EP3763448B1 - Method and device for generating and maintaining an allocation of object data and position of an object - Google Patents

Description

The invention relates to a method and a device for generating and maintaining an association of item data of an item with a changing physical position of the item in a sorting device which has at least one input for feeding items to the sorting device and a multiplicity of transfer points at which selected Objects can be ejected from the sorting device.

From the US-A-2014/0305850 a method for generating and maintaining an assignment of object data of an object to a changing physical position of the object in a sorting device is known, but no optical object data of the ejected objects are recorded, and no tracking of the object based on such data takes place, and also a device for carrying out such a method, but without a detection device for detecting optical object data and controls for tracking ejected objects.

In order to identify an object that has been ejected from a sorting system, e.g. a sorting conveyor, the sorting data available via the sorting conveyor control system for the objects on the sorting conveyor can be accessed, in which case, for example, an image comparison or a comparison of other identification features such as barcodes, etc. can be done. Such an assignment is complex. Furthermore, when an object is ejected, the unambiguous association between the object and the position is usually lost because objects overtake one another or slide over one another.

The object of the present invention is, in a sorting device, in the simplest possible way, to never lose the association between an ejected object and its position during a course of movement of the object subsequent to the ejection process, and furthermore, should the association ever be lost, restore them without significant effort.

• Zuführen eines Gegenstandes, von dem zumindest ein Identitätsmerkmal als Teil von Gegenstandsdaten des Gegenstands gespeichert sein kann, an einem Eingang der Sortiervorrichtung, Erfassen von Identitätsdaten vor, während oder nach dem Zuführen, und Speichern der Identitätsdaten als Teil von Gegenstandsdaten des Gegenstands,
• aufgrund von Sortierdaten, aus denen für jeden Gegenstand ein Sortierziel des Gegenstands ableitbar ist, Bestimmen eines dem Gegenstand zugeordneten Übergabepunkts,
• Transportieren des Gegenstands bis zu dem bestimmten Übergabepunkt,
• Ausschleusen des Gegenstands an dem bestimmten Übergabepunkt,
• Erfassen von optischen Objektdaten jedes an dem Übergabepunkt ausgeschleusten Gegenstands, wenn der Gegenstand eine vorgegebene Position auf der Sortiervorrichtung, an dem Übergabepunkt oder entlang eines sich von dem Übergabepunkt bis zu einem Entnahmepunkt erstreckenden Abgabewegs erreicht hat, und Speichern der optischen Objektdaten als weiteren Teil der Gegenstandsdaten des Gegenstands,
• Fortbewegen des Gegenstands entlang des Abgabewegs,
• während des Fortbewegens, auf den optischen Objektdaten basiertes Verfolgen des ausgeschleusten Gegenstands durch Tracking, wobei das Tracking in zeitlichen Abständen aufeinanderfolgend wiederholte Positionsbestimmungen des Gegenstands entlang des Abgabewegs bis zu einer Entnahme des Gegenstands und Speichern einer aktuellen Position des Gegenstands als weiteren Teil der Gegenstandsdaten des Gegenstands umfasst.

In order to achieve the aforementioned object, the invention proposes a method for generating and maintaining an association of item data of an item with a changing physical position of the item in a sorting device, which has at least one input for supplying items to the sorting device and a large number of transfer points, at which selected objects can be ejected from the sorting device, with the steps:

• Supplying an object, of which at least one identity feature can be stored as part of object data of the object, at an entrance of the sorting device, recording identity data before, during or after supply, and storing the identity data as part of object data of the object,
• on the basis of sorting data from which a sorting destination of the object can be derived for each object, determining a transfer point assigned to the object,
• transporting the item to the specified transfer point,
• ejecting the item at the specified transfer point,
• Detection of optical object data for each object discharged at the transfer point when the object has reached a predetermined position on the sorting device, at the transfer point or along a delivery path extending from the transfer point to a removal point, and storing the optical object data as a further part of the object data of the object
• moving the item along the delivery path,
• while moving, following the ejected object based on the optical object data by tracking, the tracking being successively repeated position determinations at time intervals of the item along the delivery path up to a removal of the item and storing a current position of the item as a further part of the item data of the item.

