METHOD AND DEVICE FOR AUTOMATICALLY CONTROLLING AT LEAST ONE PARAMETER AT THE CENTRE OF A PRODUCT, AND CORRESPONDING PRE-REFRIGERATION OR REFRIGERATION METHOD AND MACHINE

Abstract

Batches (9a and 9b) pass in succession into a (pre) refrigeration machine. An actuator (17) in the chamber (1) of the machine is controlled by a logic controller (16) to insert a temperature sensor (18) into a product selected in the batch. Above batch (9a) in front of entrance door (6) of chamber (1), a preparatory module (27) explores the top surface of the area at the top of the batch located under sensor (18). An image analyzer selects a product into which sensor (18) will be inserted, and a future insertion point in the selected product. This data is transmitted to a memory to which logic controller (16) will refer to control actuator (17) when the batch is in chamber (1). Preferably, the data refer to a repository linked to the batch, for example provided by a corner of the box (3) containing the selected product.

Claims

1.-47. (canceled)

48. A method for automatically controlling at least one parameter at the center of a control product (4a) that is part of a batch (9a, 9b) during a pre-refrigeration or refrigeration process of the batch in a chamber (1) wherein a sensor (18) is stuck into the control product, wherein, in order to stick the sensor, while the batch (9b) is already inside the chamber (1), an activator (17) which carries and moves the sensor (18) inside the chamber (1) is activated, and after the pre-refrigeration or refrigeration process, the activator takes the sensor out of the control product, and a product of the batch is selected as a control product (4a) in such a way that in the chamber (1) the control product is as close as possible to a standby position of the sensor (18).

49. The method of claim 48, wherein the control product (4a) is identified before the entry in the chamber (1), and the identification comprises in associating a beacon (41) to the control product, and there is within the chamber a contact or contactless position detector for detecting the beacon.

50. The method of claim 48, wherein the control product (4a) is identified before the entry in the chamber (1), and the position of a sticking point (23) on the surface of the control product is recorded for the identification, and a signal indicative of the position is sent to a memory, and the content of the memory is used to control the activator.

51. The method of claim 50, wherein the sticking point (23) is a highest point of the control product (4a).

52. The method of claim 48, wherein at least part of the outline of a crate (3a) containing part of the products of the batch is detected and the at least part of the outline of the crate (3a) is used as a reference frame (36), the control product (4a) being selected inside the outline.

53. The method of claim 48, wherein in the chamber (1), during the sticking of the sensor (18) in the control product (4a) and while the sensor (18) is being extracted at the end of the pre-refrigeration or refrigeration process, a blocker (38) is applied on the product, immobilizing the control product (4a) during sticking and extraction.

54. The method of claim 53, wherein, prior to the sticking of the sensor into the control product, an external wall of the control product is pierced at the future sticking point by a tool (56, 56a, 56b) controlled in a coordinated manner with the sensor.

55. A method for pre-refrigeration or refrigeration of a product by a cold-vacuum technique in a chamber (1), wherein the inside of the chamber (1) containing the product is subjected to the combined effects of a vacuum for which the water boils at substantially the desired refrigeration temperature for the product, and a cold temperature produced by a refrigerator (14) which cools the atmosphere inside the chamber, and turns into ice water vapor resulting from the boiling, wherein using a method according to claim 1 a parameter at the center of a control product (4a) being part of the product is automatically controlled, and according to the value of the parameter at the center of the control product, the pre-refrigeration or refrigeration process is automatically controlled.

56. An automatic device for controlling at least one parameter at the center of a control product (4a) that is part of a batch (9a, 9b) during a pre-refrigeration or refrigeration process of the batch in a chamber (1) comprising a sensor (18) to be stuck in the control product (4a) so that a sensitive end (19) of the sensor (18) is at the center of the product, further comprising a product identification unit of the of a product (4a) of the batch, selected as the control product intended to receive the sensor (18), and an activator (17) located in the chamber (1) controlled by an automaton and carrying the sensor in a moveable manner according to the identification firstly by an at least partially lateral centering movement (21) of the sensor (18) on a sticking point (23), and then by a sticking movement (24) of the sensor (18) in the control product (4a) at a beginning of a pre-refrigeration or refrigeration process and an extraction movement out of the control product at an end of the process.

