An optimized object handling system

Abstract

The present invention relates to an object handling system (1) comprising at least a first inductor (IND) and a main translation device (MTD). The main translation device (MTD) may be a sorter system for e.g. parcels or luggage, and wherein the inductor (IND) is adapted to receive objects (OBJ) at a stand still or very low velocity and accelerate said objects (OBJ) to a velocity at or near a velocity of the main translation device (MTD) without the objects (OBJ) toppling or tilting during acceleration or translation from the inductor (IND) to the main translation device (MTD). The object handling system (1) further comprises a control system CS comprising at least a controller (CO) and optionally a processor (PROC) and wherein the control system (CS) controls the operation of the inductor (IND) and the main translation device (MTD). The processor (PROC) is adapted with a mathematical model (MM), preferably a learning algorithm, the mathematical model (MM) adapted to receive data from a sensor system (SS) of the object handling system (1), and adjust operation parameters (OP) of at least the inductor (IND), based on any detected error (ERR) during translation of a specific object (OBJ1) from the inductor (IND) to a target (TAR) of the specific object (OBJ1) along a path of the main translation device (MTD). The mathematical model MM is further configured to apply the adjusted operation parameters (ADJ_OP) when a further object (OBJ2) is received at the inductor (IND) and wherein object parameters (IOP') sensed by the sensor system (SS) of the further object (OBJ2) is similar to initial object parameters (IOP) of the specific object (OBJ1), to reduce error (ERR) during translation of the further object (OBJ2).

Description

85056PC011AN OPTIMIZED OBJECT HANDLING SYSTEMFIELD OF THE INVENTIONThe present invention relates to an object handling system and a method of handling objects, in particular the object handling system may be a parcel sorting system.BACKGROUND OF THE INVENTIONSorters, such as for sorting mail and / or parcels or the like, normally include a sorter system for transporting items at a constant speed to a discharge position, and in accordance with a code or the like on the individual objects, the objects are received and discharged from the sorter at a given discharge position.Objects are often inducted to the sorter from a number of inductions which receive an object in one end and they serve to accelerate the object and deliver the object at an empty position on the sorter, e.g. an empty cross belt or tilt tray element. An induction accelerates an object up to a velocity with a directional component parallel with the sorter velocity, which equals or at least approximately equals the sorter velocity. The inductions may be manually loaded with items, i.e. a person picks up individual items from a feeding conveyor or the loading may be performed by e.g. a robotic system.It is a known problem, that such sorting system may cause error during translation of the objects, such as when the objects translate from the inductor to the main translation device or sorter.Hence, an improved object handling system would be advantageous, and in particular a more efficient and / or reliable object handling system and method would be advantageous.US2022024696 discloses a method for controlling the material flow of goods to be conveyed in a conveyor system of a real warehouse by a virtual three-dimensional model, for which purpose the conveyor system of the real warehouse is virtualized85056PC012 in a central computer, for which purpose a virtual three-dimensional model of the real conveyor system having the dimensions of the individual conveyor components and the movement parameters thereof, including the actuator properties and the identity, shape and position of the goods to be conveyed, is stored, and the conveyor system of the real warehouse is centrally controlled from the virtual model.In e.g. figure 1 and section

[0040] there is disclosed a discharging area 6 being activated for the packet 2, located in the area 100, according to its speed such that the packet 2 passes onto the discharging area 61 and thus onto the path 71.US2009065330 discloses systems and methods for accumulating articles on transport conveyors, for efficiently merging articles, and for automatically controlling sortation speed. Transport conveyor beds upstream of an accumulation conveyor bed may be controlled to more densely pack articles, as well as to more timely deliver articles to the downstream subsystem when accumulation terminates. Slugs of articles in a merge subsystem may be released based on a prioritization scheme that heavily weighs the ability of the slug to attach to the next-most downstream slug. A combination of closed and open-looped control of the slug's movement may be used to accurately position slugs on the merge bed. A downstream sortation speed may be automatically adjusted based on the amount of merge traffic.EP3982310 discloses and illustrates a material handling system 100 which may include a sorter portion (e.g. the sorter 106) that may receive the one or more articles 114 from an induction portion 116. In some examples, the induction portion 116 may be of a singulation system 118 that can be configured to generate spacing between the one or more articles 114. For example, the induction portion 116 may comprise various mechanical components e.g. configurations of belt units and / or mechanical actuators with end effectors, which may create the spacing between the one or more articles 114. In accordance with some example embodiments, LiDAR based sensors of the LiDAR sensor unit 104-2 may capture a 3D scan of various operations and / or activities that may be performed on the singulation system 118.85056PC013OBJECT OF THE INVENTIONIn particular, it may be seen as an object of the present invention to provide an object handling system that solves the above mentioned problems of the prior art with reducing error during automatic translation of objects, between an inlet of the inductor and an end target for said object, at a point of the main translation device or sorter.SUMMARY OF THE INVENTIONThus, the above described object and several other objects are intended to be obtained in a first aspect of the invention by providing an object handling system comprising:-a main translation device adapted to translate objects in a primary direction,-at least one inductor comprising an inlet and an outlet, the outlet leading to the main translation device and adapted to translate objects from the inductor to said main translation device,-a sensor system adapted to detect initial object parameters of an object positioned on the inductor and detect translation parameters of an object