EP4284567B1 - Method for adjusting at least one parameter of a sorting line for objects like fruit or vegetable and according sorting system - Google Patents

Method for adjusting at least one parameter of a sorting line for objects like fruit or vegetable and according sorting system

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Publication number
EP4284567B1
EP4284567B1 EP22706646.1A EP22706646A EP4284567B1 EP 4284567 B1 EP4284567 B1 EP 4284567B1 EP 22706646 A EP22706646 A EP 22706646A EP 4284567 B1 EP4284567 B1 EP 4284567B1
Authority
EP
European Patent Office
Prior art keywords
holder
discharge
station
passage
support
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.)
Active
Application number
EP22706646.1A
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English (en)
French (fr)
Other versions
EP4284567A1 (de
EP4284567C0 (de
Inventor
Philippe Blanc
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.)
Maf Agrobotic SAS
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Maf Agrobotic SAS
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Filing date
Publication date
Application filed by Maf Agrobotic SAS filed Critical Maf Agrobotic SAS
Priority to RS20260097A priority Critical patent/RS67691B1/sr
Publication of EP4284567A1 publication Critical patent/EP4284567A1/de
Application granted granted Critical
Publication of EP4284567B1 publication Critical patent/EP4284567B1/de
Publication of EP4284567C0 publication Critical patent/EP4284567C0/de
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
    • 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
    • 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
    • B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
    • B07C2501/009—Sorting of fruit

Definitions

  • the present invention relates to a method for adjusting at least one parameter of a sorting line for objects such as fruits or vegetables, an associated sorting system and an object packaging system comprising such a sorting system.
  • Systems are known for sorting selected items from the fruit and vegetable category, which are transported along a conveyor line.
  • a conveyor line comprises a plurality of supports that are driven in a longitudinal forward motion by means of a chain.
  • the items are each carried by a support that moves along the conveyor line, first passing in front of a device—such as a camera—that analyzes at least one sorting criterion.
  • the analysis device is fixed and serves as a reference point for the position of each item on the conveyor line.
  • the items then pass in front of one or more ejection stations located downstream of the analysis device.
  • Each ejection station is fixed relative to the conveyor line and has one or more ejection nozzles that eject the item from its support when it reaches the designated ejection station.
  • Each item is ejected from the sorting line at an object ejection station, from which all items conveyed on the line that meet the same sorting criterion are ejected.
  • items ejected at the same ejection station form a batch, all items in this batch meeting the same sorting criterion.
  • This batch may consist of items with the same weight (or a weight within the same range), the same size (or a size within the same range), the same defined external characteristics, such as color, the same sugar content (or a sugar content within the same range), the same level of ripeness, or the same firmness (or a value firmness located within the same range of firmness values), the occurrence of the same defect... etc.
  • each support on the conveyor line In particular, to eject the object from its support at the precise moment it passes in front of an ejection nozzle at a predefined ejection station according to the sorting criteria, the position of each support on the conveyor line relative to each ejection nozzle at each ejection station must be known as accurately as possible. Since the longitudinal speed of the supports on the conveyor line is known, it is necessary to know precisely the distance between each ejection nozzle at each ejection station and the analysis device.
  • the distance between the analysis device and at least one ejection station may vary, such that the object ejection nozzle(s) of at least one ejection station are activated even though the object is not positioned directly at the ejection nozzle, but rather upstream or downstream of it. This results in unsatisfactory ejection.
  • the invention aims to overcome these drawbacks.
  • the invention aims to solve these problems.
  • the invention therefore aims to provide an automated method for adjusting at least one parameter of an object sorting line in a packaging system for such objects belonging to the fruit and vegetable group.
  • sorting line refers to a conveyor line for objects intended to allow the grouping of similar objects meeting at least one sorting criterion from a heterogeneous set of objects, but it also refers to a conveyor line intended to allow the distribution in space of similar objects - possibly previously sorted - from a homogeneous set of objects meeting at least one sorting criterion.
  • This process allows for the simple determination of the longitudinal distances Di between each ejection station and the reference point on the sorting line, based solely on the passage of an object carrier along the sorting line. It synchronizes the activation of the object ejection mechanisms on the sorting line with the passage of the object carriers.