With such an identification of an object at a specific transfer point, e.g certain transfer point assigned to it can be discharged.

The item data of a specific item preferably includes at least identity data of the item, which can be stored in a higher-level controller of the sorting device. The identity data can correspond to an identity feature of the object or can be derived from it. In the course of the method, further data is recorded as object data and expediently also stored, in particular the optical object data and at least one current position of the object in the form of position data.

Sorting data from which a sorting target for a specific object can be derived or which directly describes the sorting target can, for example, be recorded optically, for example using a barcode on the object, or can already be stored in the controller and assigned to the identity data, so that use the identity data to find the sorting data. The sorting data can also be stored as part of the item data of a respective item.

The sorting device can be any device, installation or system that is suitable for sorting objects, with at least one entrance and several transfer points for ejecting selected objects being present. For example, it can be a continuous conveyor, for example a ring sorter, with conveyor units that are equipped with tilting trays, drop flaps or cross-belt conveyor elements. On the other hand, intermittent technologies are also included, such as a sorting system with driverless transport vehicles (FTF). The transfer points can be ejection devices of one type or a continuous conveyor, which is followed by a delivery path, for example in the form of a conveyor, a chute, a roller conveyor and/or a container into which the objects are dropped or thrown. The combination of a transfer point, e.g. an ejection device of a sorting conveyor, with an adjoining discharge path, which extends to a removal point and can be formed, for example, by a removal conveyor, is also referred to as a terminal.

A discharge device can have, for example, a push-off device, a pusher or a flipper.

The optical object data of the objects can be recorded using at least one camera and/or at least one scanner, in particular a laser scanner.

The tracking includes successive position determinations at time intervals, which can either be permanently specified, for example time intervals between 0.1 ms and 10 s, or result from other parameters and are not directly specified.

If one or more dimensions of the object are recorded, for example optical recording processes can be carried out in one, two or all three coordinate directions, for example using at least one measuring camera, a laser measuring device or using light barrier arrangements. Additionally or alternatively, one or more images of the object can be recorded and the weight of the object can be recorded, for example by means of a weighing device integrated in the area of a feed belt. The recorded data relating to dimensions, images and/or weight are preferably stored as part of the item data associated with the item.

Provision can be made for the object to be actively conveyed along the delivery path or to move without being driven, for example slipping, rolling or falling.

The position determinations repeated at short intervals as part of the tracking are expediently carried out by means of optical detection of the object, in particular by one or more cameras or scanners, with image or optical tracking data being generated, and by comparing this data with the previously recorded and stored optical object data . This comparison can be carried out with each position determination, after a number of position determinations, e.g. every second, fifth, tenth or 100th, at predetermined time intervals or at least at the latest when the object is removed, in order to establish a link or association between the previously recorded optical object data and/or other object data of the object with the object data, in particular image data, recorded as part of the tracking, so that the object is clearly identified at the latest when it is removed or at least its recipient data can be assigned.

One and the same camera or scanner device is expediently provided both for capturing the optical object data and for the repeated optical capturing of the object as part of the tracking.

It is preferably provided that a removal position and/or a removal time of the ejected object from the removal path is recorded and preferably also stored, in particular as a further part of the object data of the object.

The optical object data can be recorded at a specified point in time, as an alternative to the recording at a specified position, or when the object has been discharged from the sorting device at the transfer point.

