EP3763448A1 - Procédé et dispositif de génération et de conservation d'une attribution de données d'objet et de la position d'un objet - Google Patents

Procédé et dispositif de génération et de conservation d'une attribution de données d'objet et de la position d'un objet Download PDF

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Publication number
EP3763448A1
EP3763448A1 EP19185901.6A EP19185901A EP3763448A1 EP 3763448 A1 EP3763448 A1 EP 3763448A1 EP 19185901 A EP19185901 A EP 19185901A EP 3763448 A1 EP3763448 A1 EP 3763448A1
Authority
EP
European Patent Office
Prior art keywords
data
object data
transfer point
optical
delivery path
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
EP19185901.6A
Other languages
German (de)
English (en)
Other versions
EP3763448B1 (fr
Inventor
Jan BEHLING
Jan Josef Jesper
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.)
Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Beumer Group GmbH and Co KG
Original Assignee
Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Beumer Group GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV, Beumer Group GmbH and Co KG filed Critical Fraunhofer Gesellschaft zur Forderung der Angewandten Forschung eV
Priority to EP19185901.6A priority Critical patent/EP3763448B1/fr
Priority to PL19185901.6T priority patent/PL3763448T3/pl
Priority to US16/925,566 priority patent/US11583898B2/en
Priority to JP2020119076A priority patent/JP7426910B2/ja
Publication of EP3763448A1 publication Critical patent/EP3763448A1/fr
Application granted granted Critical
Publication of EP3763448B1 publication Critical patent/EP3763448B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C3/00—Sorting according to destination
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/10—Sorting according to size measured by light-responsive means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/12—Sorting according to size characterised by the application to particular articles, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms

