• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    An installation for separating and individualizing heterogeneous postal objects of the small parcel or package type, is characterized in that it comprises a platform (3) for storing a pile of postal objects arranged in bulk, a vision system ( 4) adapted to form digital images of the pile of postal items in bulk which is static on the platform, and a pneumatic gripping head (8) of a robotic arm. The vision system (4) comprises at least one laser source which projects on the pile of objects a bundle of fan-shaped laser lines, which makes it possible, from images comprising the laser lines on the pile of objects, to accurately calculate a depth map and perform a digital trimming to individualize an object from the pile of loose objects.
    公开号:FR3032364A1
    申请号:FR1551123
    申请日:2015-02-11
    公开日:2016-08-12
    发明作者:Bernoussi Hicham El；Karine Crest；Agnes Philippe
    申请人:Solystic SAS；
    IPC主号:
    专利说明:

    [0001] TECHNICAL FIELD The present invention relates to a separation and individualization installation of postal objects of the small package or package type.
    [0002] The installation according to the invention is in particular intended to be used to feed an automatic postal sorting machine in which the packages or individual packages are moved in series with a constant pitch along the sorting outlets of the machine and are each directed to a sorting outlet appropriate to the delivery address that is affixed to the package or package. PRIOR ART Solutions for the separation and individualization of objects according to which objects loaded in bulk in a hopper are discharged continuously onto mats, rollers and other mechanical conveyors and are shredded as they are moved are known. on these conveyors. The ginned objects can then be taken one by one to be put in series in a conveyor belt for example. This type of ginning system has the disadvantage of being bulky. In the postal field, small packages or packets are essentially heterogeneous objects, namely with very variable dimensions and shapes and it is important to put them in series with a constant pitch, that is to say with a distance constant between the front edge of two consecutive objects in series or between the centers of two consecutive objects, to be able to automatically and easily switch each object to a sorting outlet of a sorting machine.
    [0003] SUMMARY OF THE INVENTION The object of the invention is therefore to propose a separation and individualization installation of heterogeneous postal objects of the small package or package type which has a small bulk and which makes it possible to put these objects with a constant pitch at the entrance of a postal sorting machine. For this purpose, the object of the invention is an installation for separating and individualizing heterogeneous postal objects of the small parcel or package type, characterized in that it comprises: a platform for storing a pile of postal objects arranged in bulk, 15 - a vision system adapted to form digital images of the heap of postal objects, - a data processing unit adapted for, from these digital images, identifying a mailpiece to be individualized which has a face not gripping, and a pneumatic gripping head of a robotic arm which is controlled to take this postal object to be individualized by the gripping face, and to deposit this postal object on a drop zone outside the platform , and in that said vision system comprises at least one laser source which projects on the pile of postal objects a bundle of fan-shaped laser lines, and in that the data processing is adapted to identify the postal object to be individualized from an image of the mailing pile of objects comprising said laser lines of an image of the heap of postal objects in contrast. In this installation, the heap of postal objects is static on the platform and the postal objects are separated one by one by the robotic arm to the last object of the heap of objects. A new pile of postal items in bulk is then reformed on the platform and the postal objects of this new pile of postal objects are separated one by one as before. Whenever a postal item is taken from the heap of postal items, the vision system forms an image of the heap of postal items remaining on the platform so as to determine a new postal item to be taken from the pile of items. Postal. The digital images of the pile of objects comprising the 15 laser lines and the digital images in contrast of the pile of objects allow the data processing unit to calculate a depth map which makes it possible to obtain the spatial coordinates of the face grasping of the object to be individualized and in particular the altitude of its center of gravity. The robotic arm can deposit each postal article taken from the pile on a moving carpet conveyor at a predetermined fixed speed, the robotic arm being synchronized with this carpet conveyor so that the objects are arranged in series on the conveyor belt with a conveyor belt. not constant. The installation according to the invention may also have the following features: said vision system may comprise two laser sources which respectively project on the postal item stack a bundle of first fan-shaped laser lines and a bundle of second lines. 