It is within the scope of the invention that several ejected objects are on the discharge path at the same time and that each individual object is tracked. Regardless of whether a single item or multiple items are tracked simultaneously, this means within the framework of the Invention of an essentially continuous, at short time intervals (e.g. less than 1 ms, 10 ms or 100 ms) taking place pictorial detection and position determination of an object or each individual object, so that the position of one or each object on the delivery path at any time or more precisely said is known at points in time following one another at small intervals. It is sufficient to store the last or current position of the object as part of the object data, which can be overwritten with the next current position. The time intervals mentioned can be so small that a practically continuous position detection takes place.

If numerous objects are handed over in rapid succession at one and the same handover point, it can happen that when an object is being tracked, the assignment of the object data to the physical position of the object at a position along the delivery route may be lost, for example because the object was transported by one or several other objects are temporarily completely or partially hidden from the view of an image capture device or camera used for tracking, or because an object is removed from the delivery path, for example falls off the delivery path or is removed manually and then manually placed back on the delivery path, in such a case it is provided that after the loss of the assignment as soon as possible, ie in particular as soon as the object is no longer covered from the view of the image acquisition device, or has been covered, the tracking is fixed, in particular by further optical Object data and expediently also the physical position of the object are recorded and compared with the optical object data, and if the optical object data match the other optical object data within a specified tolerance range, the tracking is continued on the basis of the optical object data recorded earlier, with the tracking successively repeated position determinations of the object along the delivery path at time intervals until the object is removed and storing a current position of the object as a further part of the object data of the object.

If the assignment of the object data to a physical position of the object is repeatedly lost, the aforementioned steps can be run through again.

Error information can be added to the object data if the further optical object data deviates from the optical object data outside of a predefined tolerance range.

Provision can be made for all objects located within the delivery path between the transfer point and the removal point to be continuously recorded and tracked and, if an object is covered by another object in the delivery path or an object removed from the delivery path, the tracking of the object as soon as possible continues as far as possible, especially as soon as the item is no longer covered or has been returned to the delivery route.

It is within the scope of the invention that the object data of all objects that are simultaneously on a delivery path of a transfer point and have not yet been removed are assigned to the transfer point as a subset of all object data present in the sorting device and the optical object data when comparing the further optical object data with the optical object data of the subset of item data associated with the handover point.

The invention expediently provides that the identity or object data of an object removed from the delivery path and/or information derived therefrom are transmitted to a person or removal device removing the object. Derived information can be, for example, the position of an object in the order of a delivery trip by a driver of a parcel vehicle, with knowledge of which the vehicle can be better loaded. An exact deposit position in the parcel vehicle can also be transmitted. The invention thus advantageously makes it possible for the person or removal device removing an object not to repeat the Must determine the identity of the object, but has the identity data already recorded due to the position tracking of the object immediately available, and possibly other information.

Provision can be made for the dimensions and/or weight of an object to be recorded at the entrance, e.g.

• eine Speichereinrichtung zum Speichern der Gegenstandsdaten, einer Position und von optischen Objektdaten,
• eine Ausschleuseinrichtung zum Ausschleusen eines bestimmten Gegenstands von der Sortiervorrichtung an einem bestimmten Übergabepunkt,
• eine im Bereich des Übergabepunkts angeordnete Erfassungseinrichtung zum Erfassen von optischen Objektdaten und zum Verfolgen eines oder mehrerer an dem Übergabepunkt ausgeschleuster Gegenstände durch Tracking, und
• eine Steuerung, die zum Steuern der Sortiervorrichtung zum Ausführen des Verfahrens nach der Erfindung eingerichtet ist, umfasst.

In terms of device, the object of the invention is achieved by a device for generating and maintaining an assignment of item data of an item to a changing physical position of the item in a sorting device, which has at least one input for feeding items to the sorting device and a large number of transfer points , on which selected objects can be ejected from the sorting device, and

• a storage device for storing the object data, a position and optical object data,
• an ejection device for ejecting a specific object from the sorting device at a specific transfer point,
• a detection device arranged in the area of the transfer point for detecting optical object data and for tracking one or more objects discharged at the transfer point by tracking, and
• a controller arranged to control the sorting device for carrying out the method according to the invention.

