer si ce contour est potentiellement indicateur d'une présence multiple d'objets ;- in the event of a positive detection, search for minima in a detected peak and retain those which potentially represent a separation between two objects; carry out contour tracking on the image considered from the coordinates of a retained minimum, and determine whether this contour is potentially indicative of a multiple presence of objects;
- analyser l'ensemble des résultats pour déclarer qu'il y a ou non présence multiple d'objets.- analyze all the results to declare whether or not there is multiple presence of objects.
7) Procédé selon la revendication précédente, elle-même dépendante de la revendication 4, caractérisé en ce que l'étape (3) de traitement d'image comprend elle-même une étape supplémentaire relative à l'analyse de la trace résultant dudit éclairage additionnel.7) Method according to the preceding claim, itself dependent on claim 4, characterized in that the image processing step (3) itself comprises an additional step relating to the analysis of the trace resulting from said lighting additional.
8) Procédé selon la revendication 6 ou 7, caractérisé en ce qu'à l'étape (3) de traitement d'image, les images considérées sont subdivisées en deux parties soumises chacune au traitement précédant l'analyse finale, la confrontation des résultats concernant les deux parties de l'image étant prise en compte dans l'analyse finale.8) Method according to claim 6 or 7, characterized in that in step (3) of image processing, the images considered are subdivided into two parts each subjected to processing preceding the final analysis, the comparison of the results regarding both parts of the image being taken into account in the final analysis.
9) Dispositif pour mettre en oeuvre le procédé selon l'une des revendications précédentes, caractérisé en ce qu'il comprend en combinaison : un arrangement en bande sans fin immédiatement en aval du lieu de chargement des godets (G) , dont le brin supérieur forme à partir d'un moyen de renvoi amont (Ra ou 3) une voie orientée (S) selon la trajectoire des godets (G) , laquelle voie (S) est disposée de telle manière que lorsqu'elle est franchie par les godets (G), elle pénètre à l'intérieur de ceux-ci, à un niveau légèrement au-dessus du point le plus bas (P) du fond intérieur des godets, et défile dans le même sens que les godets (G) et à une vitesse égale ou légèrement supérieure à celle des godets ; des moyens de réalisation d'images de la tranche inférieure (T) des objets transportés lors de leur passage sur ladite voie (S) ; et des moyens de traitement d'images pour détecter la présence multiple d'objets dans les godets (G) .9) Device for implementing the method according to one of the preceding claims, characterized in that it comprises in combination: an endless belt arrangement immediately downstream of the place of loading of the buckets (G), including the upper strand forms from an upstream return means (Ra or 3) an oriented track (S) according to the trajectory of the buckets (G), which track (S) is arranged in such a way way that when it is crossed by the buckets (G), it penetrates inside them, at a level slightly above the lowest point (P) of the interior bottom of the buckets, and passes through the same direction as the buckets (G) and at a speed equal to or slightly higher than that of the buckets; means for producing images of the lower section (T) of the objects transported during their passage on said track (S); and image processing means for detecting the multiple presence of objects in the buckets (G).
10) Dispositif selon la revendication 9, caractérisé en ce que ledit arrangement en bande sans fin comprend entre les parois latérales (la, lb) d'un bâti (1) , deux ensembles identiques en parallèle, chacun comportant une courroie (2) passant sur des galets de renvoi amont et aval (3, 4), les brins supérieurs horizontaux dans les deux ensembles formant la voie (S) . 11) Dispositif selon la revendication 10, caractérisé en ce que chaque ensemble dudit arrangement en bande sans fin comprend un galet inférieur (5) qui est moteur, les deux galets (5) étant montés sur un même axe transversal (7) connecté à un moyen d'entraînement, tandis que les galets de renvoi amont et aval (3, 4) sont montés indépendamment les uns des autres sur les parois (la, lb) du bâti (1) .10) Device according to claim 9, characterized in that said endless strip arrangement comprises between the side walls (la, lb) of a frame (1), two identical assemblies in parallel, each comprising a belt (2) passing on upstream and downstream return rollers (3, 4), the upper horizontal strands in the two assemblies forming the track (S). 11) Device according to claim 10, characterized in that each set of said endless band arrangement comprises a lower roller (5) which is a motor, the two rollers (5) being mounted on the same transverse axis (7) connected to a drive means, while the upstream and downstream return rollers (3, 4) are mounted independently of each other on the walls (la, lb) of the frame (1).
12) Dispositif selon la revendication 10 ou 11, caractérisé en ce que les courroies (2) sont crantées. 13) Dispositif selon l'une des revendications 10 à 12, caractérisé en ce qu'il comprend une rampe (8) d'accès des objets sur chaque galet de renvoi amont (3). 14) Dispositif selon l'une des revendications 10 à 13, caractérisé en ce qu'il comprend une source de lumière (10) disposée dans le haut et près de l'extrémité aval du bâti (1) , et une source de lumière structurée (12) placée au-dessous de la source principale (10) , toutes deux dirigées de bas en haut et d'aval en amont, vers une même zone de la voie (S) .12) Device according to claim 10 or 11, characterized in that the belts (2) are notched. 13) Device according to one of claims 10 to 12, characterized in that it comprises a ramp (8) for accessing objects on each upstream return roller (3). 14) Device according to one of claims 10 to 13, characterized in that it comprises a light source (10) arranged at the top and near the downstream end of the frame (1), and a structured light source (12) placed below the main source (10), both directed from bottom to top and from downstream to upstream, towards the same area of the track (S).
15) Dispositif selon la revendication 14, caractérisé en ce que la source (12) émet de la lumière laser, sous la forme d'un pinceau plat sensiblement vertical et oblique transversalement. 15) Device according to claim 14, characterized in that the source (12) emits laser light, in the form of a flat brush which is substantially vertical and oblique transversely.
EP99942984A 1998-09-21 1999-09-16 Method for detecting multiple presence of objects in a sorting machine Expired - Lifetime EP1115507B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR9811897A FR2783442B1 (en) 1998-09-21 1998-09-21 METHOD FOR DETECTING THE MULTIPLE PRESENCE OF OBJECTS IN THE CONVEYOR BUCKETS OF A SORTING MACHINE AND DEVICE FOR ITS IMPLEMENTATION
FR9811897 1998-09-21
PCT/FR1999/002202 WO2000016915A1 (en) 1998-09-21 1999-09-16 Method for detecting multiple presence of objects in a sorting machine