  • the detection of the object carrier's passage at the reference point and at each ejection station is performed automatically, without human intervention, and the same applies to the determination of the various distances, which is generally carried out by a processing unit.
  • Data or processor which represents a significant time saving for line personnel compared to manual intervention. Adjusting one or more conveyor line parameters is therefore much faster than with prior art. Consequently, the sorting line operator can perform such adjustments more frequently than before, for example, at regular intervals, particularly when restarting the sorting line and/or the object conditioning system.
  • the method according to the invention makes it possible, for example at the start-up of the object sorting installation, to analyze the distances separating a reference point of the sorting line and each ejection station of this sorting line.
  • the process according to the invention allows the activation of the ejection station to be perfectly synchronized with the passage of the support carrying each object presenting the sorting criterion corresponding to this expulsion station, whereby all objects presenting a common sorting criterion or a sorting criterion in the same value range, and only these objects, are expelled from the sorting line to the same sorting station upstream of which they are grouped into batches.
  • the adjustment process is automated.
  • the passage of said at least one support in front of a reference point located along the sorting line is detected.
  • the reference point is a fixed point on the sorting line whose position on the sorting line is fixed and determined.
  • the passage of said at least one support in front of the reference point is detected by acquiring and analyzing images of said at least one support, said at least one support being equipped with a pattern identifiable by means of image acquisition and analysis of the sorting line.
  • the reference point of the sorting line is equipped with a device for detecting the passage of said at least one support in front of the reference point of the sorting line.
  • the passage of said at least one object support in front of the reference point is detected by any means, said at least one object support being equipped with an identifier capable of being identified by the detection device.
  • the passage of at least one object carrier past the reference point can be detected by electromagnetic interaction between the fixed detection device and the object carrier moving along the sorting line as it passes the reference point. There is no contact between the object carrier and the detection device, and the passage is detected automatically as the carrier moves along the line and reaches the reference point.
  • the fixed detection device may be equipped with a Hall effect sensor, and the moving object carrier may be equipped with a magnet.
  • the device for detecting the passage of said at least one support in front of the reference point of the sorting line being an image acquisition and analysis device
  • the passage of said at least one support in front of the reference point located along the sorting line is detected by means of the image acquisition and analysis device, in particular by means of an image acquisition and analysis device comprising a camera, this device being fixed relative to the sorting line.
  • said object support may have a pattern - in particular a colored, identifiable pattern.
  • the passage of said at least one support in front of the reference point is detected by acquiring and analyzing images of said at least one support, said at least one support being equipped with a pattern identifiable by image acquisition and analysis means of the sorting line.
  • the sorting line device designed to analyze the objects conveyed by the line is used to detect the passage of said at least one support in front of the reference point.
  • This device is used to determine the sorting criterion for the objects conveyed by the line and to carry out their sorting. The distance Di traveled by said object support between the reference point equipped with the image acquisition and analysis device and each ejection station is thus precisely determined.
  • the sorting system conventionally used for batching fruits and/or vegetables requires only minor modifications to be suitable for implementing the invention. It is sufficient to provide and integrate devices for detecting movement past the reference point and each ejection station, and a computer system comprising a data processing unit adapted to receive movement detection data and calculate each distance Di.
  • the computer system is capable of transmitting ejection instructions for an object from its holder at the precise moment it passes the ejection station for objects exhibiting the same sorting criterion, and of grouping these objects into batches.
  • the device for detecting the passage of at least one object support in front of the reference point can be simply implemented using a camera that itself forms the reference point of the sorting line.
  • the invention also relates to a packaging installation for objects belonging to the fruit and vegetable group, of the type comprising an object sorting system according to the invention.
  • a sorting line 1 of an object packaging system for such objects belonging to the group formed by fruits and vegetables, in a first stage of development of the sorting line for said objects, is represented in a simplified manner in Figure 1
  • the sorting line 1 comprises a conveyor 2 including a chain 3 driven in motion along a longitudinal direction 5 of the conveyor 2's movement, and a plurality of adjacent double cones 4, mounted integrally with the chain 3 and driven in motion by the chain 3.
  • Two successive double cones 4 arranged one behind the other on the conveyor 2 of the sorting line 1 define between them a recess 9 for receiving an object 7 to be carried, chosen from the group of fruits and vegetables, and form a support 6 for said object.