• Fig. 1 einen Teilabschnitt eines Sortierförderers im Bereich eines Übergabepunkts mit einer darüber angeordneten Erfassungseinrichtung für Bilddaten und Identitätsmerkmalen von Gegenständen zeigt,
• Fig. 2 eine von dem Sortierförderer abzweigenden Abgabeweg mit darauf befindlichen, ausgeschleusten Gegenständen und einer im Bereich des Übergabepunkts angeordneten Kamera zeigt,
• Fig. 3 die Endstelle nach Fig. 2 zeigt, wobei die Gegenstände zu einem späteren Zeitpunkt in einer anderen Position dargestellt sind, und
• Fig. 4 eine Seitenansicht des Abgabewegs nach Fig. 2 und 3 zeigt.

Further advantages and features of the invention result from the following description of an exemplary embodiment, reference being made to a drawing in which

• 1 shows a section of a sorting conveyor in the area of a transfer point with a recording device for image data and identity features of objects arranged above it,
• 2 shows a delivery path branching off from the sorting conveyor with ejected objects on it and a camera arranged in the area of the transfer point,
• 3 the terminus after 2 with the items being shown in a different position at a later date, and
• 4 Figure 1 shows a side view of the delivery path 2 and 3 indicates.

1 shows a detail of a sorting device in the form of a sorting conveyor 2, which comprises at least one input in the form of an infeed device 4, on which the objects 20 to be sorted can be fed individually to the sorting conveyor 2 and from which in 1 only a foremost end section abutting on the sorting conveyor 2 is shown with an object 20 just to be introduced. 1 12 also shows a detection device 6, for example in the form of a camera, a scanner or a combination thereof, with which the first image data and identity features of each individual item 20 can be recorded as item data on the sorting conveyor 2. Preferably, the detection device 6 is also set up to detect the dimensions of the objects and to determine the weight.

In the example shown, the sorting conveyor 2 comprises a number of transport units 8a that are moved in a conveying direction 8, each of which is provided with a cross-belt conveyor element that can be driven transversely to the conveying direction 8, on which an object is received, transported and transported to a specific transfer point or to a specific terminal can be given. The transfer point 10 is formed here by an ejection device known per se.

2 shows such a transfer point 10 with an adjoining delivery path that extends transversely to the conveying direction 8 or at a certain angle to the side of the sorting conveyor 2. A central controller of the sorting system, to which the item data or the first image data and identity features of each individual item that is introduced is transmitted, also has sorting data for each individual item, from which it can be inferred at which transfer point or to which end point each individual item on the sorting conveyor 2 located object is to be ejected.

Furthermore, based on the known position of the infeed device and the also known speed of the sorting conveyor, the controller continuously receives logical and/or physical position data of each individual item on the sorting conveyor, or can determine this based on the speed of the sorting conveyor, i.e. logical position data in relation to an assignment of an object to the transport unit of the sorting conveyor carrying it, and/or physical position data.

Since the controller knows the sorting destination of each item based on the sorting data mentioned, and thus the transfer point at which the item is to be ejected, the controller can tell the sorting conveyor or the transport unit carrying a specific item when or shortly before reaching the specific transfer point transmit an ejection signal, whereupon the cross-belt conveyor element is put into operation and ejects the object at the specific transfer point 10 .

Of course, a plurality of induction devices can be provided for feeding articles onto the sorting conveyor, and a detection device can be provided on one or more induction devices, either as in 1 shown downstream of the infeed device on the sorting conveyor, or directly on the infeed device for capturing specific item data of the items during or immediately before infeed, e.g. identity data, image data, general optical object data and/or dimensions or weight.

