EP2454178B1 - Dispositif de dépilage d'objets plats avec détection de la trace des objets dépilés - Google Patents

Dispositif de dépilage d'objets plats avec détection de la trace des objets dépilés Download PDF

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Publication number
EP2454178B1
EP2454178B1 EP10742202A EP10742202A EP2454178B1 EP 2454178 B1 EP2454178 B1 EP 2454178B1 EP 10742202 A EP10742202 A EP 10742202A EP 10742202 A EP10742202 A EP 10742202A EP 2454178 B1 EP2454178 B1 EP 2454178B1
Authority
EP
European Patent Office
Prior art keywords
unstacking
retaining means
conveyor
unstacked
edge
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.)
Not-in-force
Application number
EP10742202A
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German (de)
English (en)
French (fr)
Other versions
EP2454178A1 (fr
Inventor
Agnès Philippe
Céline GUIGNARD
Hicham El Bernoussi
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.)
Solystic SAS
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Solystic SAS
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Filing date
Publication date
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Publication of EP2454178A1 publication Critical patent/EP2454178A1/fr
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Publication of EP2454178B1 publication Critical patent/EP2454178B1/fr
Not-in-force 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H1/00—Supports or magazines for piles from which articles are to be separated
    • B65H1/02—Supports or magazines for piles from which articles are to be separated adapted to support articles on edge
    • B65H1/025—Supports or magazines for piles from which articles are to be separated adapted to support articles on edge with controlled positively-acting mechanical devices for advancing the pile to present the articles to the separating device
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H3/00—Separating articles from piles
    • B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
    • B65H3/54—Pressing or holding devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/10—Size; Dimensions
    • B65H2511/13—Thickness
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/20—Location in space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/40—Identification
    • B65H2511/413—Identification of image
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2511/00—Dimensions; Position; Numbers; Identification; Occurrences
    • B65H2511/50—Occurence
    • B65H2511/52—Defective operating conditions
    • B65H2511/524—Multiple articles, e.g. double feed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/20—Volume; Volume flow
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2515/00—Physical entities not provided for in groups B65H2511/00 or B65H2513/00
    • B65H2515/30—Forces; Stresses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2553/00—Sensing or detecting means
    • B65H2553/40—Sensing or detecting means using optical, e.g. photographic, elements
    • B65H2553/42—Cameras

