Installation for separating and singulating non-uniform postal articles

Abstract

An installation for separating and singulating non-uniform postal articles of the small parcel or packet type comprises a platform for temporarily storing a pile of loosely placed postal articles, a vision system adapted to form digital images of the pile of loose postal articles, which pile is static on the platform, a data-processing unit adapted to use these digital images to identify a postal article to be singulated, i.e. an article that has a pickup face that is not covered by any other postal article, the unit being suitable for delivering data indicating the three-dimensional position, the facing direction, and the dimensions of the pickup face, and a pneumatic pickup head of a robotized arm that is controlled on the basis of the data to lift up the postal article to be singulated via its pickup face, and to deposit the postal article on a deposition zone that is off the platform.

Claims

1. An installation for separating and singulating non-uniform postal articles of the small parcel or packet type, comprising: a platform for temporarily storing a pile of loosely placed postal articles; a vision system adapted to form digital images of the pile of loosely placed postal articles while the pile is static on the platform; a data-processing unit adapted to use the digital images to identify a postal article to be singulated, wherein the postal article to be singulated has a pickup face that is not covered by any other postal article, the data-processing unit being configured to deliver data indicating a three-dimensional position, a facing direction, and dimensions of the pickup face; and a robotized arm with a pneumatic pickup head, the robotized arm and pneumatic pickup head being controllable on the basis of the data to take the postal article to be singulated via its pickup face, and to deposit the postal article on a deposition zone that is off the platform; wherein the pneumatic pickup head includes a pickup area with a variable geometry that is controllable via servo-controllers based on the dimensions of the pickup face of the postal article to be singulated; wherein the pickup head comprises a main pickup plate with a plurality of suction cups mounted to be individually movable transversely to the plane of the main pickup plate in order to adapt to a non-plane profile of the pickup face of the article to be singulated based on the data indicating the three-dimensional position, the facing direction, and the dimensions of the pickup face, and further comprises at least one hinged flap that is hinged to one of two opposite sides of the main plate, the at least one hinged flap also provided with a plurality of suction cups mounted to be individually movable transversely to the plane of the hinged flap so that the pickup area of the head can be servo-controlled to the dimensions of the pickup face of the article to be singulated by extending or by raising the flap and by individually moving one or more suction cups transversely to the plane of the hinged flap in order to adapt to a non-plane profile of the pickup face of the article to be singulated based on the data indicating the three-dimensional position, the facing direction, and the dimensions of said pickup face.

2. An installation according to claim 1, wherein the postal article includes a long dimension and wherein the pickup head is controlled to deposit the postal article with its long dimension extending in a certain direction relative to a reference axis.

3. An installation according to claim 1, wherein the platform includes a belt conveyor, and wherein the data-processing unit is configured to stop the belt conveyor when the pile is located under the vision system.

4. An installation according to claim 3, further comprising an optical sensor arranged to detect when the pile is located under the vision system.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The invention is described below in more detail and is shown by the drawing that shows an example of an installation of the invention for separating and singulating small postal parcels or packets. In the drawing:

(2) FIG. 1 is a diagrammatic view of the installation of the invention with a robotized arm; and

(3) FIG. 2 is a very diagrammatic view of the pickup head of the robotized arm.

DETAILED DESCRIPTION

(4) In FIG. 1 of the drawing, the installation 1 of the invention is very suitable for feeding small parcels or packets 2 to a conveyor, for example and not exclusively, in an automatic postal sorting machine in which the parcels or packets 2 are moved in series at constant pitch, e.g. by means of a bin conveyor with bins having their bottoms closed by flaps.

(5) Sorting outlets, e.g. in the form of trays, are disposed under and along the bin conveyor.

(6) Each sorting outlet corresponds to a certain postal delivery destination. As a function of the delivery address that has been read on each singulated parcel or packet, said parcel or packet is unloaded from a bin towards the corresponding sorting outlet by automatically opening the flap in the bottom of the bin when the bin is vertically above said sorting outlet.

(7) In this example, the installation of the invention for separating and singulating postal articles includes a platform for storing a pile of loosely placed postal articles.

(8) In this example, the platform is constituted by a belt conveyor 3 that is adapted to be loaded upstream with a pile of postal articles and to bring said pile of postal articles under a vision system 4 equipped with one or more cameras.

(9) Once the pile of postal articles is under the vision system 4, as can be detected by an optical sensor 5, the belt conveyor 3 is stopped and thus the vision system 4 observes a pile of postal articles that is static.

(10) The vision system is designed to form digital images of this static pile of postal articles, as seen from above in this example.

(11) Image processing is performed on the digital images in a data-processing unit 6 that is also a monitoring and control unit for the robotized arm 7.

(12) The unit 6 is programmed to identify an article to be singulated from the pile of loosely placed particles that is static. Said article to be singulated is the one that has a pickup face (generally a plane rectangular face) that is not covered by any other article in the pile of articles and that is preferably facing in the direction going towards the top of the pile of articles. Said article to be singulated may, for example, be the article that is situated at the top of the pile of articles.

(13) The unit 6 is programmed to act, by three-dimensional (3D) scene analysis, to compute various items of data indicative of the three-dimensional position of said pickup face (3D position of the center of gravity of said pickup face) relative to the platform 3, the facing direction of said pickup face, and the two dimensions (length and width) of said pickup face.

(14) Based on that data, the unit 6 controls the robotized arm 7, which is provided with a pneumatic pickup head 8, so that it picks up the article to be singulated via the pickup face and puts it down on a deposition zone off the platform, which zone is a predetermined location on a flat conveyor 9 in this example.

(15) In accordance with the invention, the pickup head 8 is a suction pneumatic head that is of variable geometry, i.e. that has a pickup area that is variable. In particular, in FIG. 2, the pickup head has a main plate 10 provided with a plurality of suction cups 11. Said suction cups 11 may be mounted to be individually movable transversely to the plane of the plate 10, as indicated by arrow M in order to adapt to a non-plane profile of the pickup face of the article to be singulated.

(16) At least two hinged flaps (shown symbolically at 12 and 13), each of which is equipped with a plurality of suction cups, such as 11, may be hinged 14 on two opposite sides of the main plate 10 so that the pickup area of the head can be servo-controlled to the dimensions of the pickup face of the article to be singulated by extending or by raising each flap individually as indicated by arrow A, thereby improving the picking up of the article to be singulated.

(17) More particularly, the article to be singulated may be picked up by using the main plate 11 of the pickup head, or by using the main plate 11 and one flap 12 as extended (with the other flap being raised), or indeed by using the main plate 11 and both flaps 12, 13 as extended.

(18) On the basis of the data indicating the facing direction and the dimensions of the pickup face, the unit 6 is suitable for taking hold of the article to be singulated while angularly positioning the main plate 11 along the long length of the pickup face of said article, and for depositing said article while angularly positioning the long length of its pickup face along the longitudinal axis of the flat conveyor 9.

(19) In addition, the unit 6 is suitable for positioning the center of gravity of the main plate 10 of the pickup head to coincide with the center of gravity of the pickup face of the article to be singulated and to have said article deposited by the robotized arm on a synchronization reference on the flat conveyor 9 so as to maintain a constant pitch between two consecutive articles on said flat conveyor.