Method and system for packaging products belonging to the fruit and vegetable group

Abstract

The invention relates to a method for packaging objects (2) which are included in a plurality of objects belonging to the fruit and vegetable group and the shape of which is such that the objects included in the plurality of objects can roll along a surface, characterised in that the objects (2) included in the plurality of objects are deposited onto a solid surface, referred to as the deposition surface (1), of a system (10) for packaging the objects, the deposition surface (1) being substantially horizontal, suitable for receiving the objects included in the plurality of objects and elastically deformable such that the deposition of each object on the deposition surface (1) creates, under the weight of the object concerned, a recess (3) in the deposition surface (1) which tends to wedge the object in the recess (3), then the objects included in the plurality of objects deposited onto the deposition surface (1) and held in a position relative to the deposition surface, referred to as the deposition position, which position is fixed during deposition and held subsequent to deposition due to the deposition surface (1), are removed from the deposition surface for the purpose of packing in a packaging container (17). The invention also relates to a system for packaging a plurality of objects belonging to the fruit and vegetable group.

Description

Description Title of the invention: Method and system for packaging objects belonging to the fruit and vegetable group

[0001] The present invention relates to a method and system for packaging objects belonging to the group of fruits and vegetables and whose shape is such that said objects are capable of rolling on a surface.

[0002] In the field of packaging fruit and vegetable products, there are known systems in which such products are placed on a surface arranged in a single layer according to a random spatial distribution before being picked up—often one by one—by a robot for packaging. In such systems, the position of each product placed on the surface is analyzed, and numerical data representing the position of the products relative to the surface at the time of placement are transmitted to a selected robot programmed to pick up each product based on its numerical data and move it for packaging.

[0003] However, the applicant has observed that with certain objects whose shape is such that said objects are likely to roll on a surface (this remark applies in particular to objects of essentially spherical shape such as oranges or apples, but also to objects such as pears, avocados, etc., i.e. objects of which at least part of the outer shell is convex), the position and / or orientation in which the objects are deposited on said surface is likely to vary over time and in particular between the moment of deposit of the objects on said surface and the moment of their removal by the robot.Thus, the numerical data representing the position of each object at the time of their deposit and transmitted to the robot do not correspond to the actual position of each object on said surface at the time of their collection, such that the collection of at least one object may be rendered impossible due to the lack of correspondence between the numerical data representing the position. of this object at the deposit and its actual position relative to said surface at the time of sampling.

[0004] Indeed, when these objects are placed on the surface, due to their partially convex shape, they may roll over and thus change position and / or orientation on the surface. Consequently, their position and / or orientation at the time of collection by the robot differs from their position and / or orientation at the time of placement, making their effective collection by the robot impossible or inappropriate. In particular, they may roll over and thus change position and / or orientation on the surface when other neighboring or adjacent objects present on the same surface are being collected.

[0005] In particular, when these objects are placed on the surface of a conveyor, due to their at least partially convex shape, they may roll over and thus change position on the conveyor surface. Objects may roll over and change orientation and / or position on the conveyor surface both when the conveyor is stationary and while it is moving.

[0006] Thus, in certain fruit and vegetable packaging facilities, such items are—where appropriate, after being sorted according to their size, weight, color, or any other measurable criterion—picked and handled by a first robot to be placed on a horizontal surface of a conveyor so that the items form at least one group of items on said surface, creating a predetermined pattern. The conveyor is then set in motion to transport the items thus placed (according to the predetermined pattern) to a collection zone where these items are to be handled by a second robot and, for example, placed in containers, such as crates, for transport.

[0007] It is important that the objects placed on the conveyor, each in a predetermined position, particularly in relation to the position of other objects previously placed there, retain this position during their transport in order to so that the second robot can come and pick them up in that same predetermined position.

[0008] Furthermore, the movement of the conveyor after the objects have been deposited is another factor that is likely to cause a change in the position and / or orientation of said objects on the surface of the conveyor.

[0009] In general, any phase of acceleration or deceleration of the conveyor is likely to cause a change in position and / or orientation of objects on the surface of the conveyor.

[0010] When objects are placed on the conveyor which is already in motion, the position of the objects is even more likely to change between the time of placement, for example, by a first robot and the subsequent time of picking up these objects, for example, by a second robot.

[0011] In view of the above, it would therefore be particularly useful to be able to remedy at least in part these problems so that objects placed at a given time on a surface - in particular on the surface of a conveyor - in a determined position and / or orientation, in particular in a predetermined position relative to the position of other objects already placed, retain the same position and / or orientation over time on the conveyor and that this position and / or orientation is maintained so that it is possible to intervene on the objects thus positioned for the purpose of their automated packaging.

[0012] The invention aims to overcome all of these drawbacks.

[0013] The invention relates to a method for packaging a plurality of objects belonging to the fruit and vegetable group and whose shape is such that the objects of the plurality of objects are capable of rolling on a surface - in particular on a horizontal flat surface -; characterized in that the objects of the plurality of objects are deposited on a solid surface, called the depositing surface, of a packaging system for said objects, said depositing surface being: - substantially horizontal; - adapted to receive the objects of the plurality of objects, and; - elastically deformable in such a way that the placement of each object on said placement surface creates, under the effect of the weight of the object concerned, an imprint in said placement surface which tends to wedge said object in this imprint, then; the objects of the plurality of objects placed on said placement surface and held in a position relative to said placement surface, said placement position, which is fixed at the time of placement and maintained after placement due to said placement surface, are taken from said placement surface for the purpose of their packaging in a packaging container.

[0014] The stabilization or wedging of objects is provided by the temporary local deformation, for example elastic, of the area of ​​said depositing surface on which the object is deposited (by the effect of the weight of the object on the area) and which tends to wedging the object in this position, thus preventing it from rolling naturally on itself, either at the time of depositing, or during a movement imparted to said depositing surface and, in particular, during a start-up phase of a conveyor including said depositing surface, during a stop-start phase of this conveyor, during an acceleration phase or during a deceleration phase of this conveyor.

[0015] In addition, this securing of objects provided by the temporary local deformation of the area of ​​said depositing surface on which the object is deposited also prevents it from rolling when objects are deposited in the vicinity and / or in contact with objects deposited on said depositing surface, or when neighboring or contiguous objects are picked up from said depositing surface.