  • Each double cone 4 comprises two portions 10 arranged transversely with respect to the object sorting line and each formed by a cone mounted to rotate freely, the two cones having their apexes opposite each other.
  • a single object 7 has been represented solely for the purpose of simplifying the drawing. Indeed, during an object sorting phase, each support 6—or at least a majority of supports 6—is occupied by an object 7, as the scrolling rate of chain 3 and each support 6 can reach a value of 3000 steps (replacement of a given support by the immediately adjacent upstream support) per minute.
  • the sorting line 1 includes a fixed reference point 11 relative to the sorting line 1.
  • At least one measuring device 8 for at least one quantity representative of each object passing in front of the reference point 11 for the purpose of sorting.
  • At least one detection device 8 may be a camera adapted to form a digital image of each object 7 passing the reference point 11.
  • the object conditioning system includes a computer adapted to receive each data point provided by the measuring device 8, to analyze each data point according to at least one object sorting criterion, and to determine the ejection station at which the object 7 analyzed by the computer must be ejected.
  • the computer system determines the time required for the analyzed object 7 to travel the distance Di separating the reference point 11 and the ejection station from which the object 7 must be ejected.
  • the computer system is adapted to receive each digital image formed by the measuring device 8, to analyze each digital image according to at least one object sorting criterion, and to determine the ejection station at which the object 7 analyzed by the computer system must be ejected, in order to form a batch of objects ejected from the sorting line at the same ejection station and grouped into batches of objects having the same sorting criterion.
  • Line 1 of the sorting of objects in a packaging system for such objects belonging to the group formed by fruits and vegetables, in a second stage of progress of line 1 of sorting said objects, is represented in a simplified manner in Figure 2
  • object 7 reached a first ejection station 12 located at a distance from the reference point 11 and in a time not corresponding to the distance from the reference point 11 and the time calculated by the computer device for this object, whereby object 7 is not ejected from the sorting line 1 at the ejection station 12.
  • Line 1 of the sorting of objects in a packaging system for such objects belonging to the group formed by fruits and vegetables, in a third stage of progress of line 1 of sorting said objects, is represented in a simplified way in Figure 3
  • Object 7 reached a second ejection station 12' located at a distance from the reference point 11, within a timeframe corresponding to the distance from the reference point 11 and the timeframe calculated by the computer system for this object to be ejected from sorting line 1.
  • the computer system activated the ejection device, thereby ejecting object 7 from sorting line 1 to the ejection station 12'. This results in the grouping of all objects meeting the same sorting criterion into a batch by ejecting these objects from the same ejection station.
  • each object carrier on the sorting line is driven in motion along the longitudinal direction of the sorting line and at a predetermined speed V by means of a chain on the object conveyor.
  • the adjustment method according to the invention is implemented prior to any sorting step, with the object carriers on the sorting line being empty of conveyed objects. However, there is nothing preventing the adjustment method according to the invention from being implemented while at least part of an object carrier is conveying objects.
  • each object support moving at a predetermined speed V passes in front of a reference point equipped with a device for detecting the passage of at least one object support.
  • the device for detecting the passage of an object support may be a detector of an electromagnetic interaction between the fixed detection device located at a fixed reference point and at least one moving support on the sorting line when at least one object support passes in front of the reference point.
  • This at least one object support may be equipped with a magnet, and the detection device may be a Hall effect sensor.
  • the device for detecting the passage of an object carrier past a fixed reference point on an object sorting line may be a fixed image acquisition device located at the fixed reference point, and said at least one carrier moving along the sorting line may be an object carrier equipped with an identifier capable of being identified from images formed by the fixed image acquisition device.
  • the object carrier may be a colored carrier, of a color distinct from the other carriers on the sorting line, the fixed image acquisition device being adapted to acquire a plurality of digital images enabling the determination, by analysis of these digital images, of the time of the passage of the colored carrier past the reference point.
  • the fixed image acquisition device being a camera, it transmits the images of the plurality of images to a computer 20 system control unit, comprising at least one digital image analysis processor enabling the determination of a time t 0 of passage of said object support in front of the reference point of the object sorting line.
  • a support 6 for an object moving along a longitudinal direction 5 of the sorting line and approaching an upstream ejection station 12 is represented in figure 4 In this figure 4 and in the figures 5 and 6 In the following, the conveyor chain and the plurality of object supports are not fully shown for the sake of simplicity and clarity.
