EP3763448B1 - 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
EP3763448B1
EP3763448B1 EP19185901.6A EP19185901A EP3763448B1 EP 3763448 B1 EP3763448 B1 EP 3763448B1 EP 19185901 A EP19185901 A EP 19185901A EP 3763448 B1 EP3763448 B1 EP 3763448B1
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EP
European Patent Office
Prior art keywords
data
object data
optical
transfer point
delivery path
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EP19185901.6A
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German (de)
English (en)
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EP3763448A1 (fr
Inventor
Jan BEHLING
Jan Josef Jesper
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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
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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
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/04—Sorting according to size
    • B07C5/10—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
    • 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
    • B07C5/12—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 association of item data of an item with a changing physical position of the item in a sorting device which has at least one input for feeding items to the sorting device and a multiplicity of transfer points at which selected Objects can be ejected from the sorting device.
  • the sorting data available via the sorting conveyor control system for the objects on the sorting conveyor can be accessed, in which case, for example, an image comparison or a comparison of other identification features such as barcodes, etc. can be done.
  • a sorting system e.g. a sorting conveyor
  • the sorting data available via the sorting conveyor control system for the objects on the sorting conveyor can be accessed, in which case, for example, an image comparison or a comparison of other identification features such as barcodes, etc. can be done.
  • Such an assignment is complex.
  • the unambiguous association between the object and the position is usually lost because objects overtake one another or slide over one another.
  • the object of the present invention is, in a sorting device, in the simplest possible way, to never lose the association between an ejected object and its position during a course of movement of the object subsequent to the ejection process, and furthermore, should the association ever be lost, restore them without significant effort.
  • the item data of a specific item preferably includes at least identity data of the item, which can be stored in a higher-level controller of the sorting device.
  • the identity data can correspond to an identity feature of the object or can be derived from it.
  • further data is 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 for a specific object can be derived or which directly describes the sorting target 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 find 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 entrance and several transfer points for ejecting selected objects being present.
  • 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.
  • intermittent technologies are also included, such as a sorting system with driverless transport vehicles (FTF).
  • FFF driverless transport vehicles
  • the transfer points can be ejection devices of one type or a continuous conveyor, which is followed by a delivery path, for example in the form of a conveyor, a chute, a roller conveyor and/or a container into which the objects are dropped or thrown.
  • the combination of a transfer point, e.g. an ejection device of a sorting conveyor, with an adjoining discharge path, which extends to a removal point and can be formed, for example, by a removal conveyor is also referred to as a terminal.
  • a discharge device can have, for example, a push-off device, a pusher or a flipper.
  • the optical object data of the objects can be recorded using at least one camera and/or at least one scanner, in particular a laser scanner.
  • the tracking includes successive position determinations at time intervals, which can either be permanently specified, for example time intervals between 0.1 ms and 10 s, or result from other parameters and are not directly specified.
  • one or more dimensions of the object are recorded, for example optical recording processes can be carried out in one, two or all three coordinate directions, for example using at least one measuring camera, a laser measuring device or using 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 item data associated with the item.
  • the position determinations repeated at short 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 be carried out with each position determination, after a number of position determinations, e.g. 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 association between the previously recorded optical object data and/or other object data of the object with the object data, in particular image data, recorded as part of the tracking, 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 capturing the optical object data and for the repeated optical capturing 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 recorded at a specified point in time, as an alternative to the recording at a specified position, or when the object has been discharged from the sorting device at the transfer point.
  • the assignment of the object data to the physical position of the object at a position along the delivery route may be lost, for example because the object was transported by one or several other objects are temporarily completely or partially hidden from the view of an image capture device or camera used for tracking, or because an object is removed from the delivery path, for example falls off the delivery path or is removed manually and then manually placed back on the delivery path, in 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 acquisition device, or has been covered, the tracking is fixed, 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 optical object data recorded earlier, with the tracking successively repeated position determinations of the object along the delivery path at time
