Method for labeling objects and object processing installation equipped with a labeling device

Abstract

The invention relates to an object processing installation (1) comprising a conveyor (3) for conveying objects in a specific conveying direction (D1), a labeling device (4) designed to apply a label (5) to an object being conveyed based on at least some information visible on the object's surface, the labeling device comprising a labeler (7) designed to print a label, and a label applicator robot (8) designed to apply the label to an object being conveyed. The robot includes a label gripping surface (11) and is designed to hold the label against said gripping surface during the robot's movement. Figure to be published: Fig. 3

Description

Title of the invention: Method for labeling objects and object processing installation equipped with a labeling device technical field

[0001] The invention relates to the field of object processing adapted for processing objects, particularly in parcel sorting centers or logistics centers. Prior art

[0002] Certain parcel sorting installations, such as the installation described in document EP3538290, are equipped with label-applying robots capable of applying labels to objects being conveyed. These robots are designed to operate in conjunction with conveyor systems and can be programmed to apply labels to objects of different shapes and sizes.

[0003] The use of labeling robots for parcel labeling offers numerous advantages over manual labeling. First, robots can operate at much higher speeds than human operators, thereby increasing sorting throughput and reducing operating costs. Furthermore, robots are capable of applying labels with high precision, reducing labeling errors and improving the parcel sorting process.

[0004] Label application robots are now equipped with various advanced technologies to improve their performance. Some robots, for example, are equipped with cameras to detect the position and orientation of objects on the conveyor, which allows for highly accurate label application.

[0005] However, the current trend is towards increased package heterogeneity and faster package conveying speeds, making labeling less and less reliable. Furthermore, there is now a need to minimize the rejection of packages whose labels have not been recognized downstream in the sorting process. Summary of the invention

[0006] The objective of the invention is therefore to solve the aforementioned problems.

[0007] To this end, the invention relates to a method for labeling objects in which the objects are conveyed on a conveyor in a certain direction of travel and in which a central unit is configured to identify at least one piece of information associated with an object in at least one digital image of said object during conveying and to generate in return a digital data representing a certain processing indication for the object, and a labeling device designed to print the processing indication in the form of a label and to apply it on the object being conveyed, characterized in that the central unit is parameterized to determine in said at least one digital image of the object, at least one label application surface specific to the object on which the label is to be applied, said application surface corresponding to the total surface of the object in said at least one digital image of the object less a certain exclusion surface of said object in said digital image of the object on which the label is not to be applied.

[0008] The idea behind the invention is to avoid applying a label to a surface of the object that could hinder the object's processing, or even prevent its processing altogether if it were not recognized downstream in the processing chain. The invention thus makes it possible to improve the reliability of object labeling without slowing down the downstream processing chain.

[0009] The invention consists more particularly in excluding from the label application surface an exclusion area, or zone, on the object that is not suitable for label application. This exclusion area is determined by the central processing unit, which is configured to take into account the total surface area of ​​the object in the digital image, corresponding to the object's surface in a plane, and to subtract the exclusion area from this total surface area. The remaining application area thus ensures a suitable application surface for label application and for the subsequent processing of the object.

[0010] The method according to the invention may also have the following features:

[0011] - the central unit is configured to identify visual criteria specific to the object identified during the transport of the object and to delimit said exclusion area so that the visual criteria are contained within the exclusion area;

[0012] - the visual criteria correspond to numerical data representative of the surface of the object in two dimensions and / or in three dimensions;

[0013] - the visual criteria include said at least some information;

[0014] - the visual criteria include the non-planar surfaces of the object;

[0015] - the central unit is configured to identify a first label on the surface applying a label to the object in said digital image of the object and to control the labeling device in return to apply a second label on top of the first label;

[0016] - the central unit is parameterized to determine at least one application surface label on each visible face of the object being conveyed on the conveyor;

[0017] -the central unit is configured to choose the fastest application surface to label from among the determined application surfaces;

[0018] - the central unit is configured to control N labeling devices, where N > 1, arranged in series along the conveyor, so that each labeling device labels one object out of X objects in series in the conveying direction, where X = Ne.

[0019] The invention also extends to an object processing installation comprising a conveyor for conveying objects in a certain conveying direction, a labeling device designed to apply a label to an object being conveyed according to at least some information visible on the surface of the object, the labeling device comprising a labeler designed to print a label and a label applicator robot designed to apply the label to an object being conveyed, characterized in that the robot comprises a label gripping surface and in that the robot is designed to keep the label pressed against said gripping surface during the movement of the robot.

