METHOD FOR ADJUSTING AT LEAST ONE PARAMETER OF A LINE FOR CLASSIFYING OBJECTS SUCH AS FRUITS OR VEGETABLES AND ASSOCIATED CLASSIFICATION SYSTEM

MX433947BActive Publication Date: 2026-05-19MAF AGROBOTIC

Patent Information

Authority / Receiving Office: MX · MX
Patent Type: Patents
Current Assignee / Owner: MAF AGROBOTIC
Filing Date: 2023-07-24
Publication Date: 2026-05-19

AI Technical Summary

Technical Problem

Existing conveyor systems for classifying fruits and vegetables face inefficiencies due to manual measurement of distances between reference points and discharge stations, leading to downtime and reduced productivity, as these distances can vary with wear and tear, requiring frequent manual recalibration.

Method used

An automated method for adjusting parameters on the conveyor line using electromagnetic or image-based detection to determine distances between reference points and discharge stations, allowing for synchronized object ejection based on classification criteria without human intervention.

Benefits of technology

Enables rapid, automated adjustment of conveyor parameters, reducing downtime and increasing productivity by ensuring precise synchronization of object ejection, thus improving operational efficiency and profitability.

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Abstract

The invention relates to a procedure for adjusting at least one parameter of a sorting line (1) for objects (7) of a packaging system for such objects belonging to the group of fruits and vegetables, the sorting line (1) carrying a plurality of supports (6), each support (6) being intended to carry an object (7), the adjustment method being characterized in that it comprises the following steps: - moving at least one support (6) in a longitudinal direction of movement (5) of the sorting line (1); - detecting the passage of at least one support (6) in front of a reference point (11) of the sorting line (1);- detect the passage of at least one support (6) in front of each unloading station Pi (12, 12') of a plurality of unloading stations distributed along the sorting line (1), each unloading station Pi (12, 12') is intended to be able to unload an object (7) from at least one support (6) that is carried by at least one support (6) when at least one support (6) passes in front of the unloading station Pi (12, 12');- determining each longitudinal distance Di that separates each unloading station Pi (12, 12') from the plurality of unloading stations and the reference point (11), based on data 25 for detecting the passage of at least one support (6) in front of the reference point (11) and data for detecting the passage of at least one support (6) in front of each unloading station Pi (12, 12') and the drive speed of at least one support (6) on the sorting line (1). The invention also relates to a system for sorting such objects and to a system for packaging objects comprising such a sorting system.