Definitions

  • the invention relates to the field of unstacking stacked flat objects, and in particular postal items such as letters or large format postal items such as magazines, to serialize and convey them in series in a conveyor.
  • Such a device for unstacking postal items is already known in which the retaining means is controlled to function systematically in response to the signal supplied by a passage sensor disposed at the entrance of the conveyor.
  • Such an arrangement has the disadvantage of curbing the movement of all shipments which affects the performance of the unstacking device.
  • systematic control of the retaining means it is possible to damage small items and not to properly separate the thicker shipments.
  • the object of the invention is to improve a device for unstacking flat objects, and in particular flat mailpieces, for the retaining means to be controlled more effectively in order to separate jointly unstuck mailings, it is in superposition, before they enter the conveyor. This makes it possible to present the shipments one by one at an optimal rate at the entrance of the conveyor.
  • each depilated object footprint of the lower edge of each object
  • optical means such as a linear camera, but one could consider other types of comb-shaped detector for example.
  • the trace of each depilated object can therefore reveal the presence of several objects moving together and the relative position of the items, and therefore this trace makes it possible to determine, in the case where two objects for example move together, which is in advance relative to each other in the unstacking direction. This determination makes it possible to better control the control of the retaining means with respect to a systematic control of the prior art. Tests have shown that only 60% of the situations of jointly moving consignments can be corrected by a conventional unstacking device in which the holding means is activated systematically.
  • an unstacking device 1 of flat mailpieces 2 comprising a magazine 3 in which the mailpieces 2 to be unstacked are arranged on edge stack in front of an unstacking plate 4 and against a bank of jogging 5 which is substantially perpendicular to the unstacking plate 4.
  • a drive means 6 for example a perforated belt cooperating with an unstacking solenoid valve, capable of driving the first load 2A of the stack 2 facing the unstacking plate 4 according to a some unstacking direction indicated by the arrow A, parallel to the unstacking plate 4 and perpendicular to the jogging edge 5.
  • unstacking device 1 further comprises a conveyor 7 here by clamping, shown here in the form of two motorized pulleys arranged in opposition and forming the input 7A of the conveyor.
  • Input 7A is generally referred to as the "pinch point" of the unstacker. It is disposed downstream of the unstacking plate 4 in the unstacking direction A.
  • a retaining means 8 for example a suction nozzle, and a detection device 9.
  • the retaining means 8 is arranged on one side of the path of the shipments in the direction A to exert on a face of a consignment moving between the jogging edge and the entrance of the conveyor a restraining force opposing the displacement. of this shipment in the unstacking direction A.
  • the unstacking device according to the invention may comprise for example two retaining means opposite to the unstacking direction A, that is to say say arranged on either side of the path of the shipments between the jogging edge and the entrance of the conveyor, or two or more retaining means aligned on the same side of the path of the shipments.
  • the detection device 9 comprises an optical device, here a linear camera 13 type "CCD" disposed under the path of the consignments between the jogging edge 5 and the input 7A.
  • the camera 13 is placed near the jogging edge 5 upstream of the retaining means 8 in the unstacking direction A so as to perform early detection of jointly moving items.
  • the linear camera 13 extends transversely to the unstacking direction A to capture an image of the trace of each depilated shipment moving between the jogging bank 5 (or the unstacking plate 4) and the entrance of the conveyor 7A.
  • the image can be in particular a digital image in multi-level gray (MNG).
  • MNG multi-level gray
  • the camera 13 instead of the camera 13, it could be used for example a tactile comb-type sensor sensitive to the weight of the shipment.
  • passage sensors 11, 12 may be provided, for example photocells each comprising a transmitter and a receiver.
  • a first sensor 11 is disposed at the jogging edge 5 to detect the front edge of each shipment as soon as it leaves the unstacking plate.
  • a second sensor 12 is disposed at the input 7A of the conveyor to detect the front edge of each shipment in the input 7A of the conveyor.
  • the optical device 9 which comprises the linear CCD type camera 13, accompanied by a suitable optic 14 and a lighting device 15 providing a light beam 15A, here constituted of a laser diode with a line generator.
  • the camera 13 has a field of vision width 13A oriented so that its axis 13B, or line of sight, perpendicular to the unstacking direction A, to enter the lower edge of each item.
  • the acquisition line of the camera 13 is therefore oriented substantially perpendicular to the edge of the sending 2A, in a horizontal direction perpendicular to the unstacking direction A, indicated by the arrow B on the figure 2 .
  • the camera 13 thus forms a continuous linear image as the sending, like the sending 2A, moves in front of the camera in the unstacking direction A.
  • the linear images acquired successively are juxtaposed in memory to form the image at two dimensions of the lower edge 2C of the item 2A.
  • the axis 15B of the illumination device 15 is oriented substantially perpendicularly to the axis 13B of the camera 13 and a separator beam 16 is provided to orient the illumination so as to align with the axis 13B of the camera 13.
  • the beam splitter 16 (a blade for example) is thus oriented both at approximately 45 ° to the 13B axis of the camera 13 and at about 45 ° with respect to the axis 15B of the lighting device 15 to deflect the light beam 15A.
  • the camera 13 thus acquires images of the transmission 2A through the beam splitter 16.
  • Such a lighting device 15 with beam splitter 16 makes it possible to increase the depth of field of the detection device 9 while improving the 2A sending lighting.
  • the camera 13 is preferably a linear sensor at 512 pixels and the resolution of the images acquired can be of the order of 16 pixels per millimeter (mm) in the direction B, which represents the limit possibility of discriminate a shipment 2A or a separation between two shipments less than 0.1 mm thick.
  • the acquisition frequency at a speed of about 2.4 m / s, leads to a resolution of about 4 pixels per mm or 4 lines per mm.
  • the camera 13 may be a matrix camera that directly acquires a two-dimensional image of the song of the item 2A.
  • the camera 13 can be positioned at a slot provided in the unstacker sole between the unstacking plate and the conveyor. It must be sufficiently far from the jogging edge 5 to avoid capturing the image of a shipment waiting to be unstacked in the magazine 3, but close enough to achieve real-time control of the holding means 8 through a unit.
  • the unit 10 is arranged to analyze the image of the trace of a shipment in order to detect the presence of several depilated shipments jointly, therefore to count the number of shipments and determine their relative position and, in the case where several items are detected, to control the retaining means 8.
  • FIGS. 3A to 3E are examples of multi-level gray images formed using the camera 13.
  • the image of the figure 3A reveals a single trace.
  • the image of the figure 3B reveals four traces and therefore the presence of several depilated shipments jointly.
  • the images of Figures 3C and 3D reveal two traces and thus again shipments unharvested jointly. Overall, we can distinguish four scenarios.
  • the sending is said of standard type or "S" if it is depilated alone ( figure 3A ).
  • the consignment is said to be non-standard or "nS" of positive type or "P” if the leading edge of the left-hand shipment in the conveying direction A is ahead of the front edge of the right-hand side, as can be seen on figure 3C ; and the sending is said to be "nS" of negative type or "N” if the leading edge of the right-hand delivery in the conveying direction A is ahead of the front edge of the left-hand delivery, as can be see him on the 3D figure .
  • the processing unit 10 is therefore arranged to determine, in the case of jointly unstuck items, the type of the item S, P, N or Pf and thus suitably control the holding means 8.
  • step 41 is therefore continuously formed MNG successive linear images of the lower edge of each shipment as soon as it is detected by the sensor 11 for example and as it is moved in the direction A.