  • the object support 6, which is movable relative to the sorting line, consists of a central body 17 equipped with two pairs of bicones 4 arranged laterally relative to the longitudinal direction of movement of the object support. Each pair of bicones 4 forms a lateral recess 9 for receiving an object.
  • the ejection station 12, which is fixed relative to the sorting line, comprises a fixed element integrally attached to the ejection station 12.
  • This fixed element is equipped with a sensor 14 chosen to detect the passage of the object support 6 in front of the ejection station 12 by detecting the interaction electromagnetic field of the magnet 13 of the support and the Hall effect sensor 14 of the detection station 12.
  • the magnet 13 of the support is at a distance from the Hall effect sensor 14 and the advance of the object support 6 along the sorting line 1 is not detected by the Hall effect sensor 14.
  • the magnet 13 of the object support 6 extends a short distance from the Hall effect sensor 14 of the ejection station 12.
  • the voltage across the Hall effect sensor 14 is at its maximum, corresponding to the object support 6 passing closest to the Hall effect sensor 14.
  • the Hall effect sensor 14 transmits the electrical voltage data measured across the terminals of the Hall effect sensor 14 to an electronic board 16 ("Air Machine Output Board, CSMA") of the ejection station.
  • the maximum voltage value determined by the electronic board 16 corresponds to the moment the magnet 13 passes in front of, closest to, and directly opposite the sensor 14.
  • Information concerning the maximum voltage value is transmitted to an electronic board 18 ("Air Machine Output Management Board, CGSMA”) by each CSMA electronic board 16 associated with an ejection station 12.
  • the processor of the electronic card 18 “CGSMA” calculates, from the data received from the fixed image acquisition device of the reference point and the data received from each electronic card 16 “CSMA”, the value of the delay t ⁇ sub>n ⁇ /sub> - t ⁇ sub> 0 ⁇ /sub> elapsed between the moment (t ⁇ sub>0 ⁇ /sub> ) of the object carrier passing in front of the reference point and the moment (t ⁇ sub> n ⁇ /sub> ) of the object carrier passing in front of the ejection station “n”.
  • the object support 6 is shown in a position downstream of the ejection station 12, with the object support 6 moving towards a separate downstream ejection station on the sorting line.
  • the distance separating the magnet 13 from the object support 6 (mobile) and the Hall effect sensor 14 from the ejection station 12 (fixed) is such that the magnet 13 is no longer detected by the sensor 14.
  • the ejection nozzles 15 of the ejection station 12 are positioned so that an airflow likely to be produced by the ejection station 12 is directed onto the housing 19 of the object support 6 and is adapted to be able to eject an object carried by the object support 6.
  • a method for adjusting at least one parameter of a sorting line 1 for objects in a packaging system for such objects belonging to the fruit and vegetable group is shown in Figure 7 in which sorting line 1 is schematically represented by a straight dashed line.
  • An object support 6, devoid of any transported object, is shown in various successive positions along sorting line 1, moving at a speed V along the longitudinal direction 5 of sorting line 1.
  • the object support 6 has a magnet 13 arranged to cooperate with the Hall effect sensor 14' coupled to the ejection station 12.
  • an object support referred to as the adjustment support 6 approaches the reference point 11 of the object sorting line 1.
  • the device 8 for detecting the passage of said adjustment support 6 past the reference point 11 generates digital data representing the position of said adjustment support 6 relative to the reference point 11.
  • This digital data is transmitted to an electronic board 18 equipped with a processor and software 19 for analyzing this digital data, which determines the time t 0 of the passage of said adjustment support past the reference point 11.
  • the time t 0 of the passage of said adjustment support past the reference point 11 is communicated to a computer control unit 20 of the object conditioning system, indicating that said support is at the reference point 11, denoted "O".
  • At least one identifier of said adjustment support 6 may be a magnetic identifier, the device 8 for detecting the passage of said adjustment support 6 comprising a magnetic reader.
  • at least one identifier of said adjustment support 6 may be a magnet, the device 8 for detecting the passage of said adjustment support 6 comprising a Hall effect sensor.