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Description

METHOD FOR ADJUSTING AT LEAST ONE PARAMETER OF A LINE FOR CLASSIFYING OBJECTS AS FRUITS OR VEGETABLES AND THE SYSTEM OF CLASSIFICATION ASSOCIATE ecaonn / eznz / B / YiAi Field of Invention The present invention relates to a method for adjusting at least one parameter of a line for classifying objects such as fruits or vegetables, an associated classification system, and a system for packaging objects comprising such a classification system. Background of the Invention Systems are known for classifying selected objects from the group formed by fruits and vegetables, which are transported on a conveyor line. Such a conveyor line comprises a plurality of supports that are driven in a longitudinal forward motion by means of a chain. The objects, particularly small objects, are each transported by a support that moves along the conveyor line, first passing in front of a device, in particular a camera, to analyze at least one classification criterion. The analysis device is fixed and constitutes a reference point for the position of each object on the conveyor line. Subsequently, the objects pass in front of one or more unloading stations arranged in a continuous line. Ref. 348292 below the analysis device. Each unloading station is fixed to the conveyor line and comprises one or more discharge nozzles for removing the object from its support when it reaches the unloading station. Each object is unloaded from the sorting line at an object unloading station, from which all objects transported on the conveyor line that share the same sorting criteria are also unloaded. In this way, the objects unloaded at the same unloading station form a batch, with all objects in this batch meeting the same sorting criteria.These can be objects with the same weight value (or a weight value within the same range of weight values), the same caliber (or a caliber value within the same range of caliber values), the same defined external appearance such as, for example, color, the same sugar content (or a sugar content value within the same range of sugar content values), the same level of maturity, the same firmness (or a firmness value within the same range of firmness values), the occurrence of the same defect, etc. Brief Description of the Invention In general, to move an object transported by a support from that support at the precise moment it passes a predefined unloading station based on a classification criterion (ecaonn / eznz / B / YiAi), it is necessary to know, as accurately as possible, the position of each support on the conveyor line relative to each unloading station. To the extent that the longitudinal speed of the supports on the conveyor line is known, it is necessary to know precisely the distance between each unloading station and the analysis device. Specifically, to unload the object from its support at the precise moment it passes a discharge nozzle at a predefined unloading station, based on the classification criteria, it is necessary to know, as accurately as possible, the position of each support on the conveyor line relative to each discharge nozzle at each unloading station. Since the longitudinal speed of the supports on the conveyor line is known, it is also necessary to know precisely the distance between each discharge nozzle at each unloading station and the analysis device. However, depending on the operating conditions of the conveyor line, particularly the wear and strain on the conveyor chain, the distance between the analysis device and at least one unloading station may vary. This means that the object discharge nozzle(s) of at least one unloading station may be activated when the object is not positioned in line with the discharge nozzle, but rather upstream or downstream. As a result, the unloading process is not completed correctly. Currently, these different distances are established in chain advance increments, defined by an encoder associated with the chain. These distances are measured in increments and manually entered into the object unloading control system. These operations take a considerable amount of time. During this time, the sorting line and the packaging system are unavailable. This results in a drop in productivity. These operations require skilled personnel to perform these measurements. This results in a drop in profitability. The invention aims to overcome these drawbacks. Furthermore, as soon as an event occurs on the sorting line that could alter at least one of the distances between a discharge nozzle and the chamber, the affected distance(s) must be measured again, and the measurements must be manually entered into the system once more. These operations are also very time-consuming for system users. In view of the above, it would be advantageous to be able to measure ecaonn / eznz / B / YiAi more quickly than before, in particular automatically, the distances between a reference point and the object removal stations, in particular several object unloading stations located on an object sorting line. It would be equally advantageous to be able to measure the distances between a reference point and the different unloading stations located on an object sorting line, automatically and in particular every time the conveyor line is started. The invention aims to solve these problems. Therefore, the invention aims to propose an automated method for adjusting at least one parameter of a line for classifying objects in a system for packaging such objects belonging to the group of fruits and vegetables. To this end, the present invention relates to a procedure for adjusting at least one parameter of an object sorting line of a packaging system for such objects belonging to the group of fruits and vegetables, the sorting line carrying a plurality of supports, each support being intended to carry an object; The adjustment method is characterized by comprising the following steps: ecaonn / eznz / B / YiAi - drive at least one support so that it moves in a longitudinal direction of advance of the sorting line; - detect the passage of at least one support against a reference point on the sorting line; - detect the passage of at least one support in front of each Pi unloading station of a plurality of unloading stations arranged along the sorting line, each Pi unloading station being intended to be able to eject, from at least one support, an object carried by at least one support, when at least one support passes in front of the Pi unloading station; - Determine each longitudinal distance Di between each unloading station Pi of the plurality of unloading stations and the reference point, from data relating to the detection of the passage of at least one support ahead of the reference point and data relating to the detection of the passage of at least one support ahead of each unloading station Pi and the speed V at which at least one support is driven on the sorting line. Throughout the text, the expression classification line designates a conveyor line of objects, intended to allow a regrouping of similar objects that meet at least one same classification criterion from a set of heterogeneous objects, but it also designates a conveyor line to distribute similar objects in space - if necessary previously classified - from a homogeneous set of objects that meet at least one same classification criterion.This method allows for the simple determination of the longitudinal distances (Di) between each unloading station and the reference point on the sorting line, based solely on the passage of an object carrier along the line. It enables the synchronization of the object ejection mechanisms on the sorting line with the passage of the object carriers along the line. The detection of the object carrier's passage at the reference point and at each unloading station is performed automatically, without human intervention. Similarly, the determination of the various distances is typically carried out by a data processing unit, resulting in significant time savings for line personnel in terms of manual intervention.Therefore, adjusting one or more parameters of the conveyor line is carried out much faster than with the previous technique. As a result, the sorting line operator can perform such adjustments more frequently than before and, for example, at regular time intervals, particularly when restarting the sorting line and / or the ecaonn / eznz / B / YiAi object packaging system. The procedure according to the invention allows, for example, during the commissioning of the object sorting