[0016] In some embodiments, the packaging process according to the invention is a packaging process for a plurality of objects belonging to the citrus group - in particular oranges, clementines, mandarins, grapefruit, lemons-.

[0017] When objects are removed or taken away from said depositing surface, the predetermined local areas of said depositing surface which have been temporarily deformed, for example elastically, by the weight of the objects return to their original undeformed shapes, ready to be used again for other objects.

[0018] According to the invention, the objects of the plurality of objects are deposited on said depositing surface so as to form a single layer of objects and such that each object is in contact with said depositing surface. The objects of the plurality of objects are deposited on said depositing surface according to a random spatial orientation relative to said depositing surface and according to a depositing position on said depositing surface which are maintained over time.

[0019] Thus, insofar as the objects of the plurality of objects deposited (simultaneously or in several stages) on said depositing surface are stabilized / wedge at the time of their deposit and remain stabilized on said depositing surface until it is decided to remove them from said depositing surface and / or modify their positions and / or their orientation on said depositing surface, the position they each occupy at the time of their deposit and / or the orientation they each present at the time of their deposit (and which is known to the control unit of the conditioning system) remains the same over time. According to the invention, the elastic deformation of said depositing surface is temporary and limited in time to the presence of the object on said depositing surface. The subsequent removal of the object results in the disappearance of the imprint formed by the deposit of the object.

[0020] In some embodiments, there is nothing preventing the depositing surface from being a surface of a stationary tray of the packaging system. In other embodiments, the depositing surface is a conveying surface of a conveyor, in particular a conveying surface of a belt conveyor, also known as a belt conveyor.

[0021] In these embodiments according to the invention, the objects of the plurality of objects held in said deposit position and in said deposit orientation by reason of said deformable deposit surface are removed from said deformable deposit surface and transferred to a conditioning area distant from said deformable deposit surface.

[0022] In certain embodiments of a process according to the invention; - said depositing surface is a substantially horizontal conveying surface of a conveyor of the packaging system, said conveying surface being elastically deformable such that the placement of each object on said conveying surface creates, under the effect of the weight of the object concerned, an imprint in said conveying surface which tends to wedge said object in this imprint, in that: - the objects of the plurality of objects are transported by the conveyor and maintained in said placement position during transport by reason of said conveying surface, and in that; - the objects of the plurality of objects maintained in said placement position are picked up from the conveyor and transferred to a packaging area distant from this conveyor for the purpose of their packaging in the packaging container.

[0023] The local deformation of the conveyor surface area extending opposite the object creates a preferred location (recess or niche) in which the object is placed. The surrounding peripheral region of the surface (this peripheral region being essentially undeformed) prevents any movement of the object. Any type of locally deformable surface is possible. For example, the depositing surface—specifically, the conveyor surface—comprises a layer of material that generally appears flat when no stress is applied and that, under the action of a weight, is elastically deformed by indentation. The peripheral edges of the indented area (the edges appear raised relative to the depression formed by the deformed area) generally prevent any further movement of the object placed in the indented area.In another example, the depositing surface—specifically, the conveyor's conveying surface—has a plurality of elastically deformable prongs or rods that form a kind of mat onto which objects are deposited. When an object is deposited, the deformable prongs or rods deform and move apart from one another and / or flatten, creating the preferred location, recess, or niche for the object. The prongs or rods surrounding the area where the prongs / rods have been deformed, which are only slightly or not at all deformed, thus form a sort of peripheral edge that generally prevents any further movement of the object thus positioned / nested.

[0024] Insofar as the objects deposited from the plurality of objects (simultaneously or in several stages) on the surface are stabilized / wedged at the time of their deposit and thus remain stabilized during their transport on the conveyor (until the moment it is decided to remove them from the conveyor and / or change their positions on the conveyor), the position that each of them occupies at the time of their deposit (and which is known to the management body of the packaging system) remains the same over time, in particular during the time of movement of the objects on the conveyor.

[0025] According to certain embodiments of a method according to the invention, the objects of the plurality of objects are thus deposited on said depositing surface - in particular on said conveying surface - so that the set of objects thus deposited on said depositing surface forms on said depositing surface a random set pattern.

[0026] A packaging method according to the invention includes a random placement step (i.e., a placement step in which the objects are placed in bulk on said placement surface—in particular on said conveyor surface—but without overlapping the objects) such that the objects of the plurality of objects form a random overall pattern. During such a random placement step, neither the position nor the orientation of each object placed on said placement surface relative to said placement surface is determined prior to or during the placement. However, the position and / or orientation of each object is determinable, and numerical data representing the position of each object of the plurality of objects placed in bulk relative to the conveyor can be determined at the end of the random placement step.Thanks to the positioning of the objects on said depositing surface, the position and / or orientation of each object relative to said depositing surface remains substantially unchanged over time - and is determinable - until the moment they are taken over by at least one robot of the conditioning system which knows their positions.

[0027] Of course, when the objects of the plurality of objects deposited on said depositing surface form a random set pattern, this random set pattern is maintained during the transport of the objects by said supply conveyor due to said deformable conveying surface.

[0028] According to certain embodiments of a method according to the invention, the objects of the plurality of objects are deposited on said depositing surface - in particular on said conveying surface - in such a way that the set of objects thus deposited on said depositing surface forms on said depositing surface a predetermined overall pattern.

[0029] When all the objects thus deposited on said conveying surface of said packaging conveyor so as to form a predetermined overall pattern, said depositing position, said depositing orientation and the predetermined overall pattern are maintained by reason of said deformable surface during the transport of the objects of the plurality of objects by this conveyor to a downstream area of ​​this conveyor.

[0030] The objects in the plurality of objects can be placed in such a way as to jointly form a pattern—specifically a geometric pattern, regular or irregular—of a predetermined size (for example, a mosaic or matrix-like arrangement, rectangular or square) on the conveyor surface. In this geometric configuration, the objects all have known fixed geometric positions (placement positions) relative to one another. Thanks to the placement of the objects on the conveyor surface, their geometric positions remain constant over time until they are picked up by at least one robot in the packaging system that knows their positions.Such a robot comprises at least one manipulation organ positioned appropriately relative to the objects according to the known position of these objects in the predetermined overall pattern and can thus come into contact with these objects and move them on said depositing surface or grasp them to remove them from said depositing surface and transport them remotely for the purpose of their packaging.

