ES2151587T3 - MACHINE AND PROCEDURE FOR CLASSIFICATION OF MISCELLANEOUS OBJECTS WITH HELP OF AT LEAST A ROBOTIZED ARM. - Google Patents

MACHINE AND PROCEDURE FOR CLASSIFICATION OF MISCELLANEOUS OBJECTS WITH HELP OF AT LEAST A ROBOTIZED ARM.

Info

Publication number
ES2151587T3
ES2151587T3 ES95430008T ES95430008T ES2151587T3 ES 2151587 T3 ES2151587 T3 ES 2151587T3 ES 95430008 T ES95430008 T ES 95430008T ES 95430008 T ES95430008 T ES 95430008T ES 2151587 T3 ES2151587 T3 ES 2151587T3
Authority
ES
Spain
Prior art keywords
articles
robot arm
classification
help
procedure
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.)
Expired - Lifetime
Application number
ES95430008T
Other languages
Spanish (es)
Inventor
Antoine Bourely
Frederic Caubel
Sylvain Balerin
Der Kerkhove Jean-Marc Van
Caroline Rousseau
Antoine Guignier
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.)
S I T A
Pellenc SAS
Original Assignee
S I T A
Pellenc SAS
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 S I T A, Pellenc SAS filed Critical S I T A
Application granted granted Critical
Publication of ES2151587T3 publication Critical patent/ES2151587T3/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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
    • B07C5/04—Sorting according to size
    • B07C5/12—Sorting according to size characterised by the application to particular articles, not otherwise provided for
    • B07C5/122—Sorting according to size characterised by the application to particular articles, not otherwise provided for for bottles, ampoules, jars and other glassware
    • B07C5/126—Sorting according to size characterised by the application to particular articles, not otherwise provided for for bottles, ampoules, jars and other glassware by means of photo-electric sensors, e.g. according to colour
    • 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
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras

Abstract

The sorter consists of a conveyor (2) which carries the articles (E) to be sorted past a robot-controlled sorting post (3), where they are directed into appropriate containers (4). The sorting post comprises at least one robot arm (9) with a gripper (10), an artificial eye (8) which determines the position of articles on the belt and partially recognises their nature, and a complementary detection system (12) with one or more sensors to complete the identification of the articles. The data processing unit (15) processes the information from the artificial eye and sensors and causes the robot arm to pick up selected articles and drop them into the containers (4). The robot arm is of variable geometry, and the data processing unit has a computer which can recognise objects and their positions from the information provided and direct the arm to pick them up.
ES95430008T 1994-10-12 1995-10-11 MACHINE AND PROCEDURE FOR CLASSIFICATION OF MISCELLANEOUS OBJECTS WITH HELP OF AT LEAST A ROBOTIZED ARM. Expired - Lifetime ES2151587T3 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR9412436A FR2725640B1 (en) 1994-10-12 1994-10-12 MACHINE AND METHOD FOR SORTING VARIOUS OBJECTS USING AT LEAST ONE ROBOTIZED ARM

Publications (1)

Publication Number Publication Date
ES2151587T3 true ES2151587T3 (en) 2001-01-01

Family

ID=9467971

Family Applications (1)

Application Number Title Priority Date Filing Date
ES95430008T Expired - Lifetime ES2151587T3 (en) 1994-10-12 1995-10-11 MACHINE AND PROCEDURE FOR CLASSIFICATION OF MISCELLANEOUS OBJECTS WITH HELP OF AT LEAST A ROBOTIZED ARM.

Country Status (5)

Country Link
EP (1) EP0706838B1 (en)
AT (1) ATE195272T1 (en)
DE (1) DE69518293T2 (en)
ES (1) ES2151587T3 (en)
FR (1) FR2725640B1 (en)

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ES2249123A1 (en) * 2004-03-25 2006-03-16 Vicente Segui Pascual Machine for automatic extraction and classification of recyclable materials e.g. plastic, has transporting tape, vision system, extraction system, and control closet, where extraction system is operated by robots and/or manipulators