installation, the analysis of the distances between a reference point of the sorting line and each unloading station of this sorting line. The procedure according to the invention allows perfectly synchronizing the activation of the unloading station with the passage of the conveyor support that carries each object that has the classification criterion corresponding to this unloading station, so that all objects that have a common classification criterion or a classification criterion within the same range of values, and only these objects, are expelled from the classification line at the same upstream classification station from which they are grouped into batches. Advantageously and in accordance with the invention, the adjustment procedure is automated. According to other possible characteristics: - The passage of at least one support in front of each unloading station is detected by electromagnetic interaction between the fixed unloading station Pi and at least one object support moving along the sorting line when at least one object support passes in front of the unloading station Pi; therefore, there is no contact between the object support and the unloading station, and the detection of passage is done automatically as the support advances along the sorting line, when it reaches the unloading station in question; - the passage of at least one support in front of each Pi download station is detected by electromagnetic interaction between a moving element carried by at least one support and a fixed element associated with the Pi download station; the execution of the passage detection is carried out in a very simple way using a fixed element (detector) of the download station and a moving element of the support which is the element to be detected; - the passage of at least one support in front of each Pi discharge station is detected by magnetic coupling between a moving element carried by at least one support and a fixed element associated with the Pi discharge station; magnetic coupling is one of the possibilities of particularly simple and effective electromagnetic interaction between a detector and an element to be detected; - the moving element carried by at least one support is a magnet and the fixed element associated with the discharge station is a Hall effect sensor; these elements form a preferred mode of execution because the union of the moving magnet and the fixed Hall effect sensor produces in the latter a voltage ecaonn / eznz / B / YiAi measurable at the sensor terminals; - at least one support selected to carry out each detection step carries an object. At least one object support used for the detection steps in front of the reference point and in front of each discharge device is adapted to carry an object; thus, the adjustment method according to the invention takes advantage of existing elements of the system's sorting line to package such objects and, in this case, uses one of the object supports used to sort these objects, subject to some structural modifications that do not compromise its use as an object support. Furthermore, there is nothing preventing at least one object support used for the detection steps from carrying an object or not carrying any object; - The adjustment of at least one parameter is performed during the adjustment operations implemented on the sorting line before the object sorting operations; advantageously, the determination of distances can be performed during the adjustment operations, thus avoiding the need to interrupt the normal operation of the sorting line to perform these measurements. However, nothing prevents the adjustment operations of the sorting line from being performed during its operation in order to sort objects. The adjustment of at least one parameter ecaonn / eznz / B / YiAi can be performed in real time during the object sorting operations; Each support consists of two bicones or diabolos arranged one behind the other in the sorting line in the direction of travel. The two diabolos are adjacent to each other, defining a space between them to receive the object to be transported. Each diabolo comprises two portions arranged transversely with respect to the object sorting line, each formed by a cone mounted so that it can rotate freely, with the vertices of the two cones facing each other. A support structure of this type is particularly suitable for object supports and can be easily used for the implementation of the invention. Other types of supports are possible. These can be, for example, bowl-shaped supports, each bowl being sized to receive an object, and each object being able to be ejected from the bowl by rotating or tipping it over.This could involve, for example, supports in the form of a conveyor hand, where each object carried by a conveyor hand can be released from the conveyor hand by rotating the conveyor hand and / or rotating the fingers that form the conveyor hand. Nothing prevents the object sorting line from comprising a conveyor belt forming a plurality of supports for such objects and the means for unloading the objects from these supports. For example, this could involve a belt with studs, adapted to hold the objects in place on the belt as the conveyor moves. The objects transported for packaging belong to the group of fruits and vegetables. These can be any type of fruit and / or vegetable capable of withstanding such sorting operations. In some embodiments of a method according to the invention, the objects can be berries. In these embodiments, the objects are small or of a small size, such as blueberries or cherries, meaning they have dimensions and weight adapted to allow them to be discharged into an object discharge station by an airflow emitted from a nozzle of the discharge station. However, nothing prevents the method according to the invention from being applicable to a line for sorting larger objects, for example, apples, oranges, etc. All that is required is to adapt the supports and provide means for removing the objects from the sorting line that are suitable for these objects. In a method according to the invention, the passage of at least one support in front of a reference point located along the sorting line is detected. The reference point is a fixed point on the sorting line, whose position on the sorting line is fixed and predetermined. In a method according to the invention, the passage of at least one support in front of the reference point is detected by acquiring and analyzing images of at least one support, that support being provided with a pattern that can be identified by the image acquisition and analysis means of the sorting line. The reference point on the sorting line is equipped with a device for detecting the passage of at least one support in front of the reference point on the sorting line.The passage of at least one object carrier past the reference point is detected by any means, with at least one object carrier equipped with an identifier that can be identified by the detection device. The passage of at least one object carrier past the reference point can be detected by electromagnetic interaction between the fixed detection device and at least one object carrier moving along the sorting line when that object carrier passes the reference point. Therefore, there is no contact between the object carrier and the detection device, and passage detection occurs automatically as the object carrier moves along the line and reaches the reference point.The fixed detection device ecaonn / eznz / B / YiAi may be equipped with a Hall effect sensor, with at least one movable object support being equipped with a magnet. In some embodiments of a method according to the invention, where the device for detecting the passage of at least one support in front of the reference point of the sorting line is an image acquisition and analysis device, the passage of at least one support in front of the reference point located along the sorting line is detected by means of the image acquisition and analysis device, in particular by means of an image acquisition and analysis device comprising a camera, this device being fixed with respect to the sorting line. In these embodiments, the object support may have a pattern, in particular a color pattern, that can be identified.In these methods, the passage of at least one support ahead of the reference point is detected by acquiring and analyzing images of at least one support, with at least one support having a pattern that can be identified using the image acquisition and analysis means of the sorting