  • Error information can be added to the object data if the further optical object data deviates from the optical object data outside of a predefined tolerance range.
  • the object data of all objects that are simultaneously on a delivery path of a transfer point and have not yet been removed are assigned to the transfer point as a subset of all object data present in the sorting device and the optical object data when comparing the further optical object data with the optical object data of the subset of item data associated with the handover point.
  • 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 order of a delivery trip by a driver of a parcel vehicle, with knowledge of which the vehicle can be better loaded. An exact deposit position in the parcel vehicle can also be transmitted.
  • the invention thus advantageously makes it possible for the person or removal device removing an object not to repeat the Must determine the identity of the object, but has the identity data already recorded due to the position tracking of the object immediately available, and possibly other information.
  • 1 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 an infeed device 4, on which the objects 20 to be sorted can be fed individually to the sorting conveyor 2 and from which in 1 only a foremost end section abutting on the sorting conveyor 2 is shown with an object 20 just to be introduced.
  • 1 12 also 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 item 20 can be recorded as item data on the sorting conveyor 2.
  • the detection device 6 is 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 that are moved in a conveying direction 8, each of which is provided with a cross-belt conveyor element that can be driven transversely to the conveying direction 8, on which an object is received, transported and transported to a specific transfer point or to a specific terminal can be given.
  • the transfer point 10 is formed here by an ejection device known per se.
  • a central controller of the sorting system to which the item data or the first image data and identity features of each individual item that is introduced is transmitted, also has sorting data for each individual item, from which it can be inferred at which transfer point or to which end point each individual item on the sorting conveyor 2 located object is to be ejected.
  • 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.
  • the controller Since the controller 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 ejected, the controller can tell the sorting conveyor or the transport unit carrying a specific item when or shortly before reaching the specific transfer point transmit an ejection signal, whereupon the cross-belt conveyor element is put into operation and ejects the object at the specific transfer point 10 .
  • a plurality of induction devices can be provided for feeding articles onto the sorting conveyor, and a detection device can be provided on one or more induction devices, either as in 1 shown downstream of the infeed device on the sorting conveyor, or directly on the infeed device for capturing specific item data of the items during or immediately before infeed, 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, with which optical object data such as image data of each object to be ejected or ejected at the transfer point 10 is recorded, if these have not previously been recorded.
  • the camera or image capturing device is connected to the controller and transmits the optical object data to it, or these data can be queried by the controller from the image capturing device.
  • the controller Before, during or after the ejection of an object at the transfer point assigned to it, in this example the ejection device, the controller registers the ejected object as an object that is located at or subsequent to the specific transfer point, with the object data being assigned to such a specific transfer point Items can be stored as a subset of all item data present in the sorting device. In the example of 2 four objects have been ejected at the transfer point 10, so that 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 association with the transfer point 10.
  • Each ejected object is tracked by tracking from the transfer point 10 with regard to its position along the delivery path up to its final removal at a removal point 14 .
  • This tracking is carried out in a manner known per se in that the camera 12 captures an image of the object at short time intervals, which can be less than 1 ms or less than 10 ms, for example, and in each case with an image taken shortly beforehand is adjusted, from which a current position of the object is determined.
  • Each item's current position is stored as part of the item's item data, so that at any point in time there is an association between the item's item data and the position.
  • the object is tracked by said tracking until it is removed from the delivery path, in particular up to a removal point 14, which can be set up in such a way that every object discharged at the transfer point 10 is regularly removed there. Alternatively, it is possible for an object to be removed from it at any point along the delivery path.
  • the assignment of the item data to the physical position of the item may be lost during its movement along the delivery path, e.g. if the item is briefly covered by other items and is not or not completely visible to the camera.
  • either the additional optical object data can be taken as a basis and stored, for example as an additional part of the object data, or the tracking can be continued on the basis of the optical object data recorded earlier.
  • this information can be used when an object is removed from the terminal or the delivery route or removal point, for example to transport several objects belonging to a sorting destination together or to store, or to remove objects belonging to different sorting destinations from one and the same delivery path or removal point, and to assign them to individual, different sorting destinations using the sorting information known for each object and to transport them further in different ways. This makes it possible for one and assign several sorting destinations to the same transfer point and thereby save transfer points or use them more than once.