  • the capture and analysis of the images of the song of the items may alternatively be limited to the duration of the unstacking cycle, that is, they are triggered at the same time as the activation. of the drive means 6, and stopped within a predetermined time after the deactivation of this drive means.
  • the time allocated to the processing of the images by the unit 10 to manage the information given by the trace of the depilated shipments may be less than at 10 milliseconds (ms) depending on the configuration of the unstacking device 1.
  • the unit 10 analyzes two-dimensional partial images containing a limited number of acquisition lines, for example here 32 lines which correspond to about 8 mm length of a depilated shipment. Each partial image thus comprises 32 lines and 512 columns of pixels MNG.
  • the analysis can also be done on partial images of 32 columns with a sliding window for example of 4 columns in 4 columns in order to have a recovery of the successive images and of refresh the analysis every 4 columns of image acquisition, that is to say, every millimeter of advanced shipments.
  • the two-dimensional partial image is constituted in memory at step 42 and is analyzed in step 43 to determine if several shipments are unstacked jointly and the number of shipments in the presence.
  • the current shipment (s) continues to move in direction A and it can be estimated that 2 acquisition lines are lost, which corresponds to a length of 0.5 mm of the trace of the consignment before a complete refresh of the partial image.
  • processing continues on a determination of the type of shipment S, or non-standard P, N or Pf at 44 to control the retaining means 45, taking into account where appropriate a history at 46 as described later.
  • Steps 43 and 44 are more detailed on the figure 6 .
  • a partial image is constructed in memory.
  • the image analysis consists of determining the number of visible items unstitched together in this image. For this, it exploits the fact that there is a space 18 more or less large between the traces of several shipments in the image, as visible on the Figure 5A .
  • step 62 To count at step 62 the number of transitions in an image, we first cut the image along the direction B into fixed-size bands 21 as visible on the image. Figure 5B . Then, the projection of the gray levels on each band 21 is calculated, that is to say that the average of the gray levels of the pixels per column of the image band MNG is calculated so that the lines of a band all have the same values after projection. In this way, the MNG image is smoothed, which makes the method of detecting the number of items in the presence less sensitive to noise. It will be understood that the width of the strips is judiciously chosen: a small bandwidth leads to a projection signal that is too noisy and subject to local variations.
  • a too wide band smooths the signal and attenuates the characteristic peaks of the bimodal distributions (dark / light zones).
  • a too wide band can induce the method in error in the case of a standard curve (see figure 3A , top of the mailing).
  • each band 21 the number of extremum in terms of gray levels that correspond to dark / light transitions.
  • Sc is generally between 0 for a single S dispatcher and 1 for two shipments. However, in practice, Sc may be greater than 1 in the case where three or more shipments have been unstacked together.
  • the score Sc is to be compared to the notion of degree of membership of the fuzzy subsets. Providing a fuzzy degree of membership at the output is a major advantage of this approach, since it makes it possible to switch from one consignment S to several jointly unstacked shipments in a continuous manner thus avoiding the threshold effects.
  • step 63 the items for which Sc is zero (step 63) are declared of type S at 64, and the items for which Sc is greater than a certain threshold ⁇ (step 65) are declared of type nS in 66 (that is to say all the items of which one is sure they are not type S).
  • step 65 the items for which Sc is between 0 and ⁇ (step 67) are equally likely to belong to one or the other type (S or nS).
  • This range of values of Sc is a zone of uncertainty of the method which corresponds to an ambiguous classification of the shipments in 68.
  • the threshold ⁇ is thus chosen to obtain a good compromise between the false directions of sorting (generated by the shipments of type nS detected as S-type shipments) and S-type shipments wrongly detected as nS shipments.
  • step 66 If the shipments have been reported as nS with a sufficiently reliable confidence level in step 66, the process proceeds to step 44 by a tagging algorithm to determine the positive, negative, or perfect type of the garbled shipments. jointly.
  • the tagging algorithm consists of step 69 extracting the left and right profiles of the sending in the MNG image, then analyzing these profiles to detect peaks.
  • a left profile Pg (i) of the current mail as being the set of first pixels having a gray level greater than a certain threshold ⁇ when we traverse each line of the image MNG from left to right in the direction B perpendicular to the conveying direction A as indicated on the figure 3C :
  • Pg i Low j / picture i j > ⁇
  • i and j are the coordinates of each pixel, i denoting the line position index and the column position index
  • image [i, j] is the value of the coordinate pixel (i, j) in the MNG image.
  • threshold ⁇ could be different for the definition of the left or right profile, for example to take account of shadow phenomena.
  • the tagging algorithm continues with the definition of left and right peaks in the profiles as local extremums of the respective functions
  • the decision history 46 allows the unit 10 to track the movement of shipments and to adjust the activation over time until the shipments are driven in the conveyor 7. For example, when shipments are tagged in type P or N from a first image, the following image will give a "Pf type" result corresponding to the place where the two items are superimposed without it being necessary to trigger the corresponding control of the retaining means 8.
  • the advantage achieved by the unstacking device 1 of the invention is twofold. On the one hand, the improper activation of the holding means 8 is minimized in the case of S-type shipments, thus reducing the risk of damaging the mail and improving the unloading device 1 flow. On the other hand, in case of non-standard sending, the activation of the holding means 8 at the appropriate time avoids the simultaneous training of several shipments in the conveyor 7.
  • step 45 the process loops back to step 61 for a new image (or image portion of 32 lines for example).
  • the device 100 comprises a magazine 103 in which the mailpieces 102 to be unstacked are arranged on edge stack in front of an unstacking plate 104 and against a jogging edge 105.
  • the unstacking device 100 comprises a nip conveyor 109 whose entry 109A or pinch point is shown here in the form of two opposing pulleys. Between the unstacking plate and the pinch point is arranged a drive 107 of the shipments 102 in a unstacking direction C.
  • the unstacking device 100 is here equipped with a detection device with two cameras 110 spaced in the unstacking direction C and intended to acquire images of the lower edge of the items 102.
  • two retaining means 111 are provided. successive arranged in alignment in the unstacking direction C. It could also provide several successive retaining means 111.
  • the two cameras 110 make it possible to follow in real time the action of the drive means 107 and the retaining means 111 and, depending on the result of this action, to carry out a command in time.
  • the real one of each holding means 111 through a data processing unit 112.
  • the two retaining means 111 can be selectively controlled in different ways to slow down or not a particular item .
  • the method according to the invention can integrate a measurement of the thickness of each item and / or the speed of movement of the items and / or the relative movement of the unstuck items jointly to determine the effectiveness of the retention of the items. and therefore their separation, and adjust the strength of the restraint if necessary.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Sorting Of Articles (AREA)
  • Manipulator (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)
EP10742202A 2009-07-16 2010-07-05 Dispositif de dépilage d'objets plats avec détection de la trace des objets dépilés Not-in-force EP2454178B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0954931A FR2948109B1 (fr) 2009-07-16 2009-07-16 Dispositif de depilage d'objets plats avec detection de la trace des objets depiles
PCT/FR2010/051417 WO2011007077A1 (fr) 2009-07-16 2010-07-05 Dispositif de dépilage d'objets plats avec détection de la trace des objets dépilés