translating from the outlet to the main translation device, the sensor system comprising:-a first sensor positioned at, or near the inductor,-a control system comprising at least:-a controller, the controller adapted to control operation parameters of at least the inductor,-a processor in data connection with the sensor system and the control system, the processor adapted to execute a mathematical model, wherein the mathematical model is adapted to:-obtain one or more of the initial object parameters, the translation parameters and the operation parameters associated with each object, -detect an error relating to translation of an object from the inductor to a target location and, based on the detected error and one or more of85056PC014 the initial object parameters, the translation parameters and the operation parameters:-adjust one or more operation parameters,-store the adjusted operation parameters in a memory; and if the sensor system detects a further object on the inductor, the further object having object parameters identical or similar to the initial object parameters :-provide the adjusted operation parameters to the controller.The invention is particularly, but not exclusively, advantageous for obtaining continuous feedback regarding the translation of objects from the inductor to the main translation device and continuously adapt the operation parameters based on said feedback. In a preferred embodiment, the object handling system is adapted to receive a specific object at the inductor, detect initial object parameters related to said specific object, translate the object from the inductor to the main translation device, and if an error is detected relating to the translation of the specific object, adjust the operation parameters for one or both of the inductor and the main translation device, based on the detected error, and apply said adjusted operation parameters, when a further object identical or similar to the specific object is detected by the sensor system, thus ensuring high efficiency and low error rate. In the present text the word 'translation device' is used in the understanding of a device able to at least move items. Thus, and in line therewith, when it is herein said that e.g. 'an object is translating from the outlet to the main translation device', it is understood that the object is moved from the outlet to the so-called main translating device.Thus, the present invention is particularly advantageous for reducing risk of error and thus improve efficiency, when translating objects from an inductor to a translating device.It is an insight disclosed hereby that in a particular embodiment according to the invention, to adjust one or more operation parameters comprises to adjust one of the operation parameters of the inductor.85056PC015In this text the wording mathematical model can be exchanged by control algorithm.In the context of the present invention, a main translation device may be understood as a sorter, such as a sorter for sorting parcels along a plurality of chutes. Thus, it is to be understood, that a target location may be a specific chute.It is further to be understood, that an object may be construed as a parcel, and wherein the object handling system may be a sorting system at a logistics centre for handling parcels.In particular, the present invention is adapted to solve current issues with error during automated translation of objects, such as wherein an object does not reach a target location, reaches a wrong target location, falls off either of the inductor or the main translation device, rotates / re-orients during translation, or gets stuck in between sections of the object handling system. Other errors may be, that the object is translated from the inductor to the main translation device, and wherein the object is positioned at or near an edge of the main translation device.To solve such or similar issues it may be of particular benefit when the mathematical model is furthermore adapted to obtain occupancy status of the main translation device and to identify an object space of the occupancy status, the object space corresponding to at least the object width and the object length and wherein to adjust one or more operation parameters comprises to adjust one of the operation parameters of the inductor, or to adjust one of the object space identification parameters or even to adjust both..In the context of the present invention, and inductor is to be understood as a device adapted to receive an object at very low velocity, such as being placed at the inlet by a person, and wherein the inductor accelerates the object to a velocity matching the velocity of the main translation device, and wherein said acceleration may be performed in steps. In the present text, both the word 'induction' and the word 'inductor' is used for the same device.85056PC016Further, the object handling system is adapted to singulate the objects. In the context of the present invention, singulate is to be understood as providing the objects to the main translation device wherein objects, when located on the main translation device, is spaced apart.In other words, singulate is to be understood as ensuring that adjacent objects does not abut each other, when being translated.Thus, a further advantage of the present invention is that the main object handling device or sorter may be able to operate at an increased velocity, compared to existing systems, as the feedback provided by the sensor system may enable the mathematical model to adjust the operation parameters to operate with a higher success rate, and wherein object may be accelerated to a higher velocity without increasing risk of error, either during acceleration or when translating between the outlet of the inductor and the main translation device.Even further, the present invention may provide a reduced footprint due to the continuous adjustment of the operating parameters, as this may require a reduced length of an individual inductor to accelerate the object from the inlet to the outlet, to a matching / similar velocity as of the main object translation device.In a preferred embodiment, the sensor system further comprises at least a second sensor.In another preferred embodiment, the first sensor is adapted to detect the initial object parameters.In another preferred embodiment, the second sensor is adapted to detect the translation parameters.In yet another preferred embodiment of the invention the main translation device is a sorting device, adapted to sort objects and translate said objects to at least two different target locations.85056PC017In yet another preferred embodiment, the sorting device is selected from a crossbelt sorter and a tilt tray sorter comprising a plurality of cross belts or tilt trays, the plurality of cross belts or