57. The device of claim 56, wherein the sensor is a temperature sensor.

58. The device of claim 56, wherein the identification unit (27) comprises an image sensor and an image analyzer, the identification unit (27) being placed at a station through which the batch (9a) passes upstream of the chamber (1), and able to detect a product as the control product, and to produce a signal indicative of coordinates of the sticking point (23) on the surface of the control product (4a).

59. The device of claim 56, further comprising a detector comprising a feeler designed to self-position on a beacon (41) associated with the control product (4a), and the sensor is coupled to the feeler to laterally move with the feeler.

60. The device of claim 56 further comprising a blocker (41) for immobilizing the control product (4a) during the sticking and during an extraction of the sensor (18) by the activator (17) following the pre-refrigeration or refrigeration process, wherein the blocker (41) is connected to the sensor (18) with an axial sliding freedom beyond a stress threshold corresponding to an immobilization stress applied to the control product (4a).

61. The device of claim 56, further comprising a cleaning device (57) for periodically cleaning the sensor between two batches.

62. The device of claim 56, wherein the sensor is a hygrometry sensor.

Description

[0052] Other features and advantages of the invention will still emerge from the description below, relating to non-limiting examples. In the accompanying drawings:

[0053] FIG. 1 is a schematic side elevation view of a (pre) refrigeration installation according to the invention;

[0054] FIG. 2 is a schematic cross-sectional view of the (pre-) refrigeration tunnel of the installation of FIG. 1;

[0055] FIG. 3 is a perspective view of a crate located on the top of a batch before it enters the tunnel;

[0056] FIG. 4 is a schematic perspective view showing the identification step in a first embodiment of the method;

[0057] FIG. 5 is a diagram showing the identification of the sticking point;

[0058] FIG. 6 is a schematic perspective view illustrating the sticking step in the first embodiment of the method;

[0059] FIG. 7 is a schematic perspective view showing the centering movement of the sensor;

[0060] FIG. 8 is a schematic perspective view showing the immobilization of the selected product step;

[0061] FIG. 9 is a schematic perspective view illustrating the sticking of the sensor into the selected product;

[0062] FIG. 10 is an axial section schematic view of one embodiment of the sensor and of the blocker in waiting position;

[0063] FIG. 11 shows a partial view of the beginning of the blocking, with at the same time a representation of another embodiment of the blocker incorporating a piercing tool;

[0064] FIG. 12 shows the sensor of FIG. 10 ready to be stuck into the selected product;

[0065] FIG. 13 shows the sensor and the blocker of FIG. 10 when the sensor is stuck into the product;

[0066] FIG. 14 is a view of a 2D image of a crate according to a second embodiment of the method;

[0067] FIG. 15 is a perspective view of a beacon placed in a crate containing refrigerated products, in a third embodiment of the method; and

[0068] FIGS. 16 and 17 are axial section diagrams of two other embodiments of the piercing tool.

[0069] The description that follows is to be considered as an individual description of each mentioned feature, in the form as described or in any more or less generalized form, independently of the other features even mentioned in the same paragraph or the same sentence, or as a description of any partial combination, as described or more or less generalized, independently of the other features of the combination even mentioned in the same paragraph or the same sentence, provided that such an individual feature, possibly generalized, or such a partial combination, possibly generalized, is capable of distinguishing the invention from the prior art or providing a technical result or solving a technical problem with respect to the prior art.

[0070] Hereinafter, the term “refrigeration” is used to refer to refrigeration as well as pre-refrigeration, the following description applying equally to these two cases. In the example shown in FIG. 1, the refrigeration installation comprises a refrigeration chamber 1 designed to receive and cool in a controlled manner successive batches 9a, 9b of products. In the purely illustrative example, each batch is composed of two pallets 2 on which are stacked crates 3, each crate 3 containing fresh products which in this example are fruits 4 of generally spherical shape (FIG. 3). The invention also applies to other forms of edible or non-edible plants (eg flowers), non-tightly packaged products, seafood or meat, fresh or packaged in a non-tight manner, etc. The chamber comprises in this example a tunnel 8 comprising, at two opposite ends, an entrance door 6 and an exit door 7, respectively, for the batch. FIG. 1 shows a batch 9a located outside the chamber 1 in a standby position in front of the entrance door 6, and another batch 9b located in the chamber 1. There could also be a third batch, not shown, located outside the chamber 1 behind the exit door 7, composed of products already refrigerated and waiting to be loaded onto a vehicle (lorry, boat, etc.) or carried locally to a next step of the process, for example a freezing or preservation step in a traditional cold room. There could also be a cold or freezing or deep-freezing chamber directly at the exit of the tunnel, behind the exit door 7.