  • At least one identifier of said adjustment support 6 may be an electronic component capable of transmitting data by radio frequency – in particular microcircuits or RFID tags – the device 8 for detecting the passage of said adjustment support 6 comprising at least one electronic reader capable of receiving data via radio frequency - including at least one RFID reader-
  • At least one identifier of said adjustment support 6 may be an optically readable code component - in particular a barcode component, a two-dimensional code component such as a QR code or a three-dimensional code, the device 8 for detecting the passage of said adjustment support 6 comprising at least one optical reader - in particular a barcode reader, a QR code reader, a three-dimensional code reader - of the type of an optical reader comprising a high-definition matrix sensor.
  • At least one identifier may also be a coloured pattern arranged on said adjustment support, the device 8 for detecting the passage of said adjustment support 6 comprising a colourimeter and/or a camera adapted to detect the presence of the coloured pattern of said adjustment support 6 at the reference point 11 of the sorting line 1.
  • the adjustment support 6 approaching a first object ejection station P 1 of the object sorting line 1, generates digital data representing the position of the magnet of the adjustment support 6 relative to the first ejection station P 1.
  • This digital data is collected on an electronic card 16 of the first ejection station P 1 and transmitted to an electronic card 18 equipped with a processor and software 19 for analyzing this digital data, which determines the time t 1 of the adjustment support's passage past the first ejection station P 1 .
  • the time t 1 of passage of said adjustment support in relation to the first ejection station P 1 is communicated to a computer control unit 20 of the object conditioning system which calculates the time (t 1 - t 0 ) of travel of said adjustment support between the reference point 11 and the first ejection station P 1 and the distance D 1 separating the reference point 11 and the first ejection station P 1 , taking into account the speed V of movement of said adjustment support on the sorting line 1.
  • the adjustment support 6 approaching a second object ejection station P 2 of the object sorting line 1, generates digital data representing the position of the magnet of the adjustment support 6 relative to the second ejection station P 2.
  • This digital data is collected on an electronic card 16' of the second ejection station P 2 and transmitted to the electronic card 18 of the object conditioning system, which determines the time t 2 of the adjustment support 's passage past the second ejection station P 2 .

Landscapes

  • Sorting Of Articles (AREA)
  • Apparatuses For Bulk Treatment Of Fruits And Vegetables And Apparatuses For Preparing Feeds (AREA)

Claims (19)

  1. Verfahren zum Einstellen mindestens eines Parameters einer Sortieranlage (1) für Objekte (7) eines Verpackungssystems für derartige Objekte, die zur Gruppe Obst und Gemüse gehören, wobei die Sortieranlage (1) eine Mehrzahl von Trägern (6) fördert, wobei jeder Träger (6) dazu bestimmt ist, ein Objekt (7) zu tragen;
    wobei das Verfahren zum Einstellen dadurch gekennzeichnet ist, dass es die folgenden Schritte umfasst:
    - Antreiben mindestens eines Trägers (6) zur Bewegung entlang einer Längsvorschubrichtung (5) der Sortieranlage (1);
    - Detektieren des Vorbeilaufens des mindestens einen Trägers (6) vor einem Referenzpunkt (11) der Sortieranlage (1);
    - Detektieren des Vorbeilaufens des mindestens einen Trägers (6) vor jeder Ausschleusstation (12,12') Pi einer Mehrzahl von Ausschleusstationen, die entlang der Sortieranlage (1) verteilt sind, wobei jede Ausschleusstation (12,12') Pi dazu bestimmt ist, von dem mindestens einen Träger (6) ein Objekt (7), das von dem mindestens einen Träger (6) getragen wird, bei dem Vorbeilaufen des mindestens einen Trägers (6) vor der Ausschleusstation (12,12') Pi ausstoßen zu können;
    - Bestimmen jedes Längsabstands Di, der jede Ausschleusstation (12,12') Pi der Mehrzahl von Ausschleusstationen und den Referenzpunkt (11) trennt, ausgehend von Detektionsdaten des Vorbeilaufens des mindestens einen Trägers (6) vor dem Referenzpunkt (11) und von Detektionsdaten des Vorbeilaufens des mindestens einen Trägers (6) vor jeder Ausschleusstation (12,12') Pi und von der Antriebsgeschwindigkeit V des mindestens einen Trägers (6) in der Sortieranlage (1).