[0031] In certain embodiments, a method according to the invention comprises: - a first step of randomly depositing the objects of the plurality of objects onto a conveying surface of a first conveyor, called the supply conveyor, extending upstream of the packaging system, the conveying surface of said conveyor supply conveyor being elastically deformable such that the placement of each object on said conveying surface creates, under the effect of the weight of the object concerned, an imprint in said conveying surface which tends to wedge said object into this imprint, whereby the set of objects thus placed forms on said placement surface of said supply conveyor a random overall pattern, the random overall pattern being maintained during the transport of the objects of the plurality of objects by said supply conveyor, and; - a step of picking up the objects of the plurality of objects transported on said supply conveyor, and;- a second subsequent step of depositing the objects of the plurality of objects onto a second conveyor, called the conditioning conveyor, extending downstream of the conditioning system, the conveying surface of said conditioning conveyor being elastically deformable so that the depositing of each object on said conveying surface creates, under the effect of the weight of the object concerned, an imprint in said conveying surface which tends to wedge said object into this imprint, so that the set of objects of the plurality of objects thus deposited forms a predetermined overall pattern on said depositing surface of said conditioning conveyor; the terms upstream and downstream being defined with respect to a direction of movement of the objects.

[0032] In these embodiments of a method according to the invention: - the objects of the plurality of objects forming the predetermined overall pattern on the conveying surface of said packaging conveyor are transported by said packaging conveyor, the predetermined overall pattern being maintained during transport due to said deformable conveying surface, and; - all or part of the objects of the plurality of objects forming the predetermined overall pattern are taken simultaneously from said packaging conveyor and are deposited in the packaging container.

[0033] In these embodiments, the objects are arranged in the packaging container - for example in a crate or tray - so as to present the predetermined overall pattern.

[0034] According to these embodiments of a process according to the invention, the objects of the plurality of objects taken simultaneously are compacted, so as to form a predetermined overall pattern of reduced size after compaction in the packaging container.

[0035] In some embodiments, the objects are compacted during placement. In this embodiment, the objects of the plurality of objects placed in the packaging container are compacted so that they are in contact with each other within the packaging container.

[0036] According to certain embodiments of a method according to the invention, an analysis of said placement position of each object of the plurality of objects on said placement surface is carried out and data representing the position of each object of the plurality of objects on said placement surface are produced from this analysis.

[0037] Such an analysis is performed using known methods, notably imaging and image analysis. It allows the position of each object on the dispensing surface—specifically, on the dispensing surface as the supply conveyor moves. The imaging and image analysis methods generate data representing the position of each object transported on the supply conveyor. This position is defined and remains unchanged relative to the conveyor due to the deformable surface. This representative data of the position of each object on the dispensing surface is then adapted for transmission to a robot programmed to retrieve objects from the plurality of objects distributed across the dispensing surface based on this representative data.

[0038] According to certain embodiments of a method according to the invention: - the objects of the plurality of objects transported on said supply conveyor are picked up - in particular picked up one by one - from said supply conveyor by a first robot, called the picking robot configuration, from the representative data of said placement position of each object of the plurality of objects on said placement surface and transferred by said configuration robot onto said packaging conveyor, on which they are placed by said configuration robot, so as to form the predetermined set pattern, then; - the objects of the plurality of objects forming the predetermined set pattern are simultaneously picked up from said packaging conveyor and then placed for the purpose of their packaging in the packaging container.

[0039] According to certain particular embodiments of a method according to the invention: - a plurality of objects belonging to the group of fruits and vegetables are placed on said supply conveyor, the shape of which is such that the objects of the plurality of objects are capable of rolling on a surface. The objects are placed - for example by pouring or by any other manual or automated means - such that these objects form a random pattern depending on the method of placement, then; - the objects of the plurality of objects are transported by said supply conveyor, maintaining the position and orientation of each object on said supply conveyor by virtue of said deformable conveying surface, and so that the random pattern is maintained during transport, then;- an analysis of the position of the objects of the plurality of objects on said supply conveyor is carried out and representative data of the position of each object of the plurality of objects on said supply conveyor are produced from this analysis, then; - each object of the plurality of objects is picked one by one from said supply conveyor by said configuration robot (from the representative data of the position of each object on said supply conveyor) and transferred to said packaging conveyor on which they are deposited (from data; representative of a predetermined set pattern) to form the predetermined set pattern, then; - the objects of the plurality of objects forming the predetermined set pattern are simultaneously picked up from said packaging conveyor by a second robot, called the packaging robot, and deposited by said packaging robot into a packaging container for the purpose of packaging the objects.

[0040] The invention extends to a packaging system for a plurality of objects belonging to the fruit and vegetable group, the shape of which is such that the objects of the plurality of objects are capable of rolling on a surface, the system comprising: - at least one solid surface, called the depositing surface: o substantially horizontal; o elastically deformable such that the depositing of each object on said depositing surface creates, under the effect of the weight of the object concerned, an imprint in said depositing surface which tends to wedge said object in this imprint, and; o adapted to receive the objects of the plurality of objects and to maintain each object in a position relative to said depositing surface, called the depositing position, which is fixed at the time of depositing and maintained thereafter by virtue of said depositing surface, and;- means of collecting said objects deposited on said depositing surface and maintained in said depositing position by virtue of said depositing surface, with a view to their packaging in a packaging container.

[0041] The system has the same advantages as the process briefly described above, and therefore will not be repeated here.

[0042] In certain embodiments of a system according to the invention: - said depositing surface is a conveying surface of a first conveyor, called the supply conveyor, located in the upstream part of the packaging system: where said conveying surface is substantially horizontal and elastically deformable in such a way that the placement of each object on said conveying surface creates, under the effect of the weight of the object concerned, an imprint in the conveying surface which tends to wedge said object into this imprint, said supply conveyor having: ^ an upstream zone for the random placement of objects on the conveying surface of said supply conveyor, and; ^ a downstream zone for the removal of objects held during transport in this random position relative to said supply conveyor, and; - at least one robot, called the configuration robot, for removing one by one the objects transported on said supply conveyor and placing these objects in such a way that the set of objects thus placed forms a predetermined pattern;the upstream and downstream zones of the supply conveyor being defined according to a direction of advancement of said supply conveyor.