[0020] The object processing installation according to the invention may also have the following features:

[0021] - the robot's gripping surface includes a shock absorber designed to dampen the collision between the robot and the object when the label is applied to the object.

[0022] - the robot is connected to an air circulation device designed to suck in or exhale air is drawn into the robot and the central unit is programmed to control the suction in the air circulation device to hold the label against the gripping surface during the movement of the robot and then to control the expiration of the air when the robot is in contact with the object to apply the label. Brief presentation of the drawings

[0023] The present invention will be better understood and other advantages will become apparent upon reading the detailed description of an embodiment taken by way of non-limiting example and illustrated by the accompanying drawings, in which:

[0024] [Fig-1] Fig. 1 is a schematic representation of a treatment plant of objects according to the invention;

[0025] [Fig.2] Fig.2 is a schematic representation of a labeling device according to the invention when the robot retrieves a label directly from the labeler;

[0026] [Fig.3] Fig.3 is a schematic representation of a labeling device according to the invention when the robot applies a label to an object being conveyed on a conveyor;

[0027] [Fig.4] Fig.4 is a schematic representation of two labeling devices according to the invention in series along a conveyor;

[0028] [Fig. 5] [Fig. 5] is a schematic representation of a digital image including an object being transported on a conveyor;

[0029] [Fig.6] Fig.6 is a diagram showing the steps of the process according to the invention. Description of a method of implementation

[0030] The invention relates to an object processing installation 1 of objects 2 visible in [Fig.1] and particularly well suited for use in a distribution center, a sorting center or a logistics center.

[0031] By objects 2, we mean any type of object such as parcels, PPIs or postal mail. Objects 2 may be heterogeneous in size, shape and material.

[0032] The object processing installation 1 of objects 2 according to the invention typically comprises a conveyor 3 for conveying objects 2 in a certain conveying direction DI and a labeling device 4 designed to print and then apply a label 5 to an object 2 during conveying based on at least some information 6 visible on the surface of the object 2.

[0033] The labeling device 4, also visible in Figures 2 to 4, according to the invention comprises a labeler 7 designed to print a label 5 and a label applicator robot 8 designed to apply the printed label 5 to an object 2 being conveyed.

[0034] The labeling device 4 can be controlled using a central unit 9 configured to retrieve information about the object 2 to be labeled, such as its length, width, and height dimensions and / or its relative position on the conveyor 3 and / or its speed on the conveyor, as well as information visible on the surface of the object 2 specific to the object. Apart from the speed of the object 2 on the conveyor 3, this information can be obtained from at least one digital image taken by a camera 10 upstream of the labeling device 4 on the conveyor 3. Thus, based on this information, the central unit 9 can be configured to determine the information to be printed on the label 5 and the position on the surface of the object 2 to which the label 5 should be applied.

[0035] To facilitate the application of the label 5 to the object 2, the robot 8 may be in the form of a delta robot capable of moving along three axes x, y, z and of performing rotations around the z-axis. The axes of the robot 8 allow it to reach any position on the object, possibly performing a rotation to orient the label 5 on the object 2.

[0036] More specifically, the robot 8 may include a gripping surface 11 at a certain distal end of the robot 8 designed to retrieve a label 5, as seen in [Fig. 2]. The robot 8 will then be designed to hold the label 5 against the gripping surface 11 during the movement of the robot 8. The labeler 7, for its part, may be designed to print a label 5 and make it available in a certain position facilitating gripping by the gripping surface of the robot 8. For example, the labeler can be designed to orient a label horizontally with the self-adhesive surface of the label downwards.

[0037] The robot 8 will, for example, include a shock absorber 12 extending from the gripping surface 11, designed to cushion the impact between the robot 8 and the object 2 when the label 5 is applied to the object 2, as shown in [Fig. 3]. The shock absorber 12 also serves to compensate for any uncertainties in the measurement of the height of the object 2 and any irregularities in the surface of the object 2.

[0038] The shock absorber 12 may be in the form of a bellows-type suction cup, the damping effect of which is provided by the folding of the bellows. The suction cup may be made of an elastic material to improve its damping capacity.

[0039] The labeling device 4 can also be connected to an air circulation device 13 designed to draw in or expel air into the robot 8. In this case, the central unit 9 will be configured to control the drawing in the air circulation device 13 to hold the label 5 against the gripping surface 11 during the movement of the robot 8 and then to control the expelment of air when the robot 8 is in contact with the object 2 to apply the label 5.