3032364 4 lasers deployed in a fan and crossing the first laser lines. The first and second laser lines then form a grid projected on the mailpiece pile which enables the data processing unit 5 to easily determine, according to a principle of triangulation, the depth map. said vision system may comprise a first laser source which projects on the postal item stack a bundle of first fan-shaped laser lines and a second laser source which projects on the postal item stack a bundle of second laser lines fan-shaped and intersecting the first laser lines, and also a third laser source which projects on the pile of postal objects a bundle of 15 third fan-shaped laser lines and a fourth laser source which projects onto the pile of postal objects a bundle of fourth laser lines spread fanwise and crossing the third laser lines, the angular spacing between the first laser lines 20 being different from the angular spacing between the third laser lines and the angular spacing between the second laser lines being different the angular spacing between the fourth laser lines, and the vision system being ada to form a first digital image of the heap of postal objects comprising the first and second laser lines and to form a second digital image of the heap of postal objects comprising the third and fourth laser lines, and to also form a digital image in 30 contrast of the heap of postal objects, the data processing unit being adapted to identify the postal object to be individualized from said first and second 3032364 5 images of the heap of postal objects comprising said laser lines and the image in contrast. With these different angular spacings, the data processing unit can initialize the depth map and the digital clipping of objects with a lower resolution grid and fine-tune the results with the higher resolution grid. Advantageously the first and third laser sources and the second and fourth laser sources will be placed opposite to overcome the effect of drop shadows. According to a particular embodiment of the invention, the laser sources respectively project and at the same time laser lines but with different colors and by color filtering, the laser lines of a color and the laser lines are separated in the images. another color. The vision system may be arranged to turn off two of the four laser sources alternately when it takes an image of the pile of objects comprising the grid of the laser lines projected by the other two laser sources. The first and second laser sources may be arranged, for example, to project a grid of 25x25 laser lines onto the postal item stack and the third and fourth laser sources may be arranged to project a grid of objects onto the pile of objects. 63x63 laser lines.
    [0004] The invention further extends to a postal sorting machine which comprises an installation as defined above upstream of a bucket sorting conveyor in which parcels or small parcels are moved in front of sorting receptacles. BRIEF DESCRIPTION OF THE DRAWINGS The invention is described below in more detail and illustrated by the drawings which represent an example of an installation for separating and individualizing small parcels or postal packages according to the invention. FIG. 1 is a schematic view of the installation 10 according to the invention with a robotic arm that separates and individualizes postal objects in piles on a platform. Figure 2 schematically illustrates the gripping head of the robotic arm.
    [0005] Figure 3 illustrates the vision system comprising the camera and the laser sources that generate a grid on the heap of postal items in bulk. Figure 4 illustrates the process of acquiring and processing images according to the invention.
    [0006] Figure 5 illustrates a raw image produced by the vision system with a low resolution grid. DESCRIPTION OF THE EMBODIMENTS In FIG. 1 of the drawings, the installation 1 according to the invention is well adapted to supply small parcels or packages 2 with an automatic postal sorting machine in which the packages or packages 2 are moved in series to not constant, for example using a conveyor 1A 1B bucket with buckets whose bottom is closed by a flap. Sorting outlets 1C, for example trays, are arranged beneath and along the bucket conveyor. Each sort output corresponds to a certain postal delivery destination. Depending on the delivery address that was read on each package or individual package, this package or package is unloaded from a bucket to the corresponding sorting outlet by automatically opening the flap in the bottom of the bucket when the bucket is overhanging this sorting outlet. The separation and individualization installation 10 of postal objects according to the invention here comprises a platform for storing a pile of mail items arranged in bulk. The platform is constituted by a conveyor belt 3 which is adapted to be loaded upstream with a pile of postal objects and bring this pile of postal objects under a vision system 4. Once the pile of objects The postal system is under the vision system 4, which can be detected by an optical sensor 5, the carpet conveyor 3 is stopped and thus the vision system observes a pile of postal objects which is static. The vision system is designed to form digital images of this pile of static postal objects that is observed from above.