line. However, nothing prevents the passage of at least one support ahead of the reference point from being detected by any other means suitable for this purpose. Advantageously, for the implementation of a method eccionn / eznz / B / YiAi for adjusting at least one parameter of a sorting line according to the invention, the sorting line device is used to detect the passage of at least one support ahead of the reference point. This device is designed to analyze the objects transported by the sorting line in order to determine the classification criteria for the objects transported by the sorting line and to classify such objects. In this way, the distance Di traveled by the object support between the reference point equipped with the image acquisition and analysis device and each unloading station is precisely determined. The present invention also relates to a sorting system for objects belonging to the group of fruits and vegetables, comprising at least one sorting line equipped with a plurality of object supports, each object support being intended to carry an object, the object supports being driven in such a way that they move in the longitudinal direction of advance of the sorting line, the sorting line comprising: - a reference point past which each of the object supports is intended to pass, and; a plurality of Pi discharge stations arranged successively along the classification line and downstream of the reference point in the forward direction of the supports; where each unloading station Pi is intended to unload objects, each transported by its carrier, and is located at a distance Di with respect to the reference point; the system being characterized in that it comprises: - a device for detecting the passage of at least one object carrier in front of the reference point; - a device for detecting the passage of at least one object carrier in front of each unloading station; a computer device configured to determine the various longitudinal distances Di between the discharge stations of the plurality of discharge stations Pi and the reference point from the detection of steps of at least one object carrier ahead of the reference point and ahead of each discharge station and the speed V at which at least one object carrier is driven. The same advantages outlined above regarding the briefly described method also apply to the system mentioned above. Furthermore, the sorting system conventionally used for batching fruits and / or vegetables requires few modifications to implement the invention. All that is required is to provide and integrate devices for detecting the passage of objects (ecaonn / eznz / B / YiAi) in front of the reference point and in front of each unloading station, and a computer device comprising a data processing unit adapted to receive passage detection data and calculate each distance (Di). Thus, the computer device is able to transmit instructions to unload an object from its object holder at the precise moment it passes the station, unload objects according to the same sorting criteria, and group these objects into batches according to the same sorting criteria.In a preferred embodiment, only certain structural modifications to an object carrier and the various unloading stations, and certain software modifications to the data processing unit (which determines the distances Di), are required to implement the invention. Preferably, the device for detecting the passage of at least one object carrier past the reference point may simply be in the form of a camera that itself forms the reference point of the sorting line. According to other possible characteristics: - Each device for detecting the passage of at least one object carrier in front of each unloading station Pi comprises a movable element carried by at least one carrier and a fixed element associated with the unloading station, both capable of interacting with each other, with or without contact. The movable element carried by at least one carrier can interact mechanically by contact with the fixed element associated with the unloading station; - Each device for detecting the passage of at least one object carrier in front of each Pi unloading station comprises a movable element carried by at least one object carrier and a fixed element associated with the unloading station, both capable of interacting with each other through electromagnetic interaction—by detecting a magnetic field produced by the movable element—when the movable element passes in front of the fixed element, in order to detect the passage of at least one object carrier in front of the unloading station. In some embodiments, the movable element carried by at least one carrier comprises at least one magnet, and the fixed element associated with the unloading station comprises at least one Hall effect sensor; - Each device for detecting the passage of at least one object carrier in front of each Pi unloading station comprises a movable element carried by at least one object carrier and a fixed element associated with the unloading station, both capable of communicating with each other via radio frequency when the movable element passes in front of the fixed element in order to detect the passage of at least one object carrier in front of the unloading station. In some embodiments, the movable element carried by at least one carrier comprises at least one electronic component capable of transmitting data via radio frequency - in particular a microcircuit, chip, or REID tag - and the fixed element associated with the unloading station comprises at least one electronic component capable of receiving data via radio frequency, in particular a REID reader; - Each device for detecting the passage of at least one object carrier in front of each unloading station comprises: • a fixed element associated with the discharge station, the fixed element being a photoelectric cell comprising an emitter that emits a beam of at least one electromagnetic wave, and a sensor that detects at least one electromagnetic wave, positioned in front of the emitter; and • a movable element carried by at least one support, the movable element being arranged to interrupt the transmission of the beam between the emitter and the sensor; The beam of at least one electromagnetic wave is interrupted when the moving element is interposed between the emitter and the sensor of the photoelectric cell. The fixed element associated with the discharge station comprises at least one photoelectric cell comprising an emitter that emits a beam of at least one electromagnetic wave and a photosensitive sensor, both arranged such that the moving element carried by at least one support intercepts the beam due to the passage of at least one support in front of the discharge station; ecaonn / eznz / B / YiAi - the fixed element associated with the unloading station comprises at least one device for acquiring at least one image of at least one support passing in front of the unloading station and the object classification system comprises an image analysis and processing unit, adapted to detect the passage of at least one support in front of the unloading station; - each device for detecting the passage of at least one object carrier in front of each unloading station comprises a movable element carried by at least one carrier and a fixed element associated with the unloading station, the movable element having a particular color and the fixed element comprising a colorimeter; - nothing prevents it from being foreseen that each device for detecting the passage of at least one object carrier in front of each unloading station comprises a movable element carried by at least one object carrier and a fixed element associated with the unloading station, the movable element comprising a heat source and the fixed element comprising an infrared (IR) wave detector; - The device for detecting the passage of at least one object carrier in front of the reference point can be of any type. It may comprise a movable element carried by at least one support and a fixed element associated with the reference point, the movable element and the fixed element interacting with each other by electromagnetic interaction when the movable element passes in front of the fixed element in order to detect the passage of at least one object carrier in front of the fixed reference point. The movable element may have a magnet and the fixed element may include a Hall effect sensor; - The device for detecting the passage of at least one object carrier in front of the reference point may comprise a movable element