Definitions

  • the invention relates to a method and a device for generating and maintaining an assignment of object data of an object to a changing physical position of the object in a sorting device, the at least one input for supplying objects to the sorting device and a plurality of transfer points at which selected Objects can be ejected from the sorting device.
  • the sorting data available via the control of the sorting conveyor for the objects located on the sorting conveyor can be used, in which case, for example, an image comparison or a comparison of other identification features such as barcodes etc. can be made.
  • an image comparison or a comparison of other identification features such as barcodes etc.
  • the object of the present invention is to never lose the association between an ejected object and its position in a sorting device in the simplest possible way during a course of movement of the object following the ejection process, and furthermore, should the association be lost, to restore these without any major effort.
  • an identification of an object at a certain transfer point for example a certain discharge device of a sorting conveyor
  • the fact is advantageously used that an object to be sorted is already identified when it is fed to the sorting conveyor or on the sorting conveyor itself, so that the object is at a certain transfer point assigned to it can be discharged.
  • the object data of a specific object preferably include at least identity data of the object, which can be stored in a higher-level control of the sorting device.
  • the identity data can correspond to an identity feature of the object or can be derived therefrom.
  • further data are recorded as object data and expediently also stored, in particular the optical object data and at least one current position of the object in the form of position data.
  • Sorting data from which a sorting target of a certain object can be derived or which describe the sorting target directly, can, for example, be recorded optically, for example using a barcode on the object, or can already be stored in the controller and assigned to the identity data so that use the identity data to locate the sorting data.
  • the sorting data can also be stored as part of the item data of a respective item.
  • the sorting device can be any device, installation or system that is suitable for sorting objects, with at least one input and several transfer points for discharging selected objects.
  • it can be a continuous conveyor, for example a ring sorter, with conveyor units that are equipped with tilting trays, drop flaps or cross-belt conveyor elements.
  • discontinuously working technologies are also included, such as a sorting system with driverless transport vehicles (FTF).
  • FFF driverless transport vehicles
  • the transfer points can be discharge devices of one type or continuous conveyor, which is followed by a delivery path, e.g. in the form of a conveyor, a slide, a roller conveyor and / or a container into which the objects are dropped or thrown.
  • the combination of a transfer point, for example a discharge device of a sorting conveyor, with an adjoining delivery path, which extends to a removal point and can be formed, for example, by a removal conveyor, is also referred to as an end point.
  • a discharge device can, for example, have a push-off device, a pusher or a flipper.
  • the optical object data of the objects can be recorded by means of at least one camera and / or at least one scanner, in particular a laser scanner.
  • the tracking includes successive position determinations at time intervals that can either be fixed, for example time intervals between 0.1 ms and 10 s, or result from other parameters and are not directly specified.
  • optical detection processes can be carried out in one, two or all three coordinate directions, for example by means of at least one measuring camera, a laser measuring device or by means of light barrier arrangements. Additionally or alternatively, one or more images of the object can be recorded, and the weight of the object can be recorded, for example by means of a weighing device integrated in the area of a feed belt.
  • the recorded data relating to dimensions, images and / or weight are preferably stored as part of the object data assigned to the object.
  • the object is actively conveyed along the delivery path or moves without a drive, for example slips, rolls or falls.
  • the position determinations repeated at short time intervals as part of the tracking are expediently carried out by means of optical detection of the object, in particular by one or more cameras or scanners, with image or optical tracking data being generated, and by comparing this data with the previously recorded and stored optical object data .
  • This comparison can take place with every position determination, after a number of position determinations, for example every second, fifth, tenth or 100th, at predetermined time intervals or at least at the latest when the object is removed, in order to establish a link or assignment between at the latest at this point in time to produce the previously recorded optical object data and / or other object data of the object with the object data recorded in the course of tracking, in particular image data, so that the object is clearly identified at the latest when it is removed or at least its recipient data can be assigned.
  • One and the same camera or scanner device is expediently provided both for the acquisition of the optical object data and for the repeated optical acquisition of the object as part of the tracking.
  • a removal position and / or a removal time of the ejected object from the removal path is recorded and preferably also stored, in particular as a further part of the object data of the object.
  • the optical object data can be acquired at a predetermined point in time, as an alternative to the acquisition at a predetermined position, or when the object has been ejected from the sorting device at the transfer point.
  • ejected objects are located on the delivery path at the same time and each individual object is tracked by tracking. Regardless of whether a single item or multiple items are tracked at the same time, this means within the framework of the Invention, an essentially continuous, at small time intervals (e.g. less than 1 ms, 10 ms or 100 ms) taking place image acquisition and position determination of an object or each individual object, so that the position of one or each object on the delivery path at any time or more precisely said to be known at small intervals in succession. It is sufficient to save the respective last or current position of the object as part of the object data, and this can be overwritten with the next current position.
  • the mentioned time intervals can be so short that a practically continuous position detection takes place.
  • the tracking of an object may result in a loss of the assignment of the object data to the physical position of the object at a position along the delivery path, for example because the object was taken from one or the other several other objects from the point of view of an image capture device or camera used for tracking are temporarily completely or partially covered, or because an object is removed from the delivery path, for example falls from the delivery path or is removed manually, and is then manually returned to the delivery path, for such a case it is provided that after the loss of the assignment as soon as possible, ie in particular as soon as the object is no longer covered from the view of the image capture device or has been covered, the tracking is set, in particular by further optical Object data and expediently also the physical position of the object are recorded and compared with the optical object data, and if the optical object data match the other optical object data within a specified tolerance range, the tracking is continued on the basis of the previously recorded optical object data, with the tracking comprises position determinations of the object along the delivery path that are repeated
  • error information can be added to the object data.
  • all objects located within the delivery path between the transfer point and the removal point are continuously recorded and tracked by the tracking and, if an object is covered by another object in the delivery path or an object is removed from the delivery path, the object is tracked as soon as how possible, in particular as soon as the item is no longer covered or has been returned to the delivery route.