  2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass das Vorbeilaufen des mindestens einen Trägers (6) vor jeder Ausschleusstation (12,12') Pi durch elektromagnetische Wechselwirkung zwischen der ortsfesten Ausschleusstation (12,12') Pi und dem sich auf der Sortieranlage (1) bewegenden Träger (6), wenn der mindestens eine Träger (6) vor der Ausschleusstation (12,12') Pi vorbeiläuft, detektiert wird.
  3. Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass das Vorbeilaufen des mindestens einen Trägers (6) vor jeder Ausschleusstation (12,12') Pi durch elektromagnetische Wechselwirkung zwischen einem von dem mindestens einen Träger (6) getragenen beweglichen Element und einem der Ausschleusstation (12,12') Pi zugeordneten ortsfesten Element detektiert wird.
  4. Verfahren nach Anspruch 3, dadurch gekennzeichnet, dass das Vorbeilaufen des mindestens einen Trägers (6) vor jeder Ausschleusstation (12,12') Pi durch magnetische Kopplung zwischen einem von dem mindestens einen Träger (6) getragenen beweglichen Element und einem der Ausschleusstation (12,12') Pi zugeordneten ortsfesten Element detektiert wird.
  5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass das von dem mindestens einen Träger (6) getragene bewegliche Element ein Magnet (13) ist und das der Ausschleusstation (12,12') zugeordnete ortsfeste Element ein Hall-Effekt-Sensor (14) ist.
  6. Verfahren nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass der mindestens eine Träger (6), der zum Ausführen jedes Detektionsschritts gewählt wird, ein Objekt (7) trägt.
  7. Verfahren nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass das Einstellen mindestens eines Parameters während Einstellvorgängen vorgenommen wird, die an der Sortieranlage (1) vor Vorgängen zum Sortieren von Objekten (7) durchgeführt werden.
  8. Verfahren nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass jeder Träger (6) aus zwei Doppelkegeln (4) gebildet wird, die in der Sortieranlage (1) entlang der Vorschubrichtung (5) hintereinander angeordnet sind, wobei die beiden Doppelkegel (4) zueinander benachbart sind, so dass sie zwischen sich eine Aufnahme (9) zum Aufnehmen des zu tragenden Objekts (7) definieren, wobei jeder Doppelkegel (4) zwei Abschnitte (10) umfasst, die quer zu der Sortieranlage (1) für Objekte angeordnet sind und jeweils durch einen drehbar gelagerten Kegel gebildet werden, wobei die beiden Kegel einander zugewandte Spitzen haben.
  9. Verfahren nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass das Vorbeilaufen des mindestens einen Trägers (6) vor dem Referenzpunkt (11) durch Erfassen und Analysieren von Bildern des mindestens einen Trägers (6) detektiert wird, wobei der mindestens eine Träger (6) mit einem Motiv versehen ist, das durch Bilderfassungs- und -analysemittel der Sortieranlage (1) identifizierbar ist.
  10. System zum Sortieren von Objekten (7), die zur Gruppe Obst und Gemüse gehören, umfassend mindestens eine Sortieranlage (1), die mit einer Mehrzahl von Trägern (6) für die Objekte ausgestattet ist, wobei jeder Träger (6) dazu bestimmt ist, ein Objekt (7) zu tragen, und entlang einer Längsvorschubrichtung (5) der Sortieranlage (1) zur Bewegung angetrieben zu werden, wobei die Sortieranlage (1) umfasst:
    - einen Referenzpunkt (11), vor dem jeder der Träger (6) für Objekte (7) vorbeilaufen soll, und;
    - eine Mehrzahl von Ausschleusstationen (12,12') Pi, die entlang der Sortieranlage (1) und stromab des Referenzpunkts (11) in Vorschubrichtung der Träger (6) nacheinander angeordnet sind;
    wobei jede Ausschleusstation (12,12') Pi dazu bestimmt ist, ein oder mehrere Objekte (7), die jeweils von ihrem Träger (6) getragen werden, auszuschleusen, und in einem Abstand Di in Bezug auf den Referenzpunkt (11) gelegen ist;
    wobei das System dadurch gekennzeichnet ist, dass es umfasst:
    - eine Vorrichtung (8) zur Detektion des Vorbeilaufens mindestens eines Trägers (6) eines Objekts (7) vor dem Referenzpunkt (11);
    - eine Vorrichtung zur Detektion des Vorbeilaufens des mindestens einen Trägers (6) eines Objekts vor jeder Ausschleusstation (12,12') Pi,
    - eine Rechenvorrichtung, die dazu ausgestaltet ist, die verschiedenen Längsabstände Di zwischen den Ausschleusstationen (12,12') der Mehrzahl von Ausschleusstationen (12,12') Pi und dem Referenzpunkt (11) ausgehend von den Detektionen des Vorbeilaufens des mindestens einen Trägers (6) eines Objekts vor dem Referenzpunkt (11) und vor jeder Ausschleusstation (12,12') Pi und von der Antriebsgeschwindigkeit V des mindestens einen Trägers (6) eines Objekts zu bestimmen.