[0043] In these embodiments, the system according to the invention is equipped with at least one video device adapted to generate data representative of the placement position of each object on the conveying surface of said supply conveyor. Advantageously, said at least one video device comprises at least one camera. Said at least one video device is interposed between the upstream placement zone and the downstream removal zone of said supply conveyor.

[0044] In these embodiments, the system according to the invention comprises, in addition to said supply conveyor; - a second conveyor, called the packaging conveyor, arranged downstream of said supply conveyor and comprising; o an upstream area for depositing the objects of the plurality of objects such that the set of objects thus deposited forms on the surface of said packaging conveyor, a predetermined assembly pattern, and; o a downstream area for removing objects held according to this predetermined assembly pattern in relation to said packaging conveyor during transport, and; - at least one second robot, called the packaging robot, for picking up objects from the plurality of objects transported on said packaging conveyor according to the predetermined assembly pattern and depositing these objects according to this predetermined assembly pattern into a packaging container.

[0045] In these embodiments according to the invention, said packaging conveyor comprises a substantially horizontal and deformable solid conveying surface such that the placement of each object on the surface creates, under the effect of the weight of the object concerned, an imprint in the surface which tends to wedge said object in a position, said placement position, fixed with respect to the surface of said packaging conveyor, whereby the predetermined overall pattern of the plurality of objects is maintained during transport on said packaging conveyor.

[0046] According to some embodiments, the elastically deformable material is a foam whose upper surface at rest is substantially flat and which deforms elastically, forming said imprint under the effect of the weight of the object.

[0047] According to some other embodiments, the elastically deformable material is formed of a plurality of torsionally or longitudinally compressive flexible rods extending perpendicularly from the main face of the conveyor.

[0048] The invention also relates to a method and a conditioning system characterized, in combination or not, by all or part of the features mentioned above or below. Regardless of the formal presentation given, unless explicitly stated otherwise, the various features mentioned above or below should not be considered as closely or inextricably linked to each other. the invention may relate to only one of these structural or functional characteristics, or only a part of these structural or functional characteristics, or only a part of one of these structural or functional characteristics, or any grouping, combination or juxtaposition of all or part of these structural or functional characteristics.

[0049] Other objects, features and advantages of the invention will become apparent from the following detailed description of certain possible embodiments, given by way of non-limiting example and which refers to the accompanying figures in which:

[0050] [Fig.1] Figure 1 is a cross-sectional representation of a detail of a first embodiment of a deposition surface of a conditioning system according to the invention;

[0051] [Fig.2] Figure 2 is a cross-sectional representation of a detail of a second embodiment of a surface of a conveyor of a packaging system according to the invention;

[0052] [Fig.3] Figure 3 is a perspective representation of a first embodiment of an object conditioning system according to the invention;

[0053] [Fig.4] Figure 4 is a perspective representation of a second embodiment of an object conditioning system according to the invention;

[0054] [Fig.5] Figure 5 is a perspective representation of a third embodiment of an object conditioning system according to the invention, and;

[0055] [Fig.6] Figure 6 is a perspective representation of a fourth embodiment of an object conditioning system according to the invention.

[0056] Figure 1 ([Fig.1]) schematically represents a particular embodiment of a surface 1 for depositing an object belonging to the fruit and vegetable group, the shape of which (schematically represented) is such that this object is capable of rolling on a surface, in particular on a flat, horizontal solid surface. It could be a fruit with an essentially spherical shape, such as a citrus fruit, in particular an orange, a grapefruit, a A mandarin, a clementine, etc., or an apple, but also an object with a significantly non-spherical shape such as a pear, an avocado, or a lemon, for example. This refers to an object whose outer surface is at least partially curved, so that simply placing such an object on a flat, horizontal, and non-deformable solid surface almost always results in the object rolling spontaneously and uncontrollably on that surface, changing its orientation and position relative to its position and orientation when it was placed on the surface.Thus, the position and orientation of an object placed on this flat, horizontal, and non-deformable solid surface are likely to vary over time, particularly between the moment the object is placed on the surface and the moment it is picked up by a robot, based on numerical data representing the object's position at the time of placement. Indeed, as soon as the object's orientation and position on the non-deformable solid surface change between the time of placement and the time scheduled for retrieval, the data representing the object's position and / or orientation at the time of placement no longer correspond to the object's position and / or orientation relative to the non-deformable surface during the retrieval phase, and retrieval of the object by the robot becomes impossible or at least non-compliant. The invention aims to overcome this drawback.

[0057] The surface 1 for depositing an object 21, 22, 23 of a packaging system according to the invention, shown in Figure 1, comprises a base 6 made of a flexible material that is elastically deformable under transverse compression. This may be a polymer material, in particular PVC, meeting the regulatory requirements for its contact with foodstuffs. The base 6 may have any thickness suitable for its use on (or as) a fixed receiving platform for objects to be packaged in a packaging system according to the invention, or for its use as a moving conveyor belt in a conveyor of an object packaging system according to the invention. One of the main faces, referred to as the upper face 11, of the base 6 has a plurality of studs 7 arranged substantially perpendicular to the main plane of the base 6. The studs 7 are regularly distributed on said upper face 11. The density of the studs 7 The density of the spikes on the main face (11) can vary depending on the average size and mass of the object. It can range from 50 to 200 spikes per square meter. 2 of the base surface 6. The studs 7 are made of a flexible material that deforms elastically in transverse bending. However, there is nothing preventing the studs 7 from also being elastically deformable in longitudinal compression. The studs 7 may be made of a polymer material, in particular PVC, that also meets the regulatory requirements for its contact with foodstuffs. In particular, the base 6 and the studs 7 forming the depositing surface 1 are washable.