tilt trays adapted to translate the objects in a secondary direction transverse to the primary directions.The present invention is particularly advantageous for providing different objects to cross belts or tilt trays, as said cross belts or tilt trays require a high degree of precision, when translating the objects from the outlet of the inductor to said belts or trays, and wherein objects of e.g. differing size or rigidity if subject to an error, will provide the mathematical model with feedback which can reduce future errors.In yet another preferred embodiment, the objects are parcels selected from cardboard boxes and polybags.It is to be understood, that the parcels may be any type of parcels typically handled at a logistics centre, and wherein cardboard boxes and polybags are most prevalent. The present invention is particularly advantageous for reducing error in handling of parcels of very different rigidity, size and shape as the mathematical model continues adapts the operating parameters during translation and / or sorting.In yet another preferred embodiment, the objects are luggage, such as bags, suitcases, strollers, flight cases or other common types of luggage at airports.In an advantageous embodiment, the inductor further comprises two or more conveyors arranged in between said inlet and outlet. This embodiment provides for an improved acceleration of the object, from the inlet to the outlet, and wherein said acceleration can be provided in stages, concurrent conveyor representing an acceleration stage.In another advantageous embodiment, a first conveyor of two or more conveyors of the inductor translates the object in a first direction and another of the two or more conveyors is angled, relative to the first conveyor, translating the object in a85056PC018 second direction. This embodiment is particularly advantageous for reducing the footprint of the inductor; and further advantageous for providing the mathematical model with a method of rotating objects between adjacent conveyors.It is to be understood, that the object may be positioned at the inlet by any suitable means, such as by a person, a robotic manipulator, a conveyor or an auxiliary type of inductor.In yet another preferred embodiment, the inductor is adapted to rotate the object by adjusting speed of one of the two or more conveyors of the inductor, relative to the speed of another of the two or more conveyors.It is to be understood, that the inductor may comprise two or more, such as between three to five or three to ten conveyors. It is further to be understood, that the operating system is adapted to adjust the velocity of each of the conveyor individually, to accelerate the object in separate stages on each of the conveyors.In a preferred embodiment of the invention, the second sensor is positioned at a point where the outlet and the main translation device intersects. This embodiment is particularly advantageous for providing sensor feedback to the mathematical model at the object's transition from the inductor to the main translation device.In other preferred embodiments, the second sensor is positioned at a point immediately after the object's transition from the inductor to the main translation device, thus providing the mathematical model with data regarding the object's position and / or orientation on the main translation device, i.e. the first sensor may be positioned and adapted to provide both data regarding the object and the translation of the object.In yet other preferred embodiments, the first sensor is adapted to detect both initial object parameters and translation parameters. It is to be understood, that85056PC019 the first sensor may be positioned at any position at or near the inductor or the main translation device, to enable said first sensor to perform said detection.Even further, the second sensor may be adapted to measure a relative velocity between the object and the main translation device at or immediately after the object's transition from the inductor to the main translation device. This embodiment is particularly advantageous for providing the mathematical model with data suitable for an adjustment of the inductor velocity at the outlet.In yet another preferred embodiment, the initial object parameters comprise at least: object length, object width and object position on the inductor. In other preferred embodiments, the initial object parameters comprise one or more of: object length, object width and object position on the inductor. This embodiment is particularly advantageous for adjusting parameters when an error is detected, as the inventors have realized that a high number of errors are due to a high variety of said parameters for different handled objects.In even yet another preferred embodiment, the initial object parameters further comprise one or more of: object height, object shape, object type, object volume, object fragility, object hazard, surface texture of object, material type of object and object density. This embodiment is particularly advantageous for enabling the mathematical model to adjust operation parameters when an error is detected, as the inventors have realized that a number of errors are due to a high variety of said parameters for different handled objects.In the context of the present invention, object fragility is to be understood as an object which are fragile or wherein contents of an inside of the object are fragile, and thus the object is to be handled with care.In the context of the present invention, object hazard is to be understood as an object which may be hazardous or wherein contents of an inside of the object are hazardous, and thus is to be handled with special care.85056PC0110Fragility and hazard labels may be applied to the specific objects, or e.g. barcodes or labels may be referenced to a database comprising further information about said object.It is to be understood, that surface texture of the object may be relevant when translating the object, at least during acceleration of the object, as a smooth surface may require specific acceleration stages; and wherein a more textured surface may require less stages of acceleration to reach a target velocity.In even yet another preferred embodiment, the sensor system further comprises a scale adapted to provide the weight of an individual object, to the mathematical model, as a further initial object parameter.In even yet another preferred embodiment the scale is further adapted to detect object centre of gravity as an initial object parameter.In even yet another preferred embodiment, the first sensor is further adapted to detect an orientation of the object as a further initial object parameter, the second sensor is adapted to detect an orientation of the object as a further translation parameter and the mathematical