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FR2775204A1 (en) * 1998-02-25 1999-08-27 Pellenc Sa Sorting of fruit and vegetables based on at least one of their characteristics
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ES2234652T3 (en) 1999-09-10 2005-07-01 Scanvaegt International A/S CLASSIFIER
AU2003224982A1 (en) 2002-04-12 2003-10-27 Fritz H. Obermeyer Multi-axis joystick and transducer means therefore
DE102004040100B4 (en) 2004-08-18 2012-05-03 Deutsche Post Ag Method and device for sorting mailpieces
ES2283173B1 (en) * 2005-02-14 2008-09-16 Logifruit S.L. AUTOMATIC CLASSIFIER OF LOAD PALLETS.
WO2006130911A1 (en) * 2005-06-08 2006-12-14 Majek Automation Pty. Ltd. A sorting apparatus
DE102007049702A1 (en) * 2007-10-17 2009-04-23 Robert Bosch Gmbh picking line
DE102011123023B3 (en) * 2011-01-21 2020-09-17 Krones Aktiengesellschaft Device and method for transporting articles
DE102011009181A1 (en) * 2011-01-21 2012-07-26 Krones Aktiengesellschaft Device and method for transporting articles
FI20115326A0 (en) * 2011-04-05 2011-04-05 Zenrobotics Oy Procedure for canceling sensor measurements after a picking function in a robotic system
US8781616B2 (en) 2011-06-27 2014-07-15 The Procter & Gamble Company Robotic unscrambler and method
FR2979903B1 (en) * 2011-09-09 2013-11-22 Jean-Albert Despres STORAGE SYSTEM FOR OBJECTS IN PREDETERMINED STORAGE CONTAINERS
FR2997927B1 (en) 2012-11-13 2015-07-24 Unista OBJECT DISTRIBUTION MACHINE WITH BULK FEED
CN103008263B (en) * 2012-12-10 2014-10-29 吴江市博众精工科技有限公司 Pick-and-place module
CN105083977B (en) * 2014-05-14 2018-04-10 泰科电子(上海)有限公司 Automatic batching equipment
CN104275311A (en) * 2014-09-27 2015-01-14 吴玲玲 Automatic sorting device
FR3032366B1 (en) 2015-02-10 2017-02-03 Veolia Environnement-VE SELECTIVE SORTING PROCESS
FR3032365B1 (en) 2015-02-10 2017-02-03 Veolia Environnement-VE SELECTIVE SORTING PROCEDURE
CN106475773B (en) * 2015-08-28 2019-06-14 泰科电子(上海)有限公司 Automatic setup system and method
DE102017005137B4 (en) 2017-05-30 2020-09-24 Infineon Technologies Austria Ag Power line controlled electric drive inverters
DE102017219407A1 (en) * 2017-10-27 2019-05-02 Robert Bosch Gmbh detection device
CN109807068A (en) * 2017-11-21 2019-05-28 北京京东尚科信息技术有限公司 Sorting equipment and method for sorting
CN108107889B (en) * 2017-12-07 2023-10-13 浙江理工大学 From high efficiency commodity circulation dolly of taking sorting device
CN108097601B (en) * 2017-12-15 2020-08-07 广东五月花网络科技有限公司 Screening device used after coal mining
CN107999399A (en) * 2017-12-27 2018-05-08 华侨大学 Building waste on-line sorting system and method based on the detection of dot matrix EO-1 hyperion
SE544090C2 (en) * 2018-04-22 2021-12-21 Zenrobotics Oy Waste Sorting Gantry Robot
SE543130C2 (en) 2018-04-22 2020-10-13 Zenrobotics Oy A waste sorting robot gripper
SE543177C2 (en) * 2018-04-22 2020-10-20 Zenrobotics Oy Waste sorting gantry robot comprising an integrated chute and maintenance door
SE544741C2 (en) 2018-05-11 2022-11-01 Genie Ind Bv Waste Sorting Gantry Robot and associated method
CN109158320B (en) * 2018-11-08 2023-11-14 深圳蓝胖子机器智能有限公司 Logistics sorting system and logistics sorting method
NL2022320B1 (en) 2018-12-28 2020-07-23 Bollegraaf Patents And Brands B V Suction head for a waste sorting system
CN109712509B (en) * 2018-12-29 2024-01-19 天津市天森智能设备有限公司 Simulation production line training platform
WO2020236746A1 (en) 2019-05-19 2020-11-26 Air Black Box Technologies Llc Managed connecting service for mass transit baggage
DE102019207964B4 (en) * 2019-05-29 2022-09-22 Volkswagen Aktiengesellschaft Process for transferring components and system for carrying out the process
CN110449381A (en) * 2019-08-19 2019-11-15 黄山小罐茶业有限公司 Tealeaves impurity picks manipulator
CN110550352B (en) * 2019-10-12 2024-03-26 上海宝冶集团南京建筑有限公司 Intelligent garbage recycling device for identifying and classifying garbage at construction site
CN110624857A (en) * 2019-10-21 2019-12-31 广东弓叶科技有限公司 Object type identification method and sorting equipment
CN111377213A (en) * 2020-03-20 2020-07-07 上海电子信息职业技术学院 Robot dynamic sorting device and method
CN111626117B (en) * 2020-04-22 2023-04-18 杭州电子科技大学 Garbage sorting system and method based on target detection
CN114367461B (en) * 2020-10-15 2024-04-12 新疆大学 Walnut sorting device based on machine vision
CA3134358A1 (en) 2020-10-19 2022-04-19 Premier Tech Technologies Ltee Sorting system and corresponding method
CN112691925A (en) * 2020-12-09 2021-04-23 安徽机电职业技术学院 Automatic on-line sorting method for material stacks
CN114130689B (en) * 2021-11-08 2023-07-07 徐州机电技师学院 Material weighing and sorting device controlled by PLC (programmable logic controller)
GB2612653A (en) * 2021-11-09 2023-05-10 Danu Robotics Ltd Robotic system and method for picking and/or sorting objects
CN114524247A (en) * 2022-02-23 2022-05-24 广西禾乐生态农业开发有限公司 Sorting operation workbench with radio frequency identification technology
CN115447924A (en) * 2022-09-05 2022-12-09 广东交通职业技术学院 Machine vision-based garbage classification and sorting method, system, device and medium
CN116329237B (en) * 2023-04-06 2023-11-03 广州拓源电子科技有限公司 Intelligent recycling system based on visual recognition

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US5193685A (en) * 1991-06-20 1993-03-16 Trevithick William J Gemstone sorting apparatus and methods

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2249123A1 (en) * 2004-03-25 2006-03-16 Vicente Segui Pascual Machine for automatic extraction and classification of recyclable materials e.g. plastic, has transporting tape, vision system, extraction system, and control closet, where extraction system is operated by robots and/or manipulators

Also Published As

Publication number Publication date
EP0706838A1 (en) 1996-04-17
FR2725640A1 (en) 1996-04-19
EP0706838B1 (en) 2000-08-09
ATE195272T1 (en) 2000-08-15
DE69518293T2 (en) 2001-03-29
FR2725640B1 (en) 1997-01-10
DE69518293D1 (en) 2000-09-14

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