    [0007] Image processing is performed on the digital images in a data processing unit 6 which is also a control / command and control unit for the robotic arm 7. The unit 6 is programmed to identify an object at 30. individualize the pile of loose objects. This object to be individualized is one that has a gripping face, generally a flat rectangular face 3032364 8 which is not covered by another object of the pile of objects and which is preferably oriented towards the top of the heap of objects. This object to be individualized can be for example that which is at the top of the heap 5 of objects. The unit 6 is programmed to calculate, by a scene analysis, different data indicative of the spatial position of this gripping face (spatial position of the center of this face) with respect to the platform 3, the orientation in the space of this gripping face and the two dimensions (length and width) of this gripping face. From these data, the unit 6 drives the robotic arm 7 which is provided with a pneumatic gripping head 8 to lift the object to be individualized by the gripping face and to deposit it in a drop point out of the Here, in a predetermined location at the end of a flat conveyor 9. In FIG. 3, the vision system according to the invention is very schematically illustrated which comprises, in addition to the camera 4A, which can be a grayscale or color camera, here two laser sources 4a, 4b mounted on a frame above the platform 3 and which each project on the pile of objects a beam of 25 laser lines spread fan. The laser lines are oblique to the axis of the camera and each line illuminates the postal objects with a certain angle of incidence. More particularly, the dimensions of the scene 30 observed 4c by the vision system camera 4 can be 600mmx600mm in horizontal surface and 150mm in height and the camera with laser sources 4a, 4b can be mounted at 1.5m at above the scene to watch. The angle of incidence of the laser lines can vary from 7.2 ° to 33.8 ° with an angular pitch of 1.15 °. Here, as the two laser sources 4a, 4b are shifted at 90 °, they project together a grid pattern on the surface of the postal objects. The laser sources 4a, 4b can for example project a low-resolution grid of 25x25 laser lines. According to the invention, another pair of laser sources may be provided to project another high resolution grid of 63 × 63 laser lines. In practice, as illustrated in FIG. 4 and according to a preferred embodiment of the invention, for each identification phase of a postal item to be taken from the mailpiece pile placed on the platform 3, the vision system 4 is controlled to form at 40 a first digital contrast image having no laser lines. This first digital image is stored in memory in the processing unit 6. A second digital image of the heap of postal objects covered with the laser grid at the low resolution of 25x25 laser lines, is formed at 41 by the vision system 4 and is stored in memory in the processing unit 6. An exemplary digital image with a grid of LL laser lines is illustrated in FIG. 5. A third digital image of the postal item stack covered with the laser grid at the high resolution of 63x63 laser lines, is formed in 42 by the vision system 4 and is stored in memory in the processing unit 6.
    [0008] From these three digital images of the scene observed by the vision system 4, the unit 6 is able to perform at 43 a digital trimming of the uncoated gripping face of the postal object to be removed and 5 to accurately assess its spatial position by calculating a depth map. It is understood by numerical clipping, the function which delimits each postal object in a plane (x, y) and by depth map, a map which gives an altitude (z) for each point of this plane. The principle of the construction of the depth map in the unit 6 is based on the fact that in the absence of an object on the platform 3, the laser lines occupy reference positions. Since these laser lines are projected with an angle of incidence varying from 7.2 ° to 33.8 ° in steps of 1.15 °, they undergo an offset (breaks) in the presence of the objects on the scene to be analyzed ( this offset is visible in Figure 5). This offset is proportional to the height of the object 20 analyzed. However, this offset is measured by the vision system 4 whose resolution depends on the observation height. Since the height of observation above the scene is not known in advance, a reference chart can be constructed to calculate the height as a function of the offset observed for each of the laser lines. In the image processing step 43, for example, the geometric distortions of the optics of the vision system camera 4 are corrected in each digital image. The contrast image is contoured and the images with the laser lines are binarized, filtered, convoluted with directional nuclei (horizontal and vertical) to successively filter the rows and columns of the grid, and intersected to make by Connectivity Analysis and Contour Expansion The digital trimming of the gripping face of the object to be sampled in the contrast image. A Hough 3D transform can be applied to convolved digital images for the reconstruction of the depth map. According to the invention, the pneumatic gripping head 10 8 has a variable geometry, that is to say a variable gripping surface. In particular, in FIG. 2, the gripping head comprises a main plate 10 provided with a plurality of suction cups 11. These suction cups 11 may be individually movable transversely to the plane of the plate 10 as illustrated by the arrow M for FIG. adapt to a non-planar profile of the gripping face of the object to be individualized. At least two hinged flaps (symbolized 12,13) with each provided with a plurality of suction cups such as 11 may be provided on two opposite sides of the main plate 10 so that the gripping surface of the head can be slaved to the dimensions of the gripping face of the object to be individualized by unfolding or individually raising each flap 25 which improves the grip of the object to be individualized. More particularly, the object to be individualized can be grasped with the main plate 11 of the gripping head, or with the main plate 11 and one flap 12 deployed (the other being raised), or again with the main plate 11 and the two flaps 12,13 deployed. From the spatial orientation data and from the dimension of the gripping face, the unit 6 is able to grip the object to be individualized by orienting the main plate 11 in the direction of the long length of the gripping face. and to deposit this object by orienting the long length of its gripping face with the longitudinal axis of the flat conveyor 9. Moreover, the unit 6 is able to position the barycentre of the main plate 10 of the gripping head in coincidence with the barycentre of the gripping face 10 of the object to be individualized and to have this object deposited by the robotic arm on a synchronization reference on the flat conveyor 9 to maintain a constant pitch between two consecutive objects on this conveyor flat. 15