  11. System nach Anspruch 10, dadurch gekennzeichnet, dass jede Vorrichtung (14) zur Detektion des Vorbeilaufens des mindestens einen Trägers (6) eines Objekts vor jeder Ausschleusstation (12,12') Pi ein von dem mindestens einen Träger (6) getragenes bewegliches Element und ein der Ausschleusstation (12,12') Pi zugeordnetes ortsfestes Element umfasst, die beide in der Lage sind, untereinander durch elektromagnetische Wechselwirkung zusammenzuwirken, wenn das bewegliche Element vor dem ortsfesten Element vorbeiläuft, um das Vorbeilaufen des mindestens einen Trägers (6) eines Objekts vor der Ausschleusstation (12,12') Pi zu detektieren.
  12. System nach Anspruch 11, dadurch gekennzeichnet, dass das von dem mindestens einen Träger (6) getragene bewegliche Element mindestens einen Magneten (13) umfasst und das der Ausschleusstation zugeordnete ortsfeste Element mindestens einen Hall-Effekt-Sensor (14) umfasst.
  13. System nach Anspruch 10, dadurch gekennzeichnet, dass jede Vorrichtung zur Detektion des Vorbeilaufens des mindestens einen Trägers eines Objekts vor jeder Ausschleusstation ein von dem mindestens einen Träger getragenes bewegliches Element und ein der Ausschleusstation zugeordnetes ortsfestes Element umfasst, die beide in der Lage sind, untereinander über Funkfrequenz zu kommunizieren, wenn das bewegliche Element vor dem ortsfesten Element vorbeiläuft, um das Vorbeilaufen des mindestens einen Trägers eines Objekts vor der Ausschleusstation zu detektieren, das von dem mindestens einen Träger getragene bewegliche Element mindestens ein elektronisches Bauteil umfasst, das in der Lage ist, Daten über Funkfrequenz zu senden, und das der Ausschleusstation zugeordnete ortsfeste Element mindestens ein elektronisches Bauteil umfasst, das in der Lage ist, Daten über Funkfrequenz zu empfangen.
  14. System nach Anspruch 10, dadurch gekennzeichnet, dass das der Ausschleusstation zugeordnete ortsfeste Element mindestens eine photoelektrische Zelle umfassend einen Sender eines Strahls mindestens einer elektromagnetischen Welle und einen lichtempfindlichen Sensor umfasst, die so angeordnet sind, dass das von dem mindestens einen Träger getragene bewegliche Element den Strahl der mindestens einen elektromagnetischen Welle aufgrund des Vorbeilaufens des mindestens einen Trägers vor der Ausschleusstation unterbricht.
  15. System nach Anspruch 10, dadurch gekennzeichnet, dass das der Ausschleusstation zugeordnete ortsfeste Element mindestens eine Vorrichtung zur Erfassung mindestens eines Bilds des mindestens einen vor der Ausschleusstation vorbeilaufenden Trägers umfasst und dass das System zum Sortieren von Objekten eine Einheit zur Analyse und Verarbeitung der Bilder umfasst, die dazu angepasst ist, das Vorbeilaufen des mindestens einen Trägers vor der Ausschleusstation zu detektieren.