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EP1115507A1 true EP1115507A1 (en) 2001-07-18
EP1115507B1 EP1115507B1 (en) 2003-05-21

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US7809158B2 (en) 2005-05-02 2010-10-05 Siemens Industry, Inc. Method and apparatus for detecting doubles in a singulated stream of flat articles
DE102010012951A1 (en) 2010-03-26 2011-09-29 Siemens Aktiengesellschaft Device for generating image of movable article i.e. mail, has transparent region completely filled with pane or film, which are transparent and impervious for solid and powdery substances
DE102010014105A1 (en) 2010-04-07 2011-10-13 Siemens Aktiengesellschaft Method and device for measuring objects during transport
EP2409786B1 (en) * 2010-07-21 2013-02-13 SELEX ELSAG S.p.A. Singulator device for postal objects coated with transparent film

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US5331151A (en) * 1993-01-25 1994-07-19 Pressco Technology, Inc. Multiple envelope detector
ES2098156T3 (en) * 1993-07-14 1997-04-16 Siemens Ag CLASSIFICATION DEVICE, ESPECIALLY FOR POSTAL MAIL.
FR2738506B1 (en) * 1995-09-08 1997-10-17 Alcatel Postal Automation Syst DEVICE AND METHOD FOR SORTING MAIL ITEMS USING BUFFER RECEPTACLES OUT OF SORTING

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EP1115507B1 (en) 2003-05-21
WO2000016915A1 (en) 2000-03-30

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