[0040] In the case of a bellows-type suction cup shock absorber, air will circulate through the suction cup so that the label 5 is pressed against the end of the suction cup.

[0041] By way of non-limiting example, and within the context of using the processing unit 1 in a sorting process for objects 2, the conveyor 3 may be in the form of a sorting conveyor equipped with sorting outlets 14 in which the objects 2 are sorted, as shown in [Fig. 1]. The printed label 5 will in this case be a sorting label recognized by a label recognition device 15 on the sorting conveyor. The sorting label will advantageously carry a sorting indication enabling the sorting of the object 2 in a suitable sorting outlet 14. The sorting indication is determined by the central unit 9 from certain information visible on the surface of the object 2 and a certain sorting plan for the objects 2 in the sorting outlets 14.

[0042] The invention also relates to a method for labeling objects particularly well suited for implementation in a processing plant 1 as described above, but not limited to it. The object labeling method 2 according to the invention makes it possible to label all types of objects 2, and in particular heterogeneous objects as defined above.

[0043] A non-limiting embodiment of the object labeling method 2 according to the invention is shown in the diagram in [Fig. 6]. The method as shown here consists of conveying objects on a conveyor in a step 100 along a certain conveying direction D1, and then, using a central unit 9, identifying in a step 200 certain information associated with an object 2 in at least a digital image IN of the object being conveyed and to create in return at a step 300 a digital data representative of a certain processing indication of the object 2. A labeling device is then used to print at a step 400 the processing indication in the form of a label and to apply it at a step 500 on the object 2 being conveyed.

[0044] The central unit 9 can also retrieve other information about the object 2 to be labeled, such as its three dimensions (length, width, height) and / or its relative position on the conveyor 3 and / or its speed VI on the conveyor 3. Apart from the speed VI of the object 2 on the conveyor 3, this other information can be obtained from said at least one digital image. The central unit 9 can then be configured to determine the total surface area ST of the object 2 visible from a certain viewing angle and to determine the positioning of the object during its transport on the conveyor based on the conveying speed.

[0045] More particularly, the central unit 9 will be parameterized to determine at a step 250, carried out after step 200 and before step 300, in said at least one digital image IN of the object 2, at least one application surface SA of label 5 specific to the object 2 on which the label is to be applied, said application surface SA corresponding to the total surface ST of the object 2 in said at least one digital image IN of the object 2 less a certain exclusion surface SE of said object 2 in said digital image IN of the object 2 on which the label 5 is not to be applied, as seen in [Fig. 5].

[0046] The determination of the exclusion surface SE can also be carried out by the central unit 9.

[0047] More particularly, the central unit 9 can be configured to identify visual criteria specific to the object 2 during its transport on the conveyor 3 and to delimit said exclusion surface SE so that the visual criteria are contained within the exclusion surface SE.

[0048] Visual criteria are understood to mean, for example, numerical data representing the surface of object 2 in two dimensions and / or three dimensions. In the case of the two-dimensional surface, the numerical data correspond to an image of the object as seen from a plane. The numerical data representing the surface of object 2 in three dimensions allows for an assessment of the heterogeneity of the surface of object 2, or even an assessment of the height of the surface of object 2 relative to the conveyor 3. This makes it possible, for example, to exclude the surface of object 2 that would be too high or too low for the application of the label 5.

[0049] By way of non-limiting example, said certain information associated with object 2 in said at least one digital image IN of said object 2 during transport may also be considered as one of the visual criteria.

[0050] Said certain information according to the invention may, for example, correspond to sorting information previously affixed to object 2.

[0051] By way of example, visual criteria also include the non-planar surfaces of object 2. The non-planar surfaces of the object can be determined from digital images representing the surface of object 2 in three dimensions or from other digital images obtained for example by shadow zone detection, by clipping, etc.

[0052] It is understood that the visual criteria mentioned may be considered alone or in combination depending on the needs.

[0053] The central unit 9 can also be configured to identify, at a step 225, after step 200 and before step 300, a first label 5a on the label application surface of object 2 in said digital image IN of object 2 and to then command the labeling device 4 to apply a second label 5b on top of the first label 5a. This function prevents overloading the label application surface SA with a second label 5b in addition to the first label 5a, thus avoiding label 5 recognition errors downstream in the processing. This function also allows step 250 to be skipped and the process to proceed directly to step 300.