carried by at least one support and a fixed element associated with the reference point, the movable element and the fixed element being capable of interacting with each other via radio frequency when the movable element passes in front of the fixed element to detect the passage of at least one object carrier in front of the fixed reference point. The movable element may have an identifier, in particular a REID identifier, and the fixed element may comprise a REID identifier reader; - In some advantageous embodiments, the device for detecting the passage of at least one object carrier past the reference point comprises a fixed device—in particular a fixed camera—for acquiring at least one image of at least one object carrier passing past the reference point, arranged along the sorting line and forming the reference point, the image acquisition device—in particular the camera—being adapted to determine the passage of at least one object carrier past the reference point. Advantageously, at least one object carrier has a colored pattern, and the fixed camera is adapted to perform a colorimetric analysis of at least one object carrier. - nothing prevents the device for detecting the passage of at least one object carrier in front of the reference point from comprising an infrared (IR) wave detector, positioned along the sorting line, forming the reference point and adapted to detect the passage of at least one object carrier carrying a heat source in front of the reference point; - In some advantageous modalities, each support is formed by two diabolos arranged one behind the other on the sorting line following the direction of advance, the two diabolos being placed side by side to define between them a housing to receive the object to be transported, each diabolo comprising two transversely arranged portions and each formed by a cone mounted so that it can rotate freely, the vertices of the two cones facing each other; - the system comprises a computer device comprising a data processing and distance determination unit Di. ecaonn / eznz / B / YiAi The invention also relates to an installation for packaging objects belonging to the group of fruits and vegetables, of the type comprising an object classification system according to the invention. The invention also relates to a method for adjusting at least one parameter of a line for classifying objects belonging to the group of fruits and vegetables, a system for classifying objects, and an installation for packaging such objects, characterized, in combination or not, by all or some of the features mentioned above or later herein.Regardless of the formal presentation given, unless expressly stated otherwise, the various features mentioned above or below should not be considered as closely or inextricably linked with each other, and the invention may relate to a single one of these structural or functional features, or only to some of these structural or functional features, or only to a part of these structural or functional features, or to any group, combination, or juxtaposition of all or some of these structural or functional features. Brief Description of the Figures Other objectives, features and advantages of the invention will become apparent from reading the following non-limiting description of some possible embodiments, which refers to the attached figures, in which: Figure 1 is a simplified perspective view of a sorting line of objects chosen from the group formed by fruits and vegetables, in a first stage of progress of the sorting line of such objects; Figure 2 is a simplified perspective view of the sorting line shown in Figure 1, in a second stage of sorting line advancement; Figure 3 is a simplified perspective view of the sorting line shown in Figure 1 and Figure 2, in a third stage of the sorting line's progress; Figure 4 is a simplified perspective view of an object holder of an object sorting line, in a position upstream of an object unloading station of a sorting line, according to an embodiment of the invention; Figure 5 is a simplified perspective view of an object holder of an object sorting line, in a detection position of the object holder's passage at the object unloading station of the sorting line shown in Figure 4; Figure 6 is a simplified perspective view ecaonn / eznz / B / YiAi of an object holder of an object sorting line, in the object unloading position at the object unloading station of the sorting line shown in Figure 4 and Figure 5; and Figure 7 schematically represents a classification line for objects according to the invention. Detailed Description of the Invention Figure 1 shows a simplified view of an object sorting line 1 in a packaging system for objects belonging to the group formed by fruits and vegetables, in a first stage of the sorting line's advance. The sorting line 1 comprises a conveyor 2 with a driven chain 3 moving in a longitudinal direction 5 along the conveyor 2, and a plurality of adjacent spools 4 rigidly secured to the chain 3 and driven by it. Two successive spools 4 arranged one behind the other on the conveyor 2 of the sorting line 1 define a housing 9 between them for receiving an object 7 to be transported, selected from the group of fruits and vegetables, and form a support 6 for the object.Each diabolo 4 comprises two portions 10 arranged transversely with respect to the object sorting line, each formed by a cone mounted so that it can rotate freely, the vertices of the two cones facing each other. On the sorting line shown in Figure 1, a single object 7 is represented for the sole purpose of simplifying the figure. In fact, during an object sorting phase, each support 6, or at least most of the supports 6, is occupied by an object 7, the operating speed of the chain 3 and of each support 6 possibly reaching a value of 3000 steps (replacement of a given support by the immediately adjacent upstream support) per minute. The sorting line 1 includes a reference point 11 that is fixed with respect to the sorting line 1.This also includes at least one device 8 for measuring at least one representative value of each object passing in front of reference point 11 in order to classify such objects. At least one detection device 8 may be a camera adapted to create a digital image of each object 7 passing reference point 11. Nothing prevents at least one measuring device 8 from being, for example, a device for weighing each object, determining its weight, and classifying it. The object packaging system comprises a computer adapted to receive each data point provided by the measuring device 8, to analyze each data point according to at least one object classification criterion, and to determine the discharge station at which the object 7 analyzed by the computer device ecaonn / eznz / B / YiAi should be discharged.The computer device determines the time period required for the analyzed object Ί to travel the distance Di between the reference point 11 and the unloading station where object 7 is to be unloaded. In some modalities where the measuring device 8 is a camera, the computer device is adapted to receive each digital image created by the measuring device 8, to analyze each digital image according to at least one object classification criterion, and to determine the unloading station where object 7, analyzed by the computer device, is to be unloaded, to form a batch of objects ejected from the classification line at the same unloading station and grouped into batches of objects with the same classification criterion. A simplified view of line 1 for sorting objects in a packaging system for objects belonging to the group formed by fruits and vegetables, in a second stage of advancement of line 1 for sorting such objects, is represented in Figure 2. In Figure 2, object 7 has reached a first unloading station 12 located at a distance from the reference point 11, and within a period that does not correspond to the distance from the reference point 11 and the period calculated by the computer device for this object, so object 7 is not unloaded from sorting line 1 at unloading station 12. ecaonn / eznz / B / YiAi A simplified view of sorting line 1 in a packaging system for objects belonging to the group formed by fruits and vegetables, in a third stage of the line's progression, is shown in Figure 3. In Figure 3, object 7 has reached a second unloading station 12' located at a distance from reference point 11, within a period corresponding to the distance from reference point 11 and the period calculated by the computer for this object to be unloaded from sorting