[0058] The embodiment of Figure 1 schematically represents the modifications of the deposit surface 1 due to the removal of an object 21 deposited on said surface. In the left part of Figure 1, the object 21 placed on the placement surface 1 causes, under the effect of its own weight and only under the effect of its own weight, a transverse bending deformation of the studs 7 extending opposite the object 21. This results in the formation of an imprint 3 in the placement surface 1 defined by deformed studs 8 and forming a peripheral edge 12 of the imprint 3 delimiting the imprint 3 and securing the object 21 in this imprint 3. The position and orientation of the object 21 with respect to the placement surface 1 are fixed at the time of the placement of the object 21 and no significant displacement, reorientation and / or repositioning of the object 21 after placement is possible due to said placement surface 1.In the central part of Figure 1, an object 22 cooperates with a grasping organ 9 - in particular a grasping organ comprising a suction cup - of a robot for collecting the object 22 according to the arrow indicated in Figure 1. Due to the ongoing collection of the object 22 by the grasping organ 9, the distance separating the lower face of the object 22 and the base 6 of the depositing surface 1 increases and the deformed pins 8 extending opposite the object 22 undergo a partial elastic deformation due to the vertical displacement of the object 22 collected by the collection robot, tending to regain the shape of undeformed pins 7. This elastic deformation of the deformed pins 8 continues in the right part of Figure 1 in which the vertical displacement of the grasping organ 9 of the sampling robot causes the object 23 to move away from the depositing surface 1 so that the pins 7 do not. do not undergo the stress of the weight of object 23 and return to the undeformed state. Of course, Figure 1 can also be interpreted from right to left in the direction of the placement of an object 23 on the placement surface 1, the upward-pointing arrows representing the removal of object 21, 22, 23 in Figure 1 being replaced by downward-pointing arrows in the situation of a placement of object 23.

[0059] Figure 2 ([Fig.2]) schematically represents another particular embodiment of a surface 1 for depositing an object belonging to the fruit and vegetable group, the shape of which (schematically represented) is such that this object is capable of rolling on a surface, in particular on a flat, horizontal solid surface. The depositing surface 1 for an object 21, 22, 23 of a packaging system according to the invention, shown in Figure 2, is formed of a strip 13 of solid, flexible foam that is elastically deformable in compression along the axis orthogonal to its surface. This may be polyurethane foam or foam made of any other material that meets the regulatory requirements for its contact with foodstuffs. The foam strip 13 may have any thickness suitable for its use on (or as) a fixed receiving tray for objects to be packaged in a packaging system according to the invention.The foam strip 13 can be a mobile foam conveyor belt 13 of a conveyor in a packaging system according to the invention. The foam strip 13 is made of a flexible material that deforms elastically under compression along the axis orthogonal to its surface. The foam strip 13 also meets the regulatory requirements for its contact with foodstuffs and is washable.

[0060] The embodiment shown in Figure 2 schematically represents the modifications to the deposit surface 1 resulting from the removal of an object 21 placed on said surface. In the left part of Figure 1, the object 21 resting on the foam strip 13 causes a local transverse compression deformation of a portion of the foam strip 13 extending opposite the object 21, under the effect of the weight of the object 21 and solely under the effect of the weight of the object 21. This results in the formation of an indentation 3 by pressing into the deposit surface 1, forming a peripheral edge 12 of the indentation 3. defining the indentation 3 and securing the object 21 within this indentation 3. The position and orientation of the object 21 relative to the foam strip 13 are fixed upon placement of the object 21, and no significant reorientation and / or repositioning of the object 21 after placement is possible due to said placement surface 1. The peripheral edge 12 of the indented area forming the indentation 3 (the edges appear raised relative to the depression formed by the deformed area) substantially prevents any subsequent movement of the object 21 placed within the indentation 3 it has created. In the central part of Figure 2, an object 22 cooperates with a grasping element 9 of a robot for retrieving the object 22, as indicated by the upward-pointing arrow shown in Figure 2.Due to the ongoing retrieval of object 22 by the grasping organ 9, the distance between the underside of object 22 and the foam strip 13 from the dispensing surface 1 increases, and the portion of the foam strip that is no longer in contact elastically returns to an undeformed and substantially flat shape due to the vertical movement of the retrieval of object 22 by the retrieval robot. This elastic deformation of the foam strip 13 continues in the right-hand part of Figure 2, where the vertical movement of the grasping organ 9 of the retrieval robot causes object 23 to move away from the dispensing surface 1, so that the foam strip 13 is not subjected to the stress of the weight of object 23 and returns to an undeformed state. In this undeformed state, the dispensing surface 1 of the foam strip 13 has a generally flat appearance as long as no stress is applied to this dispensing surface 1.

[0061] A particular embodiment of a system 10 according to the invention for packaging objects 2 and of an implementation of this packaging system 10 is shown in Figure 3 (Fig. 3). In this embodiment, the object depositing surface 1 is a conveying surface 19 of a conveyor 18 for objects 2, in particular clementines 2 shown schematically. The conveying surface 19 is substantially flat and exposes said depositing surface 1 to the upper face of the conveyor 18. Said conveying surface 19 of the conveyor 18 is elastically deformable such that the depositing of each object 2 on said conveying surface 19 creates, under the effect of the weight of the object 2 concerned, an imprint in said A conveying surface 19 tends to hold the object 2 in its imprint. Thus, objects 2 placed on this conveying surface 19 of conveyor 18 are maintained over time in the position and orientation they had when placed on conveyor 18, solely by virtue of the elastically deformable conveying surface 19. The placed objects 2 are held even when conveyor 18 is in a conveying phase, accelerating, decelerating, starting, or stopping. No spontaneous repositioning or reorientation of the objects 2 on conveyor 18 is possible. Objects 2 can be placed on conveyor 18 by any means of placement. This can be a manual or automated placement of objects 2. Depending on their fragility, objects can be deposited individually or by depositing a plurality of objects 2 on said conveying surface 19 of conveyor 18.