model is adapted to detect a change in orientation of the object. This embodiment is particularly advantageous for adjusting operation parameters when an error is detected, as the inventors have realized that a number of errors are due to a high variety of said parameters for different handled objects.Thus, the provision of one or more of the above initial object parameters are advantageous to the mathematical model, to ensure that the mathematical model is provided with sufficient data to adjust the operating parameters and reduce error during translation of objects. It is further to be understood, that the object handling system, or an associated server in data connection with the object handling system, is adapted to store said adjusted operating parameters and wherein the mathematical model or the controller is adapted to retrieve said operating parameters upon detection of an object which are similar or identical to an object which has previously caused an error, i.e. not reached a target location.85056PC0111It is to be understood, that objects may be provided with a label or tag, and wherein the sensor system is adapted to retrieve information from said label or tag, either directly from said label or tag; or by retrieving data from e.g. a database, and wherein data, such as an ID or barcode, of the label or tag is associated with further data in said database.In an advantageous embodiment, the translation parameters comprise one or more of: occupancy status of main translation device, velocity of the object at the outlet, and position of the object, when said object is translated to the main translation device.Occupancy status is to be construed as free space along the main translation device, and wherein a free space is to be at least of length and width matching the length and width of the object, according to initial object parameters.It is further to be understood that, that the main translation device may operate at a velocity of 1 to 10 m / s, preferably between 2 to 8 m / s, more preferably between 2 and 6 m / s, even more preferably between 2 and 4 m / s and most preferably at 3 m / s; and wherein the inductor is adapted to accelerate an object, between the inlet to the outlet, to or near the velocity of the main translation device, to prevent the object from toppling or tilting when translating from the outlet to the main translation device.In another advantageous embodiment, the sensor system further comprises a scale adapted to provide the weight of an individual object, to the mathematical model, as a further initial object parameter.In yet another advantageous embodiment, the operation parameters are selected from one or more of the rate of acceleration of an object from the inlet of the inductor to the outlet of the inductor, the velocity of the object at the outlet, the induction point by the inductor on the main translation device or by adjustment of temporal activation of inductor.It is to be understood, that temporal activation of inductor relates to the point in time at which the inductor is activated, so as to induct the object to the main85056PC0112 translation device to achieve successful induction. It is further to be understood, that the main translation device operates at high velocity and may contain a plurality of objects, and wherein the mathematical model is adapted to ensure that sufficient space is available on said main translation device, relative to specific dimensions of an object to be inducted.Even further, it is to be understood, that the mathematical model is adapted to take into account, that the main translation device operates at a certain velocity, and that the inductor is to be activated at a specific point in time for the object to be inducted onto the main translation device to a specific location, and wherein the inductor requires a certain time to accelerate the object from the inlet to the outlet and adjust for activation of the inductor as such specific time, prior to the inductor point of the main induction device to arrive at the outlet of the inductor.In a preferred embodiment of the invention, the inductor comprises three conveyors, each of the conveyors having a length of between 800 and 1700 mm, preferably each having a length of between 900 and 1600 mm, more preferably each having a length of between 1000 and 1500 mm and most preferably each having a length of between 1100 and 1500 mm.In another preferred embodiment of the invention, the inductor comprises four conveyors, each of the conveyors having a length of between 800 and 1700 mm, preferably each having a length of between 900 and 1600 mm, more preferably each having a length of between 1000 and 1500 mm and most preferably each having a length of between 1100 and 1500 mm.In yet another preferred embodiment of the invention, the inductor comprises five conveyors, each of the conveyors having a length of between 800 and 1700 mm, preferably each having a length of between 900 and 1600 mm, more preferably each having a length of between 1000 and 1500 mm and most preferably each having a length of between 1100 and 1500 mm.In a preferred embodiment, the rate of acceleration of the inductor is between 0.8 and 1.5 m / s2.85056PC0113It is to be understood, that the rate of acceleration is a product of the length of the inductor, the initial speed of the inductor and the speed of the main translation device.As an example, having an inductor with three conveyors, each having a length of 1400 mm, the following rate of acceleration is needed to match a main translation device travelling at 3 m / s:Rate of acceleration is given by: v2=u2+2as where:( v ) is the final velocity (3 m / s),( u ) is the initial velocity (0 m / s),( a ) is the acceleration,( s ) is the distance (3 x 1400 mm = 4200 mm or 4.2 m).Rearranging the equation to solve for acceleration: a =32— 02a = - - — = 1.07 mis12 x 4.2 'Thus, to provide a linear acceleration of an object, from 0 m / s to 3 m / s over a length of 4200 mm, requires a rate of acceleration of 1,07 m / s2.In the above example, the mathematical model may detect, that by initiating acceleration of the object by 1,07 m / s2may cause the object to rotate, topple or tilt and thus, the mathematical model may adjust the rate of acceleration to be gradually increased from below 1,07 m / s2, such as from 0.8 m / s2, to a rate of acceleration higher than 1,07 m / s2, such as 1.5 m / s2.In yet another advantageous embodiment, the control system further comprises a memory, the processor adapted to store and retrieve the adjusted operation parameters in said memory.In a preferred embodiment, the control system is in data connection with a remote server or cloud server, the processor and a memory positioned at said85056PC0114 remote server or cloud server. This embodiment is particularly