  • the object data of all objects simultaneously on a delivery path of a transfer point and not yet removed are assigned to the transfer point as a subset of all object data present in the sorting device and, when comparing the further optical object data with the optical object data, the optical object data the subset of object data assigned to the transfer point can be used.
  • the invention expediently provides that the identity or object data of an object removed from the delivery path and / or information derived therefrom are transmitted to a person or removal device removing the object.
  • Derived information can be, for example, the position of an object in the sequence of a delivery trip by a driver of a parcel vehicle, with knowledge of which the vehicle can be better loaded.
  • An exact storage position in the parcel vehicle can also be transmitted.
  • the invention thus advantageously enables the person or removal device removing an object not to repeat the Must determine the identity of the object, but has the already recorded identity data immediately available due to the position tracking of the object, and possibly further information.
  • FIG. 11 shows a detail of a sorting device in the form of a sorting conveyor 2, which comprises at least one input in the form of a transfer device 4, on which the objects 20 to be sorted can be fed individually to the sorting conveyor 2 and from which in FIG Fig. 1 only a foremost end section abutting the sorting conveyor 2 is shown with an object 20 to be introduced.
  • Fig. 1 furthermore shows a detection device 6, for example in the form of a camera, a scanner or a combination thereof, with which the first image data and identity features of each individual object 20 can be detected as object data on the sorting conveyor 2.
  • the detection device 6 is preferably also set up to detect the dimensions of the objects and to determine the weight.
  • the sorting conveyor 2 comprises a number of transport units 8a moved in a conveying direction 8, each of which is provided with a cross-belt conveying element that can be driven transversely to the conveying direction 8 and on which an object is picked up, transported and at a specific transfer point or at a specific Terminal can be delivered.
  • the transfer point 10 is formed here by a discharge device known per se.
  • Fig. 2 shows such a transfer point 10 with an adjoining delivery path which extends transversely to the conveying direction 8 or at a certain angle this is laterally connected to the sorting conveyor 2.
  • a central control of the sorting system to which the object data or the first image data and identity features of each individual introduced object are transmitted, also has sorting data for each individual object, from which it can be seen at which transfer point or in which end point each individual on the sorting conveyor 2 located object is to be removed.
  • the controller continuously receives logical and / or physical position data of each individual item on the sorting conveyor, or can determine this based on the speed of the sorting conveyor, i.e. logical position data in relation to an assignment of an object to the transport unit of the sorting conveyor carrying it, and / or physical position data.
  • control Since the control knows the sorting destination of each item based on the sorting data mentioned, and thus the transfer point at which the item is to be discharged, the control can control the sorting conveyor or the transport unit that carries a certain item at or shortly before reaching the certain transfer point transmit a discharge signal, whereupon the cross-belt conveyor element is put into operation and discharges the object at the specific transfer point 10.
  • a plurality of infeed devices can be provided for feeding objects onto the sorting conveyor, and a detection device can be provided on one or more infeed devices, either as in FIG Fig. 1 shown downstream of the infeed device on the sorting conveyor, or directly on the infeed device for capturing certain object data of the objects during or immediately before the inward transfer, e.g. identity data, image data, general optical object data and / or dimensions or weight.
  • an image acquisition device in the form of a camera 12 is arranged in the area of the transfer point 10, in this case approximately centrally above the adjoining delivery path, with which optical object data such as image data of every object to be ejected or ejected at the transfer point 10, if these have not already been recorded.
  • the camera or image capture device is connected to the controller and transmits the optical object data to it, or this data can be queried by the controller from the image capture device.
  • the controller Before, during or after the removal of an object at the transfer point assigned to it, in this example the removal device, the controller registers the removed object as an object that is located at or after the specific transfer point, the object data of such being assigned to a specific transfer point Objects can be stored as a subset of all object data present in the sorting device.
  • the subset of object data includes the object data such as image or optical object data and identity data of these four objects in connection with or assignment to the transfer point 10.
  • Each ejected object is tracked from the transfer point 10 with regard to its position along the delivery path until it is finally removed at a removal point 14.
  • This tracking by tracking takes place in a manner known per se in that an image of the object is captured by means of the camera 12 at short time intervals, which can be, for example, less than 1 ms or less than 10 ms, and with an image recorded shortly beforehand is adjusted, from which a current position of the object is determined.
  • Each current position of an object is stored as part of the object data of the object, so that there is an association of the object data of the object and the position at any point in time.
  • the object is tracked by said tracking up to a removal from the delivery path, in particular up to a removal point 14, which can be set up so that every object discharged at the transfer point 10 is regularly removed there. Alternatively, there is the possibility that an object is removed from it at any point along the delivery path.
  • the assignment of the object data to the physical position of the object can be lost during its movement along the delivery path, for example if the object is briefly covered by other objects and is not or not completely visible to the camera.
  • further optical object data, in particular image data, of the object are recorded, in particular as soon as it is no longer covered by other objects and becomes visible again to the camera, and that these further optical object data or image data be compared with the original, previously recorded optical object data or image data. If a correspondence is found here between the further image or optical object data and matching, previously recorded image or optical object data within the framework of a predetermined tolerance range, the tracking of the object can be continued.
  • Either the further optical object data can be used as a basis and stored, for example as a further part of the object data, or the tracking can be continued on the basis of the optical object data acquired earlier.
  • this information can be used when removing an object from the terminal or the delivery route or removal point, for example, to transport or to collect several objects belonging to a sorting destination store, or to remove items belonging to different sorting destinations from one and the same delivery route or removal point, and using the sorting information known for each item to assign individual, different sorting destinations and transport them further in different ways. There is thus the possibility of a and assign multiple sorting destinations to the same transfer point and thereby save transfer points or use them multiple times.
  • Fig. 4 explains in a side view the arrangement of several transfer points or terminals 10.1, 10.2, 10.3, ..., in the example shown, the terminal 10 or 10.1 is designated as "destination # 32", as in FIG Fig. 1 it is indicated where the four objects (# 4, # 15, # 99, # 171) are assigned to the sorting destination "destination # 32".