[0062] The object packaging system 10 according to the invention, shown in Figure 3, includes a second packaging and presentation tray 16 for object packaging containers 17. In the embodiment shown in Figure 3, the packaging tray 16 is a fixed tray on which the packaging containers 17 are arranged in predetermined or determinable positions. The packaging containers 17 may be crates or trays in which the objects 2 are arranged for storage, transport, and / or presentation for sale. The object packaging system 10 according to the invention, shown in Figure 3, includes two robots, referred to as configuration robots 15, for picking and manipulating the objects 2 moving along the conveyor 18. These may be Delta robots.That being said, the use of any other type of object manipulation and movement robot is possible. Each robot 15 is equipped with an object 2 grasping device 9 adapted to cooperate with an object 2, pick up this object 2 placed on the conveyor 18, move this object 2 to the packaging tray 16, and place the transported object 2 into a packaging container 17 placed on the packaging tray 16. Of course, the object 2 packaging system 10 according to the invention, shown in Figure 3, includes means (not shown in Figure 3) for analyzing the position of each object 2. arranged on conveyor 18, capable of generating digital data representing the position of each object 2 relative to conveyor 18 during the placement of the objects 2. These analysis means may, for example, include a digital image acquisition device and a computer system for analyzing these digital images adapted to generate this digital data. This digital data representing the position of each object 2 on conveyor 18 is transmitted to a control system for the actuation of said configuration robots 15, whereby each robot 15 is capable of picking up each object 2 from conveyor 18, moving each picked object 2 between conveyor 18 and the packaging tray 16, and placing the moved object 2 into a packaging container 17 for objects 2 in a predetermined position on said packaging container 17.

[0063] A particular embodiment of a system 10 according to the invention for conditioning objects 2 and of an implementation of this conditioning system 10 is shown in Figure 4 (Fig. 4). In this embodiment, the object placement surface is a conveying surface 19 of a conveyor 18 for objects 2 moving in a direction of movement indicated in Figure 4 by arrow 20. The conveying surface 19 of the conveyor 18 is elastically deformable such that the placement of each object 2 on said conveying surface 19 creates, under the effect of the weight of the object 2 concerned, an indentation in said conveying surface 19 which tends to wedge said object 2 into this indentation. Thus the objects 2 placed on the conveying surface 19 of the conveyor 18 are maintained over time, by reason of said conveying surface 19, in the position and orientation which they presented when they were placed.Objects 2 placed on the conveyor surface 19 of conveyor 18 are maintained in the position and orientation they had on conveyor 18 when placed there, including during their movement along conveyor 18, during acceleration and deceleration phases. No spontaneous repositioning or reorientation of objects 2 on the placement platform is possible due to the conveyor surface 19. Objects 2 can be placed on the conveyor surface 19 of conveyor 18 by any placement method.

[0064] The object conditioning system 10 according to the invention, shown in Figure 4, comprises a digital image acquisition device 24 and a computer system (not shown in Figure 4) for analyzing these digital images, adapted to generate digital data representative of the position of the objects 2 relative to the conveyor surface 19, from these digital images. The image acquisition device 24 is positioned substantially directly above the conveyor surface 19 and downstream of a deposit zone 25 adapted to allow the objects to be deposited onto the conveyor 18, so that the position of each object 2 deposited on the conveyor 18 in said deposit zone 25 is analyzed.These numerical data, representing the position of each object 2 on the conveyor 18, are transmitted to a control system for actuation robots, referred to as configuration robots 15, adapted to be able to pick up each object 2 from the conveyor surface 19 of the conveyor 18, to move each picked object 2 between the conveyor 18 and a packaging tray 16, and to place the moved object 2 into a packaging container 17 for objects 2 in a predetermined position on said packaging container 17. In the embodiment shown in Figure 4, the packaging system 10 includes a packaging and presentation tray 16 for packaging containers 17 for objects 2, similar to the packaging tray 16 described in Figure 3.In the embodiment shown in Figure 4, the packaging tray 16 is a fixed tray on which the packaging containers 17 are arranged in predeterminable or determinable positions. The packaging containers 17 may be trays or crates, with or without compartments (not shown in Figure 4), each compartment being intended to receive a single object.

[0065] In an embodiment of a system 10 according to the invention for packaging objects 2, shown in Figure 4, the set of objects 2 deposited on the conveying surface 19 in the upstream zone 25 (relative to conveyor 18) of conveyor 18 forms a random pattern 35. In practice, the objects are deposited manually (i.e., in bulk) in the upstream zone of the conveyor so that the objects 2 are distributed in a single layer, without any partial or total overlap of objects 2 on the surface 19. of conveying. The set of objects 2 thus deposited on the conveying surface moving along the direction 20 of the conveyor 18 is exposed to the image acquisition device 24, and the position of each object 2 in this set of objects 2 is determined relative to the conveying surface 19. Based on this determination of the position of each object 2 and the elastically deformable conveying surface 19, each object 2 can be picked up by one of the robots 15 and placed in a packaging container 17. In this container, the deposited objects form a predetermined pattern conforming to numerical data representing the position that each object 2 in the set of objects should have within the packaging container 17. The predetermined pattern may depend on the nature of the objects 2 to be packaged and aims to optimize the filling of the packaging container 19 by the objects 2.

[0066] Another particular embodiment of a system 10 according to the invention for conditioning objects 2 and of an implementation of this conditioning system 10 is shown in Figure 5. In this embodiment, the object placement surface is a conveying surface 19 of a first conveyor, referred to as the supply conveyor 27, for objects 2 moving in a direction of movement indicated in Figure 5 by arrow 20. The conveying surface 19 of said supply conveyor 27 is elastically deformable such that the placement of each object 2 on said conveying surface 19 creates, under the effect of the weight of the object 2 concerned, an indentation in said conveying surface 19 which tends to wedge said object 2 into this indentation. In the embodiment shown in Figure 5, the image acquisition device is not shown.In this embodiment, the object conditioning system 10 includes a second conveyor, referred to as the conditioning conveyor 28, adapted to move objects in a direction of movement identified in Figure 5 by arrow 26. This conditioning conveyor 28 has an elastically deformable conveying surface 29 such that the placement of each object 2 on this conveying surface 29 creates, under the weight of the object 2, an indentation in the conveying surface 29 which tends to wedge the object 2 into this indentation. The objects 2. Objects placed on the conveying surface 29 of the packaging conveyor 28 are maintained in the position and orientation they had on the packaging conveyor 28 when placed by the configuration robot 15, including during their movement by the packaging conveyor 28, during acceleration and deceleration phases of the packaging conveyor 28. No spontaneous repositioning or reorientation of the objects 2 on the conveying surface 29 is possible due to the nature of the conveying surface 29. In the embodiment shown in Figure 5, the packaging conveyor 27 and the packaging conveyor 28 have substantially parallel directions of movement. However, these directions may not be parallel, provided that the robots 15 are configured accordingly.In particular, the directions of movement 20, 26 of said supply conveyors 27 and packaging conveyors 28 can be orthogonal. Furthermore, the speeds imparted to the objects 2 by said supply conveyor 27 and by said packaging conveyor 28 can be equal or different. It is then necessary to adapt the actuation speeds of the robots 15 accordingly. In the embodiment shown in Figure 5, the objects 2 picked up from said supply conveyor 27 are deposited onto said packaging conveyor 28 in such a way that the objects 2 deposited on the conveying surface 29 of said packaging conveyor 28 form a plurality of predetermined geometric patterns.Due to the conveying surface 29 of said packaging conveyor 28, each predetermined assembly pattern formed by the objects 2 on said packaging conveyor 28 during their placement is maintained during the movement, during acceleration phases or deceleration phases of said packaging conveyor 28.