As 2 shows, in the area of the transfer point 10, in this case roughly in the middle above the adjoining delivery path, there is an image acquisition device in the form of a camera 12, with which optical object data such as image data of each object to be ejected or ejected at the transfer point 10 is recorded, if these have not previously been recorded. The camera or image capturing device is connected to the controller and transmits the optical object data to it, or these data can be queried by the controller from the image capturing device.

Before, during or after the ejection of an object at the transfer point assigned to it, in this example the ejection device, the controller registers the ejected object as an object that is located at or subsequent to the specific transfer point, with the object data being assigned to such a specific transfer point Items can be stored as a subset of all item data present in the sorting device. In the example of 2 four objects have been ejected at the transfer point 10, so that the subset of object data includes the object data such as image or optical object data and identity data of these four objects in connection with or association with the transfer point 10.

Each ejected object is tracked by tracking from the transfer point 10 with regard to its position along the delivery path up to its final removal at a removal point 14 . This tracking is carried out in a manner known per se in that the camera 12 captures an image of the object at short time intervals, which can be less than 1 ms or less than 10 ms, for example, and in each case with an image taken shortly beforehand is adjusted, from which a current position of the object is determined. Each item's current position is stored as part of the item's item data, so that at any point in time there is an association between the item's item data and the position.

The object is tracked by said tracking until it is removed from the delivery path, in particular up to a removal point 14, which can be set up in such a way that every object discharged at the transfer point 10 is regularly removed there. Alternatively, it is possible for an object to be removed from it at any point along the delivery path.

When tracking an item, the assignment of the item data to the physical position of the item may be lost during its movement along the delivery path, e.g. if the item is briefly covered by other items and is not or not completely visible to the camera. In this case, provision is made for further optical object data, in particular image data, of the object to be recorded after the assignment is lost, in particular as soon as it is no longer covered by other objects and becomes visible to the camera again, and for this further optical object data or image data to be recorded be compared with the original, previously recorded optical object data or image data. If a match is found between the further image or optical object data and the matching, previously recorded image or optical object data within a predefined tolerance range, the tracking of the object can be continued. In this case, either the additional optical object data can be taken as a basis and stored, for example as an additional part of the object data, or the tracking can be continued on the basis of the optical object data recorded earlier.

Since the object data of each individual object is stored in the controller at terminal 10, this information can be used when an object is removed from the terminal or the delivery route or removal point, for example to transport several objects belonging to a sorting destination together or to store, or to remove objects belonging to different sorting destinations from one and the same delivery path or removal point, and to assign them to individual, different sorting destinations using the sorting information known for each object and to transport them further in different ways. This makes it possible for one and assign several sorting destinations to the same transfer point and thereby save transfer points or use them more than once.

4 explains the arrangement of several transfer points or terminals 10.1, 10.2, 10.3, ... in a side view, with terminal 10 or 10.1 being referred to as “destination #32” in the example shown, as also in FIG 1 it is indicated where the four objects (#4, #15, #99, #171) are assigned to the sorting destination "destination #32".

Claims (15)

1. Method for generating and maintaining an allocation of object data of an object to a changing physical position of the object (20) in a sorting device (2) that comprises at least one entry point (4) for feeding objects to the sorting device (2) and a plurality of transfer points (10) at which selected objects (20) can be discharged from the sorting device (2), with the steps of:

   - feeding in an object (20), of which at least one identity feature can be stored as part of the object data of the object (20), at an entry point (4) of the sorting device, capturing identity data before, during or after such feeding in, and storing the identity data as part of the object data of the object (20),

   - on the basis of sorting data from which a sorting destination of the object (20) can be derived for each object (20), determining a transfer point (10) that is allocated to the object (20),

   - transporting the object (20) as far as the specified transfer point (10),

   - discharging the object (20) at the specified transfer point (10),

   characterised by the additional steps of:

   - capturing optical object data for each object (20) discharged at the transfer point (10) when the object (20) has reached a predetermined position on the sorting device (2), at the transfer point (10) or along a delivery path extending from the transfer point (10) to a removal point (14), and storing the optical object data as an additional part of the object data of the object (20),