[0071] In the example shown, the pallets 2 supporting the batches 9a, 9b rest on a roller track 11 allowing the batches to move along the longitudinal axis of the tunnel 8, from the waiting station upstream of the tunnel (left on FIG. 1), then in tunnel 8, until the starting station downstream of the tunnel (to the right of the exit gate 7 in FIG. 1). Means (not shown) make it possible to move the batches along the roller track 11.

[0072] In a preferred embodiment, the chamber 1 is part of a refrigeration machine (FIG. 2) working by combined application of vacuum and cold to the products to be refrigerated. The vacuum is applied by a vacuum pump 12. The cold is applied by a cooling coil 13 made up of the evaporator of a refrigeration machine 14. Thanks to the vacuum pump 12, the absolute pressure in the chamber 1 is decreased to a sufficiently low value (for example around 2 kPa) for the boiling temperature of the water to correspond to the target temperature for the products, for example a few degrees Celsius. Thus, the water naturally present or added to the surface of the products 4 starts to boil. This boiling very effectively cools the products. The intake opening 14 of the vacuum pump 12 is located behind the cooling coil 13 so that the gaseous atmosphere sucked in by the pump 12 comes into contact with the cooling coil 13. The water vapor resulting from the boiling condenses or turns into ice in contact with the cooling coil 13. This reduces significantly the volume of gas to be treated by the pump 12 and therefore the energy consumed by the pump 12.

[0073] Preferably, the machine is in accordance with FR 2 977 013 B, to which reference will be made for more details. According to the invention, the machine comprises an automaton 16, which controls the activator 17 located in the chamber 1. The activator 17 carries a sensor 18 for detecting at least one parameter, typically the temperature and/or the hygrometry. The sensor is intended to be stuck in a control product 4a, selected from the products 4 of the batch, so that the sensitive end 19 (FIGS. 10 to 13) of the sensor is located at the center of the product 4a, as shown in FIG. 13.

[0074] The activator is connected to the automaton via a bidirectional link 51. The sensor is connected to an electronic cabinet 26, which here contains the automaton, via a link 52. The activator is preferably pneumatic and is connected to a pneumatic energy generator 53, itself controlled by the automaton 16.

[0075] In the context of the invention, the automaton 16 may be a hardware-based automaton, for example comprising electronic cards, or a software or a part of a software in the control cabinet, or it may be more generally integrated into the control cabinet in the form of certain functions provided by the control cabinet, among others, such as operating the doors, controlling the vacuum and cold machine, controlling the displacement of the batches (not shown).

[0076] In the preferred example shown, the activator 17 as well as the sensor 18 are located beneath the ceiling of the tunnel 8, above the area occupied by the batch 9b, preferably near the entrance door 6 and/or in a position far away from the cooling coil and the appliances such as engines that generate electromagnetic waves. The sensor 18 is in a downward position in order to be stuck in a control product 4a located on the top of the batch 9b. The activator 17 is able to move the sensor 18 along both lateral axes, here horizontal, as well as axially, that is to say here vertically. As shown in FIGS. 7 and 10, the lateral movement 21 is used to cause the axis 22 of the sensor to pass through a sticking point 23 in the control product 4a. The axial movement 24 (FIGS. 9 and 13) is particularly used to push the sensor 18 into the control product 4a prior to the refrigeration process, and to extract the sensor 18 from the control product 4a after the refrigeration process and before the departure of the batch 9b through the exit door 7 of the chamber 1. During the refrigeration process, the sensor measures the temperature decrease profile at the center of the control product 4a and sends a temperature signal to the control cabinet 26 of the machine. When the control cabinet detects that the target temperature has been reached, it commands the stop of the refrigeration process and starts the automaton 16 for an end-of-process sequence comprising the extraction of the sensor from the control product 4a and a lateral movement of the sensor to return to a predetermined standby position.