Publications (2)

Publication Number Publication Date
EP2454178A1 EP2454178A1 (fr) 2012-05-23
EP2454178B1 true EP2454178B1 (fr) 2013-03-06

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EP10742202A Not-in-force EP2454178B1 (fr) 2009-07-16 2010-07-05 Dispositif de dépilage d'objets plats avec détection de la trace des objets dépilés

Country Status (9)

Country Link
US (1) US8764009B2 (ja)
EP (1) EP2454178B1 (ja)
JP (1) JP5456793B2 (ja)
AU (1) AU2010272408B2 (ja)
DK (1) DK2454178T3 (ja)
FR (1) FR2948109B1 (ja)
PT (1) PT2454178E (ja)
RU (1) RU2482045C2 (ja)
WO (1) WO2011007077A1 (ja)

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US9044783B2 (en) 2013-03-12 2015-06-02 The United States Postal Service System and method of unloading a container of items
US9061849B2 (en) 2013-03-14 2015-06-23 United States Postal Service System and method of article feeder operation
US9056738B2 (en) 2013-03-13 2015-06-16 United States Postal Service Anti-rotation device and method of use

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JP5051831B2 (ja) 2007-05-25 2012-10-17 Ｕｄトラックス株式会社 中子組付監視システム及び方法
JP5297035B2 (ja) * 2007-12-20 2013-09-25 キヤノン電子株式会社 シート給送装置、スキャナ、プリンタ、ファクシミリ、及び複写機

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JP5456793B2 (ja) 2014-04-02
JP2012516232A (ja) 2012-07-19
AU2010272408B2 (en) 2012-09-13
WO2011007077A1 (fr) 2011-01-20
DK2454178T3 (da) 2013-05-06
RU2482045C2 (ru) 2013-05-20
FR2948109A1 (fr) 2011-01-21
RU2011121869A (ru) 2012-12-10
US20110129324A1 (en) 2011-06-02
FR2948109B1 (fr) 2011-06-17
PT2454178E (pt) 2013-05-10
EP2454178A1 (fr) 2012-05-23
US8764009B2 (en) 2014-07-01
AU2010272408A1 (en) 2011-01-20

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