    权利要求:
    Claims (1)
    [0001]
    CLAIMS1 / Installation for the separation and individualization of heterogeneous postal objects of the small parcel or package type (2), characterized in that it comprises: - a platform (3) for storing a pile of mail items arranged in bulk, - a vision system (4) adapted to form digital images of the postal item stack, - a data processing unit (6) adapted for, from these digital images, identifying a mailpiece to be individualized which has a unheated gripping face, - a pneumatic gripping head (8) of a robotic arm which is controlled to take this postal object to be individualized by the gripping face, and to deposit this mailpiece on a drop zone out of the platform, and in that said vision system comprises at least one laser source which projects on the postal item stack a bundle (4a; 4b) of fan-shaped laser lines, and in that the treatm ent of data is adapted to identify the postal object to individualize from an image of the heap of postal objects comprising said laser lines and a contrasting image of the heap of postal objects. 2 / Apparatus according to claim 1, characterized in that said vision system (4) 3032364 14 comprises a first laser source which projects on the pile of postal objects a bundle (4a) of first laser lines deployed in a fan and a second laser source which projects on the heap of postal objects a bundle (4b) of second laser lines spread fanwise and intersecting the first laser lines. 3 / Apparatus according to claim 1, characterized in that said vision system comprises a first laser source which projects on the pile of postal objects a bundle of first fan-shaped laser lines and a second laser source which projects on the pile postal objects a bundle of second laser lines deployed in a fan and crossing the first laser lines, said vision system further comprising a third laser source which projects on the pile of postal objects a bundle of third laser lines deployed in a fan and a fourth laser source which projects on the mailpiece pile a fourth laser beam spread fanwise and intersecting the third laser lines, the angular spacing between the first laser lines being different from the angular spacing between the third laser lines and the angular spacing between the second laser lines being different from the gap angular relationship between the fourth laser lines, and in that the vision system is adapted to form a first digital image of the postal item stack comprising the first and second laser lines and to form a second digital image of the postal item stack. comprising the third and fourth laser lines and to form a third digital image in contrast of the mailpiece stack, and in that the data processing unit is adapted to identify the mailpiece to be individualized from said first , second images of the heap of postal objects 5 comprising said laser lines. and the third image of the heap of postal objects in contrast. 4 / Apparatus according to claim 3, characterized in that the first and third laser sources and the second and fourth laser sources are placed opposite. 5 / Apparatus according to claim 3 or 4, characterized in that the first and second laser sources are arranged to project on the pile of postal objects a grid of 25x25 laser lines and the third and fourth laser sources are arranged to project on the pile of objects a grid of 63x63 laser lines. 6 / Apparatus according to one of the preceding claims, characterized in that the laser lines (LL) are oriented towards the platform with an incident angle ranging from 7.2 ° to 33.8 ° in steps of 1.15 25 relative to the axis of the camera of the vision system. 7 / postal sorting machine, characterized in that it comprises an installation according to one of the preceding claims upstream of a bucket sorting conveyor (1A) 30 in which packages or small packets are moved in front of receptacles of sorting.
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    法律状态:
    2016-02-17| PLFP| Fee payment|Year of fee payment: 2 |
    2016-08-12| PLSC| Publication of the preliminary search report|Effective date: 20160812 |
    2017-02-21| PLFP| Fee payment|Year of fee payment: 3 |
    2018-02-15| PLFP| Fee payment|Year of fee payment: 4 |
    2020-02-20| PLFP| Fee payment|Year of fee payment: 6 |
    2021-11-12| ST| Notification of lapse|Effective date: 20211005 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1551123A|FR3032364B1|2015-02-11|2015-02-11|INSTALLATION FOR THE SEPARATION AND INDIVIDUALIZATION OF HETEROGENEOUS POSTAL OBJECTS WITH A LASER SOURCE VISION SYSTEM|FR1551123A| FR3032364B1|2015-02-11|2015-02-11|INSTALLATION FOR THE SEPARATION AND INDIVIDUALIZATION OF HETEROGENEOUS POSTAL OBJECTS WITH A LASER SOURCE VISION SYSTEM|
    EP16705235.6A| EP3256267B1|2015-02-11|2016-01-26|Device for separating and individualising postal objects with laser-based vision system|
    PCT/FR2016/050149| WO2016128637A1|2015-02-11|2016-01-26|Installation for the separation and individualization of heterogeneous postal objects with a viewing system having laser sources|
    US15/030,666| US10058896B2|2015-02-11|2016-01-26|Installation for separating and singulating non-uniform postal articles with a vision system having laser sources|
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