   - moving the object (20) along the delivery path,

   - during the movement, tracking the discharged object (20) on the basis of the optical object data by means of the tracking system,

   wherein the tracking comprises repeated determination of the position of the object (20) along the delivery path at consecutive time intervals, until the object (20) is removed, and storing a current position of the object (20) as an additional part of the object data of the object (20).
2. Method according to claim 1, characterised in that for each determination of the position, the tracking comprises an optical capture of the object (20), wherein a comparison is made with the optical object data for each determination of the position, at particular intervals of time or when the object (20) is removed.
3. Method according to claim 1 or 2, characterised in that during, before or after an object is fed in, one or more dimensions and/or one or more images and/or a weight of an object (20) are captured and stored as part of the object data.
4. Method according to one of the preceding claims, characterised in that the object (20) is actively transported along the delivery path or moves in an unpowered manner, slips, rolls or falls.
5. Method according to one of the preceding claims, characterised in that a removal position and/or time of removal of the object (20) from the delivery path is captured and stored.
6. Method according to one of the preceding claims, characterised in that the capture of the optical object data is carried out at a predetermined point in time or when the object (20) has been discharged from the sorting device (2) at the transfer point (10).
7. Method according to one of the preceding claims, characterised in that several discharged objects (20) are simultaneously situated on the delivery path (10) and each individual object (20) is tracked by the tracking system.
8. Method according to one of the preceding claims, characterised in that during the tracking of the object (20), a loss of the allocation of the object data to the physical position of the object (20) occurs at a position along the delivery path, wherein after the allocation is lost, additional optical object data of the object (20) are captured as soon as possible and are compared with the optical object data, and wherein if the optical object data agree with the additional optical object data within the scope of a specified tolerance range, the tracking is continued on the basis of the optical object data.
9. Method according to claim 8, characterised in that in the event of a repeated loss of the allocation of the object data to the physical position of the object (20), the steps according to claim 8 are run through again.
10. Method according to claim 8 or 9, characterised in that in the event that the additional optical object data deviate from the optical object data outside the tolerance range, an error message is added to the object data.
11. Method according to claim 7 or according to claim 8, 9 or 10 insofar as it refers back to claim 7, characterised in that all the objects (20) situated within the delivery path between the transfer point (10) and the removal point (14) are continuously captured and tracked by the tracking system, and in the event that an object is obscured by another object in the delivery path (10), the tracking of the obscured object is continued as soon as the object is no longer obscured.
12. Method according to one of the claims 8 to 11, characterised in that the object data of all objects (20) that are simultaneously situated on a delivery path of a transfer point (10) and have not yet been removed are allocated to the transfer point (10) as a subset of all the object data present in the sorting device, and when the additional optical object data are compared with the optical object data, the optical object data of the subset of object data allocated to the transfer point (10) are used.
13. Method according to one of the preceding claims, characterised in that the identity data or object data of an object (20) taken from the delivery path and/or an item of information derived from them are communicated to a person or removal device removing the object.
14. Device for generating and maintaining an allocation of object data of an object to a changing physical position of the object (20) in a sorting device (2), comprising at least one entry point (4) for feeding objects to the sorting device (2) and a plurality of transfer points (10) at which selected objects (20) can be discharged from the sorting device (2), and also

    - a storage device for storing the object data of a position and of optical object data,

    - a discharge device for discharging a particular object from the sorting device (2) at a particular transfer point (10),

    characterised by

    - a capture device (12) arranged in the area of the transfer point (10), for capturing
    optical object data and for tracking one or more objects (20) discharged at the transfer point (10), and

    - a control unit that is set up to control the sorting device (2) to execute the method according to one of the claims 1 to 13.
15. Device according to claim 14, characterised in that
    the sorting device (2) comprises tilting pans, drop flap units or transverse conveyor belt units or driverless transport vehicles.

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