[0067] Another particular embodiment of a system 10 according to the invention for conditioning objects 2 and of an implementation of this conditioning system 10 is shown in Figure 6 (Fig. 6). In this embodiment, the object conditioning system 10 comprises a conveyor, referred to as the supply conveyor 27, having a surface 19 for conveying objects 2 moving along a direction of travel indicated in Figure 6 by arrow 20. The conveying surface 19 of said supply conveyor 27 is elastically deformable such that the placement of each object 2 on said conveying surface 19 creates, under the effect of the weight of the object 2 concerned, an indentation in said conveying surface 19 which tends to wedge said object 2 into this indentation. Thus, the objects 2 placed on the conveying surface 19 of said supply conveyor 27 are maintained over time, by virtue of said elastically deformable conveying surface 19, in the position and orientation they had when placed, including during their movement by said supply conveyor 27, during acceleration and deceleration phases of said supply conveyor 27.No spontaneous repositioning or reorientation of the objects 2 on the conveying surface 19 of said supply conveyor 27 is possible due to said conveying surface 19. The system 10 according to the invention for conditioning objects 2 shown in Figure 6 comprises a digital image acquisition device 24 and a computer system (not shown in Figure 6) for analyzing these digital images as described in Figure 4.

[0068] The object 2 packaging system 10 according to the invention, shown in Figure 6, comprises two other conveyors, referred to as object 2 packaging conveyors 281 and 282, each comprising an object 2 conveying surface 29 for objects 2 moving along a direction of movement indicated in Figure 6 by arrows 26, which is perpendicular to the direction of movement of objects 2 moving on said supply conveyor 27. The conveying surface 19 of each of said packaging conveyors 281 and 282 is elastically deformable such that the placement of each object 2 on said conveying surface 19 creates, under the effect of the weight of the object 2 concerned, an indentation in said conveying surface 19 which tends to wedge said object 2 into this indentation. In the embodiment shown in Figure 6, said supply conveyor 27 is arranged so as to cross said packaging conveyors 281,282 underneath.However, nothing prevents us from planning for the said supply conveyor 27 to be arranged in such a way as to cross the said conveyors. 281, 282 of packaging above. The system 10 according to the invention for packaging objects 2 shown in Figure 6 comprises two robots, referred to as configuration robots 15, arranged to transfer the objects 2, moved by said supply conveyor 27, onto said packaging conveyors 281, 282. The robots 15 may be of the type as described in Figure 5 and are then adapted to the configuration of said supply conveyors 27 and packaging conveyors 281, 282.

[0069] In the embodiment shown in Figure 6, each object 2 picked up from said supply conveyor 27 by one of the robots 15 is deposited onto one of said packaging conveyors 281, 282 in motion such that the objects 2 deposited on the conveying surface 29 of each packaging conveyor 281, 282 form a plurality of predetermined geometric patterns 30. Due to the conveying surface 29 of said packaging conveyors 281, 282, each predetermined pattern 30 formed by the objects 2 on said packaging conveyors 281, 282 is maintained during the movement, during acceleration or deceleration phases of said packaging conveyors 281, 282.

[0070] Each packaging conveyor 281, 282 of the system 10 according to the invention for packaging objects 2 shown in Figure 6 is equipped with a robot 31 for the simultaneous transfer of all the objects 2 forming the predetermined pattern 30, by picking up—in particular by simultaneous picking—all of these objects 2 forming this pattern 30 from said packaging conveyors 281, 282 and transferring them into an empty container 17 presented to one of the transfer robots 31 by means of a conveyor 32, 33 arranged to supply said transfer robots 31 with empty containers 17. Thus, the objects 2 of the set of objects forming the predetermined pattern 30 are packaged in the form of a package 34 in which the objects present the predetermined pattern.

[0071] The invention can be the subject of numerous embodiments compared to the embodiments described above and represented in the figures.

Claims

Claims

1. A method for packaging objects (2) of a plurality of objects belonging to the group of fruits and vegetables and whose shape is such that the objects of the plurality of objects are capable of rolling on a surface; characterized in that the objects (2) of the plurality of objects are deposited on a solid surface, called the depositing surface (1), of a system (10) for packaging said objects, said depositing surface (1) being: - substantially horizontal; - adapted to receive the objects of the plurality of objects; and; - elastically deformable such that the depositing of each object on said depositing surface (1) creates, under the effect of the weight of the object concerned, an indentation (3) in said depositing surface (1) which tends to wedge said object into this indentation (3); then; the objects of the plurality of objects deposited on said depositing surface (1) and held in a position relative to said depositing surface,said depositing position, which is fixed during the depositing and maintained after the depositing by reason of said depositing surface (1), are taken from said depositing surface for the purpose of their packaging in a packaging container (17).

2. A method according to claim 1, characterized in that: - said depositing surface is a substantially horizontal conveying surface (19) of a conveyor (18, 28, 281, 282) of the packaging system (10), said conveying surface (19) being elastically deformable such that the depositing of each object on said conveying surface (19) creates, under the effect of the weight of the object concerned, an imprint (3) in said conveying surface (19) which tends to wedge said object in this imprint (3), in that: - the objects (2) of the plurality of objects are transported by the conveyor (18, 28, 281, 282) and maintained in said depositing position during transport by virtue of said conveying surface (19),and in that; - the objects of the plurality of objects held in said deposit position are taken from the conveyor (18,28,281,282) and transferred, up to a packaging area located away from this conveyor for packaging in the packaging container (17).

3. A method according to claim 1 or 2, characterized in that the objects (2) of the plurality of objects are thus deposited on said depositing surface (1) such that the set of objects deposited on said depositing surface forms on said depositing surface a random pattern (35).