advantageous for providing an object handling system which can be adjusted by a server which may be adapted to adjust operating parameters of other object handling systems. Even further, such system may have the further advantage, that adjustments performed at e.g. a first logistics centre may be applied at a second logistics centre, thus eliminating errors based on a higher amount of data, such as from a plurality of logistics centres.In another preferred embodiment, the control system is a cloud server or remote central control system, the control system adapted to operate at least two object handling systems. This embodiment is particularly advantageous for providing an object handling system which can be operated by a server which may be adapted to adjust operating parameters of other object handling systems. Even further, such system may have the further advantage, that adjustments performed at e.g. a first logistics centre may be applied at a second logistics centre, thus eliminating errors based on a higher amount of data, such as from a plurality of logistics centres.In yet another preferred embodiment, at least one of the first and second sensor is selected from a vision system, a line scanner or a camera. This embodiment is particularly advantageous for providing images from which object parameters can be created.In an advantageous embodiment of the invention, one of the first and second sensor may be an array of cameras, such as cameras on two, three, four, five or even six sides of the object. It is to be understood, that the inductor may be adapted with a transparent surface, thus allowing for a camera to image a side of the object opposing said transparent surface.Image of objects is to be understood as a sensed or measured representation of the physical configuration of objects. Preferably, the image has a sufficient level of detail to identify or classify single objects from a bulk of objects by means of appropriate processing. The image may be a visual image, e.g. obtained by a 2D or 3D camera. However, other technologies may be used as well, e.g. using laser85056PC0115 scanners or other scanner technologies providing an image by non-visual sensing or measurement techniques etc.In general, 'image' and 'providing an image' is to be understood to including any representation of such image and any way of providing the image. Especially, the image maybe provided as digital image data, e.g. data captured using a 2D or 3D sensor or sensor system as known in the art.In another advantageous embodiment, the sensor system further comprises a third sensor selected from a vision system, a line scanner or a camera.In some embodiments of the invention, each of the individual sensors may be a camera vision system adapted to provide a 3-dimensional data set of the object; and further wherein said individual sensors may be adapted to provide spatial information relating to the object, correlated to said 3-dimensional data set.The sensor system can in principle be based on any type of sensor technology that can sense or measure a physical property data that can be processed to provide an image, most preferably a 3D image. The sensor system is preferably arranged to provide at least a 2D image, e.g. a regular 2D black and white, grey tone or colour photo with a high resolution to allow precise identification of contours of objects in the image. Preferably, the sensor system is arranged to provide a 3D image, e.g. in the form of a 2D image with additional height information. 3D image information with a high resolution, e.g. 1-2 mm precision, allows a high possibility of identifying features by image processing to allow identification of separate objects and further characteristics or features of the objects.In yet another advantageous embodiment, the first sensor is positioned at the inlet of the inductor and a third sensor is positioned between the inlet and the outlet of the inductor. This embodiment is particularly advantageous for providing the mathematical model with information relating to change of position of the object, when accelerating the object from standstill, at the inlet, or near standstill at the inlet, to a speed matching or near matching a speed of the main translation device. As an example, should the object orientation shift during acceleration, and an error be detected during translation of the object, the mathematical model85056PC0116 may adjust operation parameters to reduce shift in orientation during said acceleration, to prevent future errors for any object similar to the object that previously shifted.In a preferred embodiment, the mathematical model is a learning algorithm, such as a deep learning algorithm or a convolutional neural network. This embodiment is particularly advantageous for continuously optimizing operation parameters and perform adjustments which are not obvious to a human, due to the vast amount of data provided to the mathematical model; and wherein the mathematical model may be trained on training data including a high degree of objects subject to outlying parameters, such as very large dimensions, slippery surfaces or other non-common parameters.In another preferred embodiment, the object handling system further comprises at least a second inductor, the mathematical model adapted to activate or deactivate induction of objects to the main translation device, from individual inductors, based on initial object parameters, translation parameters, operation parameters and detected errors. This embodiment is particularly advantageous for utilizing the mathematical model to increase the amount of objects being translated by the main translation device, as two or more inductors may individually be optimized to continuously induct objects to free spaces on said main translation device, based on initial object parameters for individual objects of each inductor. A further advantage would be gained by the mathematical model being a learning algorithm, as such algorithms would prove more effective with more data provided and more parameters to adjust.In an advantageous embodiment of the invention, the sensor system further comprises one or more of the following: a temperature sensor, a humidity sensor, a vibration sensor and wherein the translation parameters comprising one or more of: ambient temperature, ambient humidity, and vibrations of the inductor or the main translation device. This embodiment is particularly advantageous for providing the mathematical model, such as a learning algorithm, with even more data, thus enabling the learning algorithm to find patterns causing error, where such patterns are not clear from a human perspective, due to the vast amount of data available.85056PC0117In another advantageous embodiment, the initial object parameters further comprises object