  16. System nach einem der Ansprüche 10 bis 15, dadurch gekennzeichnet, dass die Vorrichtung zur Detektion des Vorbeilaufens des mindestens einen Trägers eines Objekts vor dem Referenzpunkt eine ortsfeste Vorrichtung zur Erfassung mindestens eines Bilds des mindestens einen vor dem Referenzpunkt vorbeilaufenden Trägers umfasst, die entlang der Kalibrierungsanlage angeordnet ist und die den Referenzpunkt bildet.
  17. System nach Anspruch 16, dadurch gekennzeichnet, dass es eine Rechenvorrichtung umfasst, die eine Vorrichtung zur Datenverarbeitung und Bestimmung der Abstände Di umfasst.
  18. System nach einem der Ansprüche 10 bis 17, dadurch gekennzeichnet, dass jeder Träger aus zwei Doppelkegeln gebildet wird, die in der Kalibrierungsanlage entlang der Vorschubrichtung hintereinander angeordnet sind, wobei die beiden Doppelkegel benachbart angeordnet sind, damit sie zwischen sich eine Aufnahme zum Aufnehmen des zu tragenden Objekts definieren, wobei jeder Doppelkegel zwei Abschnitte umfasst, die quer angeordnet sind und jeweils durch einen drehbar gelagerten Kegel gebildet werden, wobei die beiden Kegel einander zugewandte Spitzen haben.
  19. Verpackungsanlage für zur Gruppe Obst und Gemüse gehörende Objekte (7) des Typs, der ein System zum Sortieren von Objekten (7) nach einem der Ansprüche 10 bis 18 umfasst.
EP22706646.1A 2021-01-27 2022-01-26 Method for adjusting at least one parameter of a sorting line for objects like fruit or vegetable and according sorting system Active EP4284567B1 (de)

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RS20260097A RS67691B1 (sr) 2021-01-27 2022-01-26 Postupak za podešavanje najmanje jednog parametra linije za sortiranje objekata kao što je voće ili povrće i povezani sistem za sortiranje

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FR2100761A FR3119105B1 (fr) 2021-01-27 2021-01-27 Procédé d’ajustement d’au moins un paramètre d’une ligne de triage d’objets tels que des fruits ou des légumes et système de triage associé
PCT/FR2022/050146 WO2022162313A1 (fr) 2021-01-27 2022-01-26 Procédé d'ajustement d'au moins un paramètre d'une ligne de triage d'objets tels que des fruits ou des légumes et système de triage associé

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CN (1) CN117042892A (de)
AU (1) AU2022214403A1 (de)
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CL (1) CL2023002221A1 (de)
ES (1) ES3061513T3 (de)
FR (1) FR3119105B1 (de)
IL (1) IL304583A (de)
MX (1) MX2023008653A (de)
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IL318776A (en) * 2022-08-04 2025-04-01 Unitec Spa Assembly for transportation and unloading of fruit and vegetable products

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JPH10152219A (ja) * 1996-11-21 1998-06-09 Ishii Ind Co Ltd 搬送物仕分け装置
CN101486033B (zh) * 2009-03-09 2012-07-25 中国农业大学 一种小果型果品分检装置及板栗分检方法
FR2966369A1 (fr) * 2010-10-20 2012-04-27 Jean Baptiste Vye Dispositif de detection et de tri d'objets sur tapis convoyeur
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CN211160759U (zh) * 2019-10-16 2020-08-04 湖州师范学院 一种用于单粒分布待分选物筛选的分选装置
CN110681603B (zh) * 2019-11-06 2024-07-23 西北农林科技大学 一种小型果蔬气动自动分选机

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CL2023002221A1 (es) 2024-02-09
US12544800B2 (en) 2026-02-10
PL4284567T3 (pl) 2026-03-09
AU2022214403A9 (en) 2024-07-18
WO2022162313A1 (fr) 2022-08-04
IL304583A (en) 2023-09-01
CN117042892A (zh) 2023-11-10
CA3206048A1 (fr) 2022-08-04
RS67691B1 (sr) 2026-02-27
FR3119105A1 (fr) 2022-07-29
MX2023008653A (es) 2023-10-05
AU2022214403A1 (en) 2023-08-10
FR3119105B1 (fr) 2023-01-20
EP4284567A1 (de) 2023-12-06
EP4284567C0 (de) 2025-11-19
ES3061513T3 (en) 2026-04-06
US20250001461A1 (en) 2025-01-02

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