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  • Sorting Of Articles (AREA)
  • Discharge Of Articles From Conveyors (AREA)
  • Warehouses Or Storage Devices (AREA)

Claims (15)

  1. Un procédé d'attribution et de maintien d'une attribution de données objets pour un objet, à destination d'une position physique changeante de cet objet (20) dans un dispositif de tri (2) qui comporte au moins un point d'entrée (4) afin de faire avancer des objets vers le dispositif de tri (2) et une pluralité de points de transfert (10) au niveau desquels des objets sélectionnés (20) peuvent se décharger depuis le dispositif de tri (2), avec exécution des étapes suivantes :
    - l'avance d'un objet (20), dont au moins une fonctionnalité d'identification peut être mémorisée dans le cadre des données objets de cet objet (20), en un point d'entrée (4) du dispositif de tri, avec saisie des données d'identification avant, pendant ou après cette avance et avec mémorisation de ces données d'identification dans le cadre des données objets de cet objet (20),
    - sur la base des données de tri à partir desquelles une destination de tri de l'objet (20) peut être dérivée pour chaque objet (20), la détermination d'un point de transfert (10) qui est affecté à cet objet (20),
    - le transport de l'objet (20) jusqu'au point de transfert spécifié (10),
    - la décharge de cet objet (20) au niveau du point de transfert spécifié (10),
    se caractérisant par les étapes supplémentaires suivantes :
    - la capture des données objets optiques pour chaque objet (20) déchargé au niveau du point de transfert (10) lorsque l'objet (20) a atteint une position prédéterminée sur le dispositif de tri (2), au point de transfert (10) ou le long d'une voie de livraison qui part du point de transfert (10) et aboutit à un point de retrait (14), avec mémorisation des données objets optiques en tant qu'élément supplémentaire des données objets de l'objet (20),
    - le déplacement de l'objet (20) le long de la voie de livraison,
    - durant ce déplacement, le suivi de l'objet déchargé (20) sur la base des données objets optiques par le biais du système de suivi, et ce suivi se compose d'une détermination répétée de la position de l'objet (20) le long de la voie de livraison, à des intervalles consécutifs de temps, jusqu'à ce que l'objet (20) soit retiré, et la mémorisation d'une position actuelle de l'objet (20) en tant qu'élément supplémentaire des données objets de l'objet (20).
  2. Le procédé que décrit la revendication 1, et qui se caractérise par le fait que, lors de chaque détermination de la position, le suivi se compose d'une saisie optique de l'objet (20), et si ce n'est qu'une comparaison a lieu entre les données objets optiques de chaque détermination de la position, à des intervalles spécifiques de temps ou lors du retrait de l'objet (20).
  3. Le procédé que décrit la revendication 1 ou 2, et qui se caractérise par le fait que, durant, avant ou après l'insertion d'un objet, une ou plusieurs dimensions et (ou) une ou plusieurs images et (ou) un poids d'un objet (20) sont saisis et mémorisés en tant qu'éléments des données objets.
  4. Le procédé que décrit l'une ou l'autre des revendications précédentes, et qui se caractérise par le fait que l'objet (20) est acheminé, de manière active, le long de la voie de livraison ou se déplace sans faire appel à un procédé mécanique, glisse, roule ou chute.
  5. Le procédé que décrit l'une ou l'autre des revendications précédentes, et qui se caractérise par le fait qu'une position de retrait et (ou) l'étape de retrait de l'objet (20) de la voie de livraison est saisie et mémorisée.
  6. Le procédé que décrit l'une ou l'autre des revendications précédentes, et qui se caractérise par le fait que la saisie des données objets optiques s'effectue à un point prédéterminé dans le temps ou lorsque l'objet (20) a été déchargé par le dispositif de tri (2) au niveau du point de transfert (10).
  7. Le procédé que décrit l'une ou l'autre des revendications précédentes, et qui se caractérise par le fait que :
    plusieurs objets déchargés (20) se situent, simultanément, sur la voie de livraison (10) et
    que chaque objet individuel (20) est suivi par le système de suivi.