humidity.In yet another advantageous embodiment, the mathematical model further comprises an autocorrelation or Pearson's correlation matrix. The mathematical model may utilize auto correlation or Pearsons correlation, to correlate different parameters obtained at different shifts in time, to one or more detected errors, thus detecting patterns in errors detected. This embodiment is particularly advantageous for adjusting operation parameters from detected initial object parameters or translation parameters which occur at different times and does not, to a human operator, appear to affect each other or to be a cause of error.In a second aspect, the invention relates to a method of operating an object handling system according to the first aspect, the method comprising the following steps:-receiving an object at the input of the inductor,-obtaining initial object parameters of the object from the sensor system,-obtaining a current set of operation parameters of one or both of the inductor and the main translation device,-obtaining occupancy status of the main translation device, -identifying an object space of the occupancy status, the object space corresponding to at least the object width and the object length,-translating the object from the inductor to the detected object space of the main translation device,-obtaining further translation parameters during said translation, -detecting any error during translation of the object, -adjusting, by the mathematical model-the operation parameters of the inductor by providing the mathematical model with the initial object parameters, the translation parameters, the operation parameters and the detected error,85056PC0118-storing the adjusted operation parameters in a memory; and when the sensor system detects an object with object parameters identical or similar to the initial object parameters:-applying the adjusted operation parameters to the control system.In a preferred embodiment, the adjustment of the operation parameters comprises one or more of the following steps:-adjusting the rate of acceleration of the object from the inlet to the outlet,-adjusting position of the object on one or both of the inductor and the main translation device,-rotating the object on the inductor,-rotating the object on the main translation device,-activating or deactivating a further inductor leading to the main conveyor,-adjusting operation parameters of said further inductor leading to the main conveyor.In a third aspect, the invention relates to a computer program product being adapted to enable a computer system comprising at least one computer having data storage means in connection therewith to control an object handling system according to the first aspect of the invention, such as a computer program product comprising instructions which, when the program is executed by a computer, cause the computer to carry out the steps according to the second aspect of the invention.This aspect of the invention is particularly, but not exclusively, advantageous in that the present invention may be accomplished by a computer program product enabling a computer system to carry out the operations of the object handling system according to the first aspect of the invention when down- or uploaded into the computer system. Such a computer program product may be provided on any kind of computer readable medium, or through a network.85056PC0119The individual aspects of the present invention may each be combined with any of the other aspects. These and other aspects of the invention will be apparent from the following description with reference to the described embodiments.BRIEF DESCRIPTION OF THE FIGURESThe object handling system and the method of handling objects according to the invention will now be described in more detail with regard to the accompanying figures. The figures show one way of implementing the present invention and is not to be construed as being limiting to other possible embodiments falling within the scope of the attached claim set.FIG. 1 shows a schematic illustration of an object handling system, according to an embodiment of the invention;FIG. 2 shows a schematic illustration of an object handling system with three inductors, according to an embodiment of the invention;FIG. 3 shows a schematic illustration of an object handling system with three inductors, according to another embodiment of the invention;FIG. 4 shows a schematic illustration of an object handling system with three inductors, according to yet another embodiment of the invention;FIG. 5 shows a schematic illustration of an object handling system with three inductors, according to yet another embodiment of the invention;FIG. 6 is a schematic flow-chart of the operation of the object handling system, according to an embodiment of the invention;FIG. 7 is a schematic flow-chart of the processor and sensor system interaction during translation of an object, according to an embodiment of the invention;FIG. 8 is a schematic flow-chart of the application of the adjusted operation parameters, to the control system, based on data from the sensor system, according to an embodiment of the invention;FIG. 9 shows a flow-chart indicating method steps of operating an object handling system according to an embodiment of the invention.85056PC0120DETAILED DESCRIPTION OF AN EMBODIMENTFIG. 1 shows a schematic illustration of an object handling system 1, according to an embodiment of the invention. FIG. 1 shows an object OBJ being positioned at the inlet INLE of the inductor IND. A first sensor SENS_1 detects initial object parameters relating to the object OBJ, such as dimensions, weight and shape. The inductor IND translates the object OBJ in a translation direction TD, after which, the inductor translates the object OBJ' in a second translation direction TD', towards the outlet OUTL of the inductor IND. At the outlet OUTL of the inductor IND, the object OBJ" is translated to the main translation device MTD, which travels in a primary direction PD. A second sensor SENS_2 detects the object OBJ" on the main translation device MTD. The second sensor SENS_2 may further be configured to detect free space FS and spaces occupied by objects OBJ* along the main translation device MTD.FIG. 2 shows a schematic illustration of an object handling system 1 with three inductors IND, IND' and IND", according to an embodiment of the invention. The object handling system 1 comprises a first, second and third inductor IND, IND' and IND", each of which is enabled to translate objects (see FIG. 1) from the inductor IND, IND' and IND" to the main translation device MTD, which is adapted to translate object in a primary direction (see FIG. 1). Each of the inductors IND, IND' and IND" is fitted with a first sensor SENS_1, SENS_1', SENS_1", at or near an