line 1. Within this period, the computer activates the unloading device, and object 7 is unloaded from sorting line 1 at unloading station 12'. This results in all objects meeting the same sorting criteria being grouped into a batch by being discharged at the same unloading station. However, due, for example, to maintenance operations of the object packaging system and / or the sorting line 1, it may happen that the position of reference point 11 of the sorting line and / or the position of at least one unloading station (12, 12') is modified in such a way that the distances Di between reference point 11 and each unloading station are also modified. Pi. Therefore, it is necessary to adjust the parameters of object classification line 1 taking these modifications into account. In a method according to the invention for adjusting at least one parameter of a sorting line for objects in a packaging system for such objects belonging to the fruit and vegetable group, each object holder on the sorting line is driven so that it moves in a longitudinal direction along the forward path of the sorting line at a predetermined speed V by means of an object conveyor chain. The adjustment method according to the invention is implemented before any sorting step, with the object holders of the sorting line not holding any transported objects. However, there is nothing preventing the adjustment method according to the invention from being implemented when at least part of the object holder is transporting objects. In a method according to the invention, each object support, driven so that it moves at a predetermined speed V, passes in front of a reference point equipped with a device for detecting the passage of at least one object support. The device for detecting the passage of an object support may be a detector that detects the electromagnetic interaction between the fixed detection device located at the fixed reference point and at least one object support moving along the classification line when at least one object support passes in front of the reference point. At least one object support may be provided with a magnet, and the detection device may be a Hall effect sensor. In some advantageous embodiments, the device for detecting the passage of an object carrier past a fixed reference point on an object sorting line may be a fixed image acquisition device located at the fixed reference point. At least one object carrier moving along the sorting line may be equipped with an identifier that can be identified from the images created by the fixed image acquisition device. For example, the object carrier may be a colored object carrier, being a different color from the other object carriers on the sorting line. The fixed image acquisition device is adapted to acquire a plurality of digital images that allow the moment when the colored carrier passes the reference point to be determined by analyzing these digital images.Since the fixed image acquisition device is a camera, it transmits the images of the plurality of images to a computer unit (computer) 20 for system control, comprising at least one digital image analysis processor to determine a time to ecaonn / eznz / B / YiAi at which the object support passes in front of the reference point of the object classification line. Figure 4 shows an object holder 6 moving in a longitudinal direction 5 along the sorting line and approaching an unloading station 12 from upstream. In this Figure 4, and in the following Figures 5 and 6, the conveyor chain and the plurality of object holders are not fully depicted for the sake of simplification and clarity. The object holder 6, which is movable relative to the sorting line, consists of a central body 17 provided with two pairs of spools 4 arranged laterally with respect to the longitudinal direction of movement of the object holder, each pair of spools 4 forming a lateral housing 9 for receiving an object.The unloading station 12, which is fixed with respect to the sorting line, comprises on one side a fixed element integrally associated with the unloading station 12, the fixed element being provided with a sensor 14 selected to be able to detect the passage of the object support 6 in front of the unloading station 12, detecting the electromagnetic interaction between the magnet 13 of the object support and the Hall effect sensor 14 of the detection station 12. In the position in which the object support 6 approaches upstream of a unloading station 12, as shown in ecaonn / eznz / B / YiAi. Figure 4, the magnet 13 of the support is at a distance from the Hall effect sensor 14 and the advance of the object support 6 along the sorting line 1 is not detected by the Hall effect sensor 14. In the position where the object holder 6 moves in a longitudinal direction 5 along the sorting line 1, as shown in Figure 5, the magnet 13 of the object holder 6 is located a short distance from the Hall effect sensor 14 of the unloading station 12. The voltage value at the terminals of the Hall effect sensor 14 is at its maximum and corresponds to the object holder 6 passing as close as possible to the Hall effect sensor 14. The Hall effect sensor 14 transmits the voltage data measured at the terminals of the Hall effect sensor 14 to an electronic board 16 (CSMA Air Machine Output Board) of the unloading station. The maximum voltage value determined by the electronic board 16 corresponds to the moment when the magnet 13 passes as close as possible to and opposite the sensor 14.Information regarding the maximum voltage value is transmitted to an electronic card 18 (Air Machine Output Management Card CGSMA) by each CSMA electronic card 16 associated with a discharge station 12. The processor of the CGSMA electronic card 18 calculates, from the data received from the fixed image acquisition device of the reference point and the data received from each CSMA electronic card 16, the value of the period tn-to elapsed between the time (to) of passage of the object carrier in front of the reference point and the time (tn) of passage of the object carrier in front of the discharge station n. The CGSMA electronic card 18 centralizes the information transmitted by the CSMA electronic card 16 and transmits this data to a control unit 20 of the object packaging system through an interface 19 comprising a return control electronic card.Taking into account the default value of the movement speed V of the object carriers 6 on the sorting line 1, the control unit 20 calculates the distances Di between the reference point 11 of the sorting line 1 and each discharge station 12 of the object sorting line 1. Based on the Di values determined during the method according to the invention for adjusting at least one parameter of an object sorting line 1 7 in a system for packaging such objects belonging to the fruit and vegetable group, the control unit 20 commands, during the object sorting operations, the activation of the object discharge means of the discharge station 12 corresponding to the sorting criterion of the object carried by the object carrier, when the object carried by the object carrier passes in front of the discharge nozzles 15. In the position of the object holder 6 moving in the longitudinal direction 5 of the sorting line, as shown in Figure 6, the object holder 6 is represented in a position away from the downstream discharge station 12, moving in the direction of a different downstream discharge station on the sorting line. In the position of the object holder 6 shown in Figure 6, the distance between the magnet 13 of the object holder 6 (moving) and the Hall effect sensor 14 of the discharge station 12 (fixed) is such that the magnet 13 is no longer detected by the sensor 14. On the other hand, the discharge nozzles 15 of the discharge station 12 are positioned such that an airflow that can be produced by the discharge station 12 is directed towards the housing 9 of the object holder 6 and is adapted to discharge an object carried by the object holder 6.A method for adjusting at least one parameter of a sorting line 1 for sorting objects in a system for packaging such objects belonging to the fruit and vegetable group is shown in Figure 7, in which the sorting line 1 is schematically represented by a straight dashed line. An object holder 6 devoid of any transported object is represented in different successive positions ecaonn / eznz / B / YiAi along the sorting line 1, moving at a speed V in the longitudinal direction 5 of the sorting line 1. The object holder 6 has a magnet 13 arranged so that it can interact