Landscapes

  • Sorting Of Articles (AREA)
  • Discharge Of Articles From Conveyors (AREA)
  • Warehouses Or Storage Devices (AREA)
EP19185901.6A 2019-07-12 2019-07-12 Procédé et dispositif de génération et de conservation d'une attribution de données d'objet et de la position d'un objet Active EP3763448B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP19185901.6A EP3763448B1 (fr) 2019-07-12 2019-07-12 Procédé et dispositif de génération et de conservation d'une attribution de données d'objet et de la position d'un objet
PL19185901.6T PL3763448T3 (pl) 2019-07-12 2019-07-12 Sposób i urządzenie do wytwarzania i utrzymywania przyporządkowania danych o przedmiocie oraz położeniu przedmiotu
US16/925,566 US11583898B2 (en) 2019-07-12 2020-07-10 Method and device for producing and maintaining an assignment of object data and the position of an object
JP2020119076A JP7426910B2 (ja) 2019-07-12 2020-07-10 物品データと物品の位置との対応付けを生成および維持する方法および装置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19185901.6A EP3763448B1 (fr) 2019-07-12 2019-07-12 Procédé et dispositif de génération et de conservation d'une attribution de données d'objet et de la position d'un objet

Publications (2)

Publication Number Publication Date
EP3763448A1 true EP3763448A1 (fr) 2021-01-13
EP3763448B1 EP3763448B1 (fr) 2022-05-11

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EP19185901.6A Active EP3763448B1 (fr) 2019-07-12 2019-07-12 Procédé et dispositif de génération et de conservation d'une attribution de données d'objet et de la position d'un objet

Country Status (4)

Country Link
US (1) US11583898B2 (fr)
EP (1) EP3763448B1 (fr)
JP (1) JP7426910B2 (fr)
PL (1) PL3763448T3 (fr)

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US20140305850A1 (en) * 2013-02-07 2014-10-16 Logical Turn Consulting, Inc. Package vision sort system and method
CN108701239A (zh) * 2018-03-20 2018-10-23 深圳前海达闼云端智能科技有限公司 物品定位方法及系统

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US20140305850A1 (en) * 2013-02-07 2014-10-16 Logical Turn Consulting, Inc. Package vision sort system and method
CN108701239A (zh) * 2018-03-20 2018-10-23 深圳前海达闼云端智能科技有限公司 物品定位方法及系统

Also Published As

Publication number Publication date
US20210008599A1 (en) 2021-01-14
EP3763448B1 (fr) 2022-05-11
JP7426910B2 (ja) 2024-02-02
JP2021014365A (ja) 2021-02-12
PL3763448T3 (pl) 2022-11-21
US11583898B2 (en) 2023-02-21

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