inlet of the inductor IND, IND' and IND".The object handling system 1 further comprises a second sensor SENS_2, which is enabled to detect objects on the main translation device MTD. It is to be understood, that each of the inductors IND, IND' and IND", may be fitted with further sensors (not shown). It is further to be understood, that the first sensors SENS_1, SENS-1', SENS_1 may be located directly above each of the inductors IND, IND' and IND", or above, to a side of the inductors IND, IND' and IND". Even further, it is to be understood, that the second sensor SENS_2 may be located at any position along the main translation device MTD, or further second sensors (not shown) may be positioned along the main translation device MTD.FIG. 3 shows a schematic illustration of an object handling system 1 with three inductors IND, IND' and IND", according to another embodiment of the invention.85056PC0121The object handling system 1 comprises a first, second and third inductor IND, IND' and IND", each of which is enabled to translate objects (see FIG. 1) from the inductor IND, IND' and IND" to the main translation device MTD, which is adapted to translate object in a primary direction (see FIG. 1). Each of the inductors IND, IND' and IND" is fitted with a first sensor SENS_1, SENS_1', SENS_1", directly above an inlet of the inductor IND, IND' and IND".The object handling system 1 further comprises second sensors SENS_2, SENS_2', SENS_2", which are enabled to detect objects on the main translation device MTD. It is to be understood, that each of the inductors IND, IND' and IND", may be fitted with further sensors (see e.g. FIG. 4 or FIG. 5). It is further to be understood, that the first sensors SENS_1, SENS_1', SENS_1 may be located directly above each of the inductors IND, IND' and IND", or above, to a side of the inductors IND, IND' and IND". Even further, it is to be understood, that the second sensors SENS_2, SENS_2', SENS_2" may be located at any position along the main translation device MTD, or further second sensors may be positioned along the main translation device MTD.FIG. 4 shows a schematic illustration of an object handling system 1 with three inductors IND, IND' and IND", according to yet another embodiment of the invention. The object handling system 1 comprises a first, second and third inductor IND, IND' and IND", each of which is enabled to translate objects (see FIG. 1) from the inductor IND, IND' and IND" to the main translation device MTD, which is adapted to translate object in a primary direction (see FIG. 1). Each of the inductors IND, IND' and IND" are fitted with a first sensor SENS_1, SENS_1', SENS_1", at or near an inlet of the inductor IND, IND' and IND". Each of the inductors IND, IND' and IND" are further fitted with a third sensor SENS_3, SENS_3', SENS_3", at a point where the inductors IND, IND' and IND", change their translation direction (see FIG. l).The object handling system 1 further comprises a second sensor SENS_2, which is enabled to detect objects on the main translation device MTD. It is to be understood, that each of the inductors IND, IND' and IND", may be fitted with further sensors. It is further to be understood, that the first sensors SENS_1, SENS-1', SENS_1 may be located directly above each of the inductors IND, IND' and IND", or above, to a side of the inductors IND, IND' and IND". Even further, it85056PC0122 is to be understood, that the second sensor SENS_2 may be located at any position along the main translation device MTD, or further second sensors (not shown) may be positioned along the main translation device MTD.FIG. 5 shows a schematic illustration of an object handling system 1 with three inductors IND, IND' and IND", according to yet another embodiment of the invention. The object handling system 1 comprises a first, second and third inductor IND, IND' and IND", each of which is enabled to translate objects (see FIG. 1) from the inductor IND, IND' and IND" to the main translation device MTD, which is adapted to translate object in a primary direction (see FIG. 1). Each of the inductors IND, IND' and IND" are fitted with a first sensor SENS_1, SENS_1', SENS_1", at or near an inlet of the inductor IND, IND' and IND". Each of the inductors IND, IND' and IND" are further fitted with a third sensor SENS_3, SENS_3', SENS_3", at a point where the inductors IND, IND' and IND", change their translation direction (see FIG. l).The object handling system 1 further comprises second sensors SENS_2, SENS_2', SENS_2" which are enabled to detect objects on the main translation device MTD. It is to be understood, that each of the inductors IND, IND' and IND", may be fitted with further sensors. It is further to be understood, that the first sensors SENS_1, SENS_1', SENS_1 may be located directly above each of the inductors IND, IND' and IND", or above, to a side of the inductors IND, IND' and IND". Even further, it is to be understood, that the second sensors SENS_2, SENS_2', SENS_2" may be located at any position along the main translation device MTD, or further second sensors (not shown) may be positioned along the main translation device MTD.The above embodiments of the object handling system 1 are to be construed as being adapted to receive objects OBJ at an inlet INLE of an inductor IND, IND', IND", detect initial object parameters of the object OBJ, provide said initial object parameters to a control system CS (see FIG. 6 to FIG. 8), and translate the object OBJ from the inductor IND, IND', IND" to the main translation device MTD. The object handling system is further adapted to detect any error during translation of the object OBJ and adjust operation parameters of at least the inductor IND or plurality of inductors IND, IND', IND", thus reducing errors when other objects85056PC0123 similar to the object OBJ causing an error is detected at the inlet INLE of an inductor IND, IND', IND".FIG. 6 is a schematic flow-chart of the operation of the object handling system 1, according to an embodiment of the invention. FIG. 6 shows the sensor system SS and the control system CS. The sensor system comprises a first and second sensor SENS_1, SENS_2. The first sensor SENS_1 detects initial object parameters of an object OBJ being positioned on an inductor IND and provides the initial object parameters to a processors PROC of the control system CS. The object OBJ' is translated from the inductor IND to the main translation device MTD and detected by a second sensor SENS_2. The processor PROC receives translation parameters from the second sensor SENS_2, regarding any changes to the object parameters, such as a shift in orientation of the object OBJ. From the main translation device MTD, the object reaches its target TAR or an error ERR is detected, both of which results provides the