with the Hall effect sensor 14' coupled to the unloading station 12.During the implementation of the method according to the invention for adjusting at least one parameter of line 1 for classifying objects in a system for packaging such objects belonging to the fruit and vegetable group, no object classification is carried out. However, there is nothing preventing the adjustment method according to the invention from being implemented during an object classification operation, with the object holders gripping the objects. An adjustment of at least one parameter is then performed in real time. During a first phase (Phx) of the procedure for adjusting at least one parameter of an object sorting line according to the invention, an object support, called object support 6, approaching the reference point 11 of the object sorting line 1, the device 8 for detecting the passage of the adjustment support 6 in front of the reference point 11 generates numerical data representative of the position of the adjustment support 6 with respect to the reference point 11. This numerical data is transmitted to an electronic card 18 provided with a processor and software 19 for the analysis of this numerical data, which determines the moment of passage of the adjustment support in front of the reference point 11.The moment the adjustment support passes reference point 11 is communicated to a computer control unit 20 of the object packaging system, indicating that the support is at reference point 11, denoted as O in Figure 7. The detection device 8 can be a camera adapted to create a plurality of digital images of the adjustment support 6 moving along the sorting line 1. In a particularly advantageous embodiment, the device 8 for detecting the passage of the adjustment support 6 is a device that also allows an analysis of each object carried by the object supports of the object sorting line, with a view to classifying them according to a given sorting criterion.In this way, the device, in particular the camera, for analyzing the objects transported by the object supports with a view to classifying them, is used as a detection device 8 of the passage of the adjustment support 6 at the reference point 11 of the classification line 1. This adjustment support 6 is provided with at least one identifier that can be identified without contact by the detection device 8. At least one identifier of the adjustment bracket 6 may be a magnetic identifier, the device 8 for detecting the passage of the adjustment bracket 6 comprising a magnetic reader. In particular, at least one identifier of the adjustment bracket 6 may be a magnet, the device 8 for detecting the passage of the adjustment bracket 6 comprising a Hall effect sensor. At least one identifier of the adjustment bracket 6 may be an electronic component capable of transmitting data by radio frequency, in particular microcircuits or REID tags, the device 8 for detecting the passage of the adjustment bracket 6 comprising at least one electronic reader adapted to receive data by radio frequency, in particular comprising at least one REID reader. At least one identifier of the adjustment bracket 6 may be an optically readable code component, in particular a barcode component, a two-dimensional code component such as a QR code or a three-dimensional code, the device 8 for detecting the passage of the adjustment bracket 6 comprising at least one optical reader, in particular a barcode reader, a QR code reader, a three-dimensional code reader, such as an optical reader comprising a high-definition matrix sensor. At least one identifier may also be a color pattern placed on the adjustment support, the device 8 for detecting the passage of the adjustment support 6 comprising an ecaonn / eznz / B / YiAi colorimeter and / or a camera adapted to detect the presence of the color pattern on the adjustment support 6 at reference point 11 of the sorting line 1. During a second phase (Ph2) of the method for adjusting at least one parameter of an object sorting line according to the invention, the adjustment support 6, approaching a first object unloading station P2 of the object sorting line 1, the Hall effect sensor 14 of the first object unloading station P2 produces numerical data representative of the position of the magnet of the adjustment support 6 with respect to the first unloading station P2. This numerical data is collected on an electronic board 16 of the first unloading station P2 and transmitted to an electronic board 18 equipped with a processor and software 19 for analyzing this numerical data, which determines the moment ti of passage of the adjustment support in front of the first unloading station P2.The moment ti of passage of the adjustment support in front of the first unloading station Pi is communicated to a computer control unit 20 of the object packaging system, which calculates the travel time (ti - t0) of the adjustment support between the reference point 11 and the first unloading station P2 and the distance Di between the reference point 11 and the first unloading station Pi, taking into account the speed V of movement of the adjustment support on the line of classification 1. During a third phase (Ph3) of the method for adjusting at least one parameter of an object sorting line according to the invention, with the adjustment support 6 approaching a second object unloading station P2 of the object sorting line 1, the Hall effect sensor 14 of the second object unloading station P2 produces numerical data representing the position of the magnet of the adjustment support 6 with respect to the second unloading station P2. This numerical data is collected on an electronic board 16' of the second unloading station P2 and is transmitted to the electronic board 18 of the object packaging system, which determines the moment t2 of passage of the adjustment support in front of the second unloading station P2.The moment t2 of passage of the adjustment support in front of the second unloading station P2 is communicated to the computer control unit 20 of the object packaging system which calculates the travel time (t2- t0) of the adjustment support between the reference point 11 and the second unloading station P2 and the distance D2 between the reference point 11 and the second unloading station P2, taking into account the speed V of movement of the adjustment support on the sorting line 1. During an nth phase (Phn) of the method for adjusting at least one parameter of an object sorting line according to the invention, with said adjustment support 6 approaching an nth object unloading station P of the object sorting line 1, the Hall effect sensor 14 of the nth object unloading station Pn produces numerical data representative of the position of the magnet of the adjustment support 6 with respect to the nth unloading station Pn. This numerical data is collected on an electronic board 16 of the nth unloading station Pn, and is transmitted to the electronic board 18 of the object packaging system, which determines the moment t of passage of the adjustment support in front of the nth unloading station Pn.The moment tnde of passage of the adjustment support in front of the nth unloading station Pnes communicated to the computer control unit 20 of the object packaging system, which calculates the travel time (tn- t0) of the adjustment support between the reference point 11 and the nth unloading station P:i, and the distance Dn between the reference point 11 and the nth unloading station Pn, taking into account the speed V of movement of the adjustment support on the classification line 1. The invention can be adapted to numerous variations and applications other than those described above. In particular, it goes without saying that, unless otherwise stated, the various structural and functional features of each of the embodiments described above should not be considered combined and / or closely and / or inextricably linked to one another, but rather as simply juxtaposed. Furthermore, the structural and / or functional features of the various embodiments described above may be subject, wholly or partially, to any other juxtaposition or any other combination. For example, the number of unloading stations in an object packaging system according to the invention may vary depending on the number of different batches of objects to be grouped. It is hereby stated that, with regard to this date, the best method known to the applicant to put the aforementioned invention into practice is the one that is clear from the present description of the invention.