4. A method according to claim 1 or 2, characterized in that the objects of the plurality of objects are deposited on said depositing surface (1) such that the set of objects thus deposited on said depositing surface forms on said depositing surface a predetermined pattern (30).

5. A method according to claims 2, 3 and 4,characterized in that it comprises: - a first step of randomly depositing the objects of the plurality of objects onto a conveying surface (19) of a first conveyor, referred to as the supply conveyor (27), extending upstream of the packaging system (10), the conveying surface (19) of said supply conveyor (27) being elastically deformable such that the depositing of each object onto said conveying surface (19) creates, under the effect of the weight of the object concerned, an indentation (3) in said conveying surface (19) which tends to wedge said object into this indentation (3), whereby the set of objects (2) thus deposited forms on the conveying surface (19) of said supply conveyor (27) the random set pattern (35), the random set pattern (35) being maintained on the conveying surface (19) during the transport of the objects by said supply conveyor (27) due to the conveying surface (19),and; - a step of picking up the objects transported on said supply conveyor (27), and; - a second subsequent step of depositing the objects of the plurality of objects onto a conveyor surface (29) of a second conveyor, said packaging conveyor (28, 281, 282), extending downstream of the packaging system (10), the conveyor surface (29) of said, packaging conveyor (28,281,282) being elastically deformable such that the placement of each object on said conveying surface (29) creates, under the effect of the weight of the object concerned, an imprint (3) in said conveying surface (29) which tends to wedge said object in this imprint (3), so that the set of objects of the plurality of objects thus placed forms a predetermined set pattern (30) on the conveying surface (29) of said packaging conveyor (28,281,282); the upstream and downstream terms being defined with respect to a direction of movement of the objects.

6. A method according to claim 5, characterized in that: - the objects (2) of the plurality of objects forming the predetermined pattern (30) on the conveying surface (29) of said packaging conveyor (28,281,282) are transported by said packaging conveyor (28,281,282), the predetermined pattern (30) being maintained during transport by reason of said deformable conveying surface (19), and; - all or part of the objects of the plurality of objects forming the predetermined pattern (30) are simultaneously taken from said packaging conveyor (28,281,282) and deposited into the packaging container (17).

7. A method according to claim 6, characterized in that the objects (2) of the plurality of objects taken simultaneously are compacted, so as to form a predetermined overall pattern of reduced size after compaction in the packaging container (17).

8. A method according to any one of claims 1 to 7, characterized in that an analysis of said placement position of each object on said placement surface (1,19) is performed and representative data of the position of each object of the plurality of objects on said placement surface (1,19) are produced from this analysis.

9. A method according to claim 8 in combination with any one of claims 5 to 7, characterized in that: - the objects of the plurality of objects transported on said supply conveyor (27) are picked up from said conveyor (27). supply by a first robot, called the configuration robot (15), from data representing the placement position of each object on the conveyor surface (19) and transferred by said configuration robot (15) to said packaging conveyor (28), on which they are placed so as to form the predetermined assembly pattern (30), then; - the objects of the plurality of objects forming the predetermined assembly pattern (30) are simultaneously picked up from said packaging conveyor (28, 281, 282) and then placed for packaging in the packaging container (17).

10. Packaging system (10) for a plurality of objects (2) belonging to the fruit and vegetable group and whose shape is such that the objects of the plurality of objects are capable of rolling on a surface, the system (10) comprising: - at least one surface, called the placement surface (1), solid: o substantially horizontal;o elastically deformable such that the placement of each object (2) on said placement surface creates, under the effect of the weight of the object concerned, an indentation (3) in said placement surface (1) which tends to wedge said object into this indentation (3), and; o adapted to receive the objects (2) of the plurality of objects and to maintain each object (2) in a position relative to said placement surface (1), said placement position, which is fixed during placement and maintained thereafter by virtue of said placement surface (1), and; - means for picking up said objects placed on said placement surface and maintained in said placement position by virtue of said placement surface, for the purpose of packaging them in a packaging container (17).

11. System according to claim 10, characterized in that:; - said depositing surface (1) is a conveying surface (19) of a first conveyor, called the supply conveyor (27), located in the upstream part of the packaging system (10): o said conveying surface (19) being substantially horizontal and elastically deformable such that the depositing of each object on the conveying surface (19) creates, under the effect of the weight of the object concerned, an indentation in the conveying surface (19) which tends to wedge said object into this indentation (3), said supply conveyor (27) having; ^ an upstream zone (25) for the random depositing of objects (2) onto the conveying surface (19) of said supply conveyor (27), and; ^ a downstream zone (36) for the removal of objects held during transport in this random position relative to said supply conveyor (27), and;- at least one robot, called a configuration robot (15), for removing one by one the objects transported on said supply conveyor (27) and depositing these objects (2) in such a way that the set of objects thus deposited forms a predetermined set pattern (30);the upstream (25) and downstream (36) zones of the supply conveyor (27) being defined according to a direction of advancement of said supply conveyor (27).

12. System according to claim 11, characterized in that the packaging system is equipped with at least one video device (24) adapted to generate data representative of the placement position of each of the objects on the conveying surface (19) of said supply conveyor (27).

13. System (10) according to claim 11 or 12, characterized in that it comprises: - a second conveyor, referred to as the packaging conveyor (28), disposed downstream of said supply conveyor (27) and comprising; o an upstream placement zone for the objects (2) of the plurality of objects such that the set of objects thus placed forms; on the surface of said packaging conveyor (28), a predetermined assembly pattern (30), and; o a downstream area for removing the objects held according to this predetermined assembly pattern (30) relative to said packaging conveyor (28) during transport, and; - at least a second robot, said packaging robot (31), for picking up the objects from the plurality of objects transported on said packaging conveyor (28) according to the predetermined assembly pattern (30) and depositing these objects according to this predetermined assembly pattern (30) into a packaging container (17).

14. System according to claim 13, characterized in that said packaging conveyor (28) comprises a substantially horizontal and deformable solid conveying surface such that the placement of each object on the conveying surface creates, under the effect of the weight of the object concerned, an imprint in the surface which tends to wedge said object in a position, called the placement position, fixed with respect to the conveying surface (29) of said packaging conveyor (28).

Images