processor PROC with further data.FIG. 7 is a schematic flow-chart of the processor PROC and sensor system SS interaction during translation of an object, according to an embodiment of the invention. The processors PROC is adapted to execute a mathematical model MM, the mathematical model being trained on initial object parameters IOP such as, but not limited to: object dimensions, object shape, object weigh; translation parameters such as but not limited to change in orientation of the object during translation; and operation parameters such as rate of acceleration of the inductor and velocity of main translation device. Furthermore, the processor PROC receives real-time parameters regarding all of the above, i.e. current operation parameters OP, current translation parameters TP and initial object parameters IOP. The sensor system SS is in data communication with the processor PROC and the mathematical model MM, thus providing information relating to any errors ERR, during translation of each individual object. The error ERR may be a combination of several errors ERR_1, ERR_2, ERR_N. Data regarding the error ERR is provided from the sensor system SS to the mathematical model MM, and wherein the error ERR or errors ERR_1, ERR_2, ERR_N are correlated with the initial object parameters IOP, the translation parameters TP and the operation parameters OP, to provide and adjusted set of adjusted operation parameters ADJ_OP to mitigate future error ERR.85056PC0124FIG. 8 is a schematic flow-chart of the application of the adjusted operation parameters ADJ_OP, to the control system CS, based on data from the sensor system SS, according to an embodiment of the invention. FIG. 8 shows the adjusted operating parameters ADJ_OP for a specific object OBJ1.It is to be understood, that the adjusted operating parameters ADJ_OP is the result of the mathematical model MM correcting a previous error ERR during translation of an object OBJ, or an adjustment to reduce free space FS of the main translation device MTD (see FIG. 1).The adjusted operation parameters ADJ_OP is related to a specific object OBJ1 having specific initial object parameters IOP, translation parameters TP and operation parameters of at least the inductor OP_IND, during translation of the specific object OBJ1. If the sensor system SS detects a further object OBJ2, having similar object parameters IOP' to the specific object parameters IOP of the specific object OBJ1, the processors performs a comparison COMP, the determine whether the adjusted operation parameters ADJ_OP is to be applied to at least the inductor IND, and if the mathematical model MM determines that OBJ1 and OBJ2 are similar, apply the adjusted operation parameters ADJ_OP' to the controller CO of the control system CS.It is further to be understood, that the control system or at least the processor of the control system may be a remote server or cloud server in data connection with the sensor system and the controller.In yet other embodiments, the control system CS may be located on a remote server or cloud server in data connection with the main translation device MTD and the one or more inductors IND, IND', IND".FIG. 9 shows a flow-chart indicating a method of operating an object handling system according to an embodiment of the invention, the method comprising the following steps:Sl-receiving an object at the input of the inductor,85056PC012552-obtaining initial object parameters of the object from the sensor system,53-obtaining a current set of operation parameters of one or both of the inductor and the main translation device,54-obtaining occupancy status of the main translation device,55-identifying an object space of the occupancy status, the object space corresponding to at least the object width and the object length,56-translating the object from the inductor to the detected object space of the main translation device,57-obtaining further translation parameters during said translation,58-detecting any error during translation of the object,59-adjusting, by the mathematical model-the operation parameters of the inductor by providing the mathematical model with the initial object parameters, the translation parameters, the operation parameters and the detected error,510-storing the adjusted operation parameters in a memory; and when the sensor system detects an object with object parameters identical or similar to the initial object parameters:511-applying the adjusted operation parameters to the control system.In yet an alternative embodiment or example S9 comprises; adjusting, by the mathematical model, one of:-the operation parameters of the inductor, or-object space identification parameters,In an alternative embodiment the invention relates to an object handling system comprising:-a main conveyor comprising a plurality of belts, the main conveyor adapted to translate objects on said belts by translating the belts in a conveying direction, the plurality of belts adapted to translate objects in a direction transverse to the conveying direction of the main conveyor;85056PC0126-at least one first inductor comprising an inlet and an outlet, and a conveyor arranged in between said inlet and outlet, the outlet leading to the main conveyor and adapted to translate objects from the inductor to said main conveyor;-a sensor system adapted to provide object parameters for each object, the sensor system comprising at least:-a first camera positioned at the inductor,-a second camera positioned at the main conveyor;-a control system comprising at least:-a controller, the controller adapted to control operation parameters of at least one of the inductor and the main conveyor,-a processor in data connection with the sensor system and the control system, the processor comprising a memory and a learning algorithm; wherein the learning algorithm is adapted to:-obtain object parameters and operation parameters associated with each object,-detect an error relating to translation of objects; and wherein the learning algorithm, based on the object parameters, the operation parameters and the detected error, provides the controller with adjusted operation parameters comprising at least:-rate of acceleration of objects from the inlet to the outlet.In another alternative embodiment, the invention relates to an object handling system comprising:-a main translation device adapted to translate objects in a primary direction,-at least one inductor comprising an inlet and an outlet, and two or more conveyors arranged in between said inlet and outlet, the outlet leading to the main translation device and adapted to translate objects from the inductor to said main translation device,-a sensor system comprising at least:85056PC0127-a first sensor positioned at the inductor, the first sensor adapted to detect initial object