[0077] In an improved embodiment, the control cabinet 26 adjusts the vacuum and cold parameters in real time during the refrigeration process, taking into account in particular the temperature decrease profile detected by the sensor 18 and, if necessary, the hygrometric behavior of the control product during the refrigeration process.

[0078] A cleaning device 57, preferably operated by spraying, cleans the sensor between two batches under the control of the electronic cabinet 26.

[0079] In the preferred embodiment shown, the parameter control device comprises, in addition to the unit located in the chamber 1, including in particular the sensor 18 and its activator 17, a preparatory or identification unit 27, which cooperates with the Batch 9a waiting in front of the entrance door 6 to identify the product 4a selected to be the control product, and to locate the sticking point 23 (FIG. 3) selected for this batch and to send this identification to a memory provided in the automaton 16 or in connection therewith. When the batch that has been the subject of this identification is located in the chamber 1, the automaton 16 uses the identification data contained in the memory to control the activator 17 and thus the sensor 18 into the state shown in FIGS. 9 and 13, where the sensitive end 19 of the sensor 18 is located at the center of the control product 4a.

[0080] The preparatory unit 27 comprises, in the preferred example, a 3D image sensor (FIG. 4) operating by scanning in both horizontal directions above a selected crate 3a, which is the one that will be located under the sensor 18 in standby position when the batch will be in the chamber 1. (For the purpose of readability of FIGS. 4 and 5, very simplified, the crates have been drawn to be relatively very large and very small in number on a single pallet 2 symbolizing the batch). The 3D image sensor 27 digitizes an image of the upper surface of the batch 9a in an area including the crate 3a. It is associated with an image analyzer, which determines the position of at least a part of the outline of the crate 3a as well as the highest points 4b of the products 4 located on the top, for example the highest points 4b that are located less than a predetermined distance from beneath the upper edge of the crate 3a (FIG. 3). The image analyzer selects as the sticking point 23 the highest point that is the closest to the vertical axis 22a, which will probably match with the axis 22 of the sensor when the batch will be in the chamber 1. The axis 22a must therefore be considered as connected to the batch. The matching of the axes 22a and 22 will not be exact because the movement of the batch is only accurate to a few centimeters.

[0081] The product 4a selected to be the future control product is in this preferred example the one whose highest point has been chosen as the future sticking point 23. In order to improve the matching between the position of the selected crate 3a under the image sensor 27 and the position of the same crate 3a under the sensor 18, retractable stops 29, 31, 32, 33 (FIG. 1) define the position of the batch 9a in standby position and the batch 9b in the chamber 1 respectively. The front stops 29 and 32 retract for the movement of the batches and then return to their protruding position before the arrival of the next batch to stop the batch at the determined position. The rear stops 31 and 33 rise after the batch stops in order to lock the positioning. The lateral positioning of the batches is ensured by lateral slides 34 (FIG. 2).

[0082] As shown in FIG. 5, the image analyzer preferably sends to the memory of the automaton 16 not an absolute position of the sticking point 23 but a relative position in x, y and z with respect to a reference frame corresponding to an upper angle 3b of the crate 3a.

[0083] Once the batch is in the chamber 1, the crate 3a, which has been selected for this purpose, is directly below the sensor sticking unit and the position of the angle 3b of the crate 3a is predictable by a few centimeters. A small 3D image sensor 37 (FIG. 2), covering for example only the area where the angle 3b can be, locates this angle and the orientations of the crate edges that form the angle, which determines the position of the reference frame 36 in the chamber 1 for this batch. The standby position of the sensor 18 is determined by the automaton in the reference frame 36. The automaton calculates the movement of the sensor tip along the three axes, to go from its standby position to the provided sticking point 23 and controls the movement of the sensor 18. Then the automaton controls an axial movement of the sensor so that the sharp tip of the sensor perforates the selected product 4a at the intended sticking point 23 and pushes this tip over a predetermined stroke so that the sensitive tip 19 of the sensor reaches the center of the product 4a.