Claims

1. A method for adjusting at least one parameter of an object sorting line of a packaging system for such objects belonging to the group of fruits and vegetables, the sorting line carrying a plurality of supports, each support intended to carry an object; characterized in that it comprises the following steps: - guiding at least one support so that it moves in a longitudinal direction of advance of the sorting line; - detecting the passage of at least one support in front of a reference point of the sorting line; - detecting the passage of at least one support in front of each unloading station Pi of a plurality of unloading stations distributed along the sorting line, each unloading station Pi being intended to be able to eject, from at least one support, an object carried by at least one support, when at least one support passes in front of the unloading station Pi;Determine each longitudinal distance separating each unloading station Pi from the plurality of unloading stations and the reference point, from data relating to the detection of the passage of at least one support in front of the reference point, and data relating to the detection of the passage of at least one support in front of each unloading station Pi and the speed V at which at least one support is driven on the sorting line.

2. The method according to claim 1, characterized in that the passage of at least one support in front of each unloading station Pi is detected by electromagnetic interaction between the fixed unloading station and at least one support moving on the sorting line when at least one support passes in front of the unloading station Pi.

3. The method according to claim 2, characterized in that the passage of at least one support in front of each discharge station is detected by electromagnetic interaction between a moving element carried by at least one support and a fixed element associated with the discharge station Pi.

4. The method according to claim 3, characterized in that the passage of at least one support in front of each Pi discharge station is detected by magnetic coupling between a movable element carried by at least one support and a fixed element associated with the Pi discharge station.

5. The method according to claim 4, characterized in that the movable element carried by at least one support is a magnet and the fixed element associated with the discharge station is a Hall effect sensor.

6. The method according to one of claims 1 to 5, characterized in that at least one support selected to carry out each detection step carries an object.

7. The method according to any one of claims 1 to 6, characterized in that the adjustment of at least one parameter is performed during adjustment operations carried out on the sorting line prior to the object sorting operations.

8. The method according to any one of claims 1 to 7, characterized in that each support is formed by two diabolos arranged one after the other in the sorting line in the direction of advance, the two diabolos being adjacent to each other so as to define between them a housing to receive the object to be transported, each diabolo comprising two portions arranged transversely with respect to the object sorting line and each formed by a cone mounted so as to be able to rotate freely, with the vertices of the two cones facing each other.

9. The method according to any one of claims 1 to 8, characterized in that the passage of at least one support ahead of the reference point is detected by image acquisition and analysis of at least one support, at least one support being provided with a pattern identifiable by image acquisition and analysis of the sorting line.

10. A sorting system for objects belonging to the group of fruits and vegetables, comprising at least one sorting line equipped with a plurality of supports for such objects, each support being intended to carry an object and to be guided so as to move in a longitudinal direction of advance of the sorting line, the sorting line comprising: a reference point in front of which each of the object supports is intended to pass; and a plurality of unloading stations Pi arranged successively along the sorting line and downstream of the reference point in the advance direction of the supports; each unloading station Pi being intended to unload one or more objects each carried by its support and being situated at a distance from the reference point;ecaonn / eznz / B / YiAi characterized in that it comprises: - a device for detecting the passage of at least one object carrier in front of the reference point; - a device for detecting the passage of at least one object carrier in front of each unloading station Pi, a computer device configured to determine the different longitudinal distances Di between the unloading stations of the plurality of unloading stations Pi and the reference point, from the detections of passages of at least one object carrier in front of the reference point and in front of each unloading station Pi and the speed V at which at least one object carrier is driven.; 11. The system according to claim 10, characterized in that each device for detecting the passage of at least one object carrier in front of each unloading station Pi comprises a movable element carried by at least one carrier, and a fixed element associated with the unloading station, both capable of interacting with each other by means of electromagnetic interaction when the movable element passes in front of the fixed element in order to detect the passage of at least one object carrier in front of the unloading station Pi. ecaonn / eznz / B / YiAi 12. The system according to claim 11, characterized in that the movable element carried by at least one support comprises at least one magnet and the fixed element associated with the discharge station comprises at least one Hall effect sensor.

13. The system according to claim 10, characterized in that each device for detecting the passage of at least one object carrier in front of each unloading station comprises a movable element carried by at least one object carrier and a fixed element associated with the unloading station, both capable of communicating with each other by radio frequency when the movable element passes in front of the fixed element in order to detect the passage of at least one object carrier in front of the unloading station, the movable element carried by at least one carrier comprising at least one electronic component capable of transmitting data by radio frequency and the fixed element associated with the unloading station comprising at least one electronic component capable of receiving data by radio frequency.

14. The system according to claim 10, characterized in that the fixed element associated with the discharge station comprises at least one photoelectric cell comprising an emitter that emits a beam of at least one electromagnetic wave and a photosensitive sensor, both arranged in such a way that the movable element carried by at least one support intercepts the beam of at least one electromagnetic wave due to the passage of at least one support in front of the discharge station.

15. The system according to claim 10, characterized in that the fixed element associated with the unloading station comprises at least one device for acquiring at least one image of at least one support passing in front of the unloading station, and in that the object classification system comprises an image analysis and processing unit adapted to detect the passage of at least one support in front of the unloading station.

16. The system according to any one of claims 10 to 15, characterized in that the device for detecting the passage of at least one object support in front of the reference point comprises a fixed device for acquiring at least one image of at least one support passing in front of the reference point, arranged along the calibration line and forming the reference point.

17. The system according to claim 16, characterized in that it comprises a computer device comprising a data processing and distance determination unit Di.

18. The system according to any one of claims 10 to 17, characterized in that each support is formed by two diabolos arranged one behind the other on the calibration line in the direction of travel, the two diabolos being placed side by side in order to define between them a housing to receive the object to be transported, each diabolo comprising two transversely arranged portions and each formed by a cone freely mounted in rotation, the vertices of the two cones facing each other.

19. An installation, characterized in that it is for the packaging of objects belonging to the group of fruits and vegetables, of the type comprising an object classification system in accordance with one of claims 10 to 18.