  8. Le procédé que décrit l'une ou l'autre des revendications précédentes, et qui se caractérise par le fait que, durant le suivi de l'objet (20), une perte d'attribution des données objets à la position physique de l'objet (20) se situe à une position le long de la voie de livraison, et si ce n'est, après cette perte d'attribution, que les données objets optiques supplémentaires de l'objet (20) sont saisies le plus tôt possibles et comparées aux données objets optiques, et si ce n'est, si ces données objets optiques correspondent bien aux données objets optiques supplémentaires dans les limites d'une plage spécifique de tolérance, que le suivi se poursuit sur la base des données objets optiques.
  9. Le procédé que décrit la revendication 8, et qui se caractérise par le fait que, en cas de perte répétée de l'attribution des données objet à la position physique de l'objet (20), les étapes que décrit la revendication 8 sont de nouveau exécutées.
  10. Le procédé que décrit la revendication 8 ou 9, et qui se caractérise par le fait que si les données objets optiques supplémentaires s'écartent des données objets optiques et sortent de la plage de tolérance, un message d'erreur vient s'ajouter aux données objets.
  11. Le procédé que décrit la revendication 7 ou la revendication 8, 9 ou 10 en cas de référence avec la revendication 7, et qui se caractérise par le fait que tous les objets (20) qui se situent dans la voie de livraison, entre le point de transfert (10) et le point de retrait (14) sont saisis et suivis, en continu, par le système de suivi et,
    lorsqu'un objet est caché par un autre objet dans la voie de livraison (10), le suivi de l'objet caché reprend dès que cet objet n'est plus caché.
  12. Le procédé que décrit l'une ou l'autre des revendications 8 à 11, et qui se caractérise par le fait que les données objets de tous les objets (20) qui se situent,
    simultanément, sur une voie de livraison d'un point de transfert (10) et n'ont pas encore été retirés sont attribués au point de transfert (10) sous la forme d'une sous-série de toutes les données objets qui sont présentes dans le dispositif de tri, et
    lorsque les données objets optiques supplémentaires sont comparées aux données objets optiques, les données objets optiques de cette sous-série de données objets attribuées au point de transfert (10) sont utilisées.
  13. Le procédé que décrit l'une ou l'autre des revendications précédentes, et qui se caractérise par le fait que les données d'identification ou les données objets d'un objet (20) prélevé dans la voie de livraison et (ou) une information qui en est dérivée est communiquée à une personne ou un dispositif de retrait chargé d'assurer le retrait de l'objet.
  14. Un dispositif de production et de maintien d'une attribution de données objets d'un objet, à destination d'une position physique changeante de cet objet (20) dans un dispositif de tri (2) qui comporte au moins un point d'entrée (4) afin de faire avancer des objets jusqu'au dispositif de tri (2) et une pluralité de points de transfert (10) au niveau desquels des objets sélectionnés (20) peuvent être déchargés depuis le dispositif de tri (2) et, également,
    - un dispositif de mémorisation conçu pour assurer la mémorisation les données objets d'une position et les données objets optiques,
    - un dispositif de décharge conçu pour décharger un objet spécifique depuis le dispositif de tri (2) au niveau d'un point spécifique de transfert (10),
    et qui se caractérise par le fait que :
    - un dispositif de saisie (12) implanté dans la zone du point de transfert (10), de manière à saisir les données objets optiques et à assurer le suivi d'un ou plusieurs objets (20) déchargés au niveau du point de transfert (10) et
    - un groupe de commande qui est programmé pour contrôler le dispositif de tri (2), afin de permettre à ce dernier d'exécuter ce procédé comme indiqué dans l'une ou l'autre des revendications 1 à 13.
  15. Le dispositif que décrit la revendication 14, et qui se caractérise par le fait que :
    le dispositif de tri (2) comporte des plateaux inclinables, des éléments à rabattant ou à tapis roulant transversal ou des véhicules de transport sans chauffeur.
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

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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

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

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

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Publication number Publication date
EP3763448A1 (fr) 2021-01-13
PL3763448T3 (pl) 2022-11-21
US20210008599A1 (en) 2021-01-14
JP7426910B2 (ja) 2024-02-02
US11583898B2 (en) 2023-02-21
JP2021014365A (ja) 2021-02-12

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