[0054] The central unit 9 can also be configured to determine at least one label application surface SA on each visible face of the object 2 being conveyed on the conveyor 3. This functionality makes it possible in particular to choose the face of the object 2 with the most suitable label application surface SA for the application of label 5.

[0055] The central unit 9 will for example be configured to choose the fastest application surface to be labeled by the labeling device 4 from among the determined application surfaces SA.

[0056] The central unit 9 can also be configured to control the labeling device 4 so as to apply a label 5 according to a certain orientation defined according to the orientation of the object 2. For example, an object oriented in landscape format on the conveyor will have a label 5 applied that is also oriented in landscape format on the object 2.

[0057] Also, to increase the labeling throughput and thus the conveying speed of objects 2 on conveyor 3, the central unit 9 can be configured to control at least two labeling devices 4 arranged in series along conveyor 3, as shown in [Fig. 4], the two labeling devices 4 being configured to label every other object 2 in the conveying direction DI. More generally, it can be provided that the central unit 9 controls N labeling devices, where N > 1, arranged in series along the conveyor, so that each labeling device labels one object out of X objects in series in the conveying direction, where X = N.

[0058] Without restricting the scope of the invention, one or more features specific to the processing installation 1 according to the invention can be combined with one or more features specific to the labeling process according to the invention and vice versa, and in particular the parameters of the central unit 9.

Claims

Demands

1. A method for labeling objects in which the objects are conveyed (100) on a conveyor in a certain conveying direction and in which a central unit is configured to identify (200) at least some information associated with an object in at least one digital image (DI) of said object being conveyed and to generate (300) in return a digital data representative of a certain processing indication of the object, and a labeling device designed to print (400) the processing indication in the form of a label and to apply it (500) to the object being conveyed, characterized in that the central unit is configured to determine (250) in said at least one digital image of the object, at least one label application surface (SA) specific to the object onto which the label is to be applied,said application area corresponding to the total area (TA) of the object in said at least one digital image of the object less a certain exclusion area (EA) of said object in said digital image of the object on which the label is not to be applied.

2. A method for labeling objects according to claim 1, characterized in that the central unit is parameterized to identify visual criteria specific to the object identified during the conveyance of the object and to delimit said exclusion surface so that the visual criteria are contained within the exclusion surface.

3. A method for labeling objects according to claim 2, characterized in that the visual criteria correspond to numerical data representative of the surface of the object in two dimensions and / or three dimensions.

4. A method for labelling objects according to any one of claims 2 or 3, characterized in that the visual criteria include said at least some information.

5. A method for labeling objects according to any one of claims 2 to 4, characterized in that the visual criteria include the non-planar surfaces of the object.

6. A method for labeling objects according to any one of the preceding claims, characterized in that the central unit is parameterized to identify a first label on the surface applying a label to the object in said digital image of the object and to control the labeling device in return to apply a second label on top of the first label.

7. A method for labeling objects according to any one of the preceding claims, characterized in that the central unit is parameterized to determine at least one label application area on each visible face of the object being conveyed on the conveyor.

8. A method for labeling objects according to any one of the preceding claims, characterized in that the central unit is parameterized to choose the fastest application surface to be labeled by the labeling device from among the determined application surfaces.

9. A method for labeling objects according to any one of the preceding claims, characterized in that the central unit is parameterized to control N labeling devices, where N > 1, arranged in series along the conveyor, such that each labeling device labels one object out of X objects in series in the conveying direction, where X = N.

10. An object processing installation (1) for carrying out the process according to any one of the preceding claims, comprising a conveyor (3) for conveying the objects in a certain conveying direction (D1), a labeling device (4) designed to apply a label (5) to an object being conveyed according to at least some information visible on the surface of the object, the labeling device comprising a labeler (7) designed to print a label and a label applicator robot (8) designed to apply the label to an application surface of an object being conveyed, characterized in that the robot comprises a label gripping surface (11) and in that the robot is designed to keep the label pressed against said gripping surface during the movement of the robot.

11. Object processing installation according to claim 10, characterized in that the robot's gripping surface includes a shock absorber (12) designed to cushion the shock between the robot and the object when the label is applied to the object.

12. Object processing installation according to any one of claims 10 or 11, characterized in that the robot is connected to an air circulation device designed to draw in or expel air into the robot and in that the central unit is set to control the drawing in the air circulation device to hold the label against the gripping surface during the movement of the robot and then to control the expelment of air when the robot is in contact with the object to apply the label.

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