[0084] In the preferred example shown the sticking unit located in the chamber 1 further comprises a product blocker 38 (FIGS. 6 and 8 to 13), which immobilizes the product 4a during its perforation by the sensor 18. When the sensor is centered on the provided sticking point 23, the blocker leans on the product 4a all around the sticking point in order to stabilize the product during the perforation. The blocker can then be slightly moved away from the product during the refrigeration process. During the extraction of the sensor, the blocker, even if slightly moved away from the control product, prevents the control product from adhering to the sensor during the extraction movement of the sensor.

[0085] In the example shown in FIGS. 10 to 13, the blocker 38 is secured laterally to the sensor 18 so as to follow the horizontal movements of the sensor. For the axial movements, the blocker 38 has freedom of axial displacement with respect to the sensor 18 by deformation of a compression spring 39. At rest, the blocker 38 is in a protruding position towards the product 4a, abutting against a shoulder 41 secured to the sensor. The tip 19 of the sensor is then backward compared to the active end of the blocker (FIG. 10). Thus, when the sensor is moved axially towards the product 4a, the blocker is the first to come into contact with the product 4a (FIG. 11). The axial movement of the sensor continuing, the blocker can no longer follow this movement and the spring 39 is compressed more and more as the tip 19 gets close to the product 4a (FIG. 12), and then perforates the product 4a (FIG. 13).

[0086] FIG. 11 shows another preferred feature of the device, namely a perforating tool 56, which pierces the outer wall of the control product 4a at the intended sticking point, before the perforation by the sensor 16. In this embodiment, the tool is a ring-shaped knife. In this embodiment, the tool is secured to the blocker.

[0087] In the embodiment shown in FIG. 14, the image sensor of the preparatory unit 27 captures a top view 2D image of the crate 3a and its content. The image analyzer detects an angle of the crate and the outline of the products that are on top, recognizable by their completely or almost completely visible outline. The top product that is the closest to the axis 22a is selected as the control product 4a. The intended sticking point 23 is in the center of the outline of the product 4a. In the chamber, everything happens as in the first embodiment, except that the vertical distance between the tip 19 of the sensor in the standby position and the intended sticking point 23 can only be assumed and the depth of penetration of the sensor into the product is therefore less precise.

[0088] The embodiment of FIG. 15 is further simplified since it does not need a preparatory unit. The identification consists in placing a beacon 41 around a selected product 4a chosen for its situation on the top and near the center of the crate 3a that will be located just below the sticking unit in the chamber 1. In the chamber 1, either an image sensor locates the beacon 41 and pushes the sensor axially at a predetermined position relative to the beacon, for example at the center of the beacon 41, here made ring-shaped, either the beacon 41 is upwardly flared in the shape of a centering cone, as shown. In this second case, the blocker can mechanically self-center in the beacon, the sensor being simply activated vertically with lateral freedom to follow the self-centering movement of the blocker.

[0089] In the example shown in FIG. 16, the cutting tool 56a is a sort of slanted rotary drill bit, which can be moved forward until the intended sticking point before the sticking movement of the sensor, and even before the contact of the blocker if one is provided. In a version shown to the right of FIG. 16, the drill bit 56b could be secured to the blocker and take action when the blocker is pressed against the product and before the sticking movement of the sensor.

[0090] In the embodiment of FIG. 17, the drilling tool 56c is a tube coaxial with the sensor. The activator first controls the joint movement of the group constituted by the sensor 18 and the tool 56c while the tool is protruding relatively to the tip 19 of the sensor as shown, and then an additional actuator 17a of the activator 17 makes the sensor move forward relatively to the tool so that the sensor penetrates into the control product 4a without being followed by the tool 56c.

[0091] Of course, the invention is not limited to the examples described and shown. It would be possible to detect, by 2D or 3D shooting, inside the chamber 1, the selected product and the sticking point, without any preparatory unit (losing the advantage of identification in hidden time and exposing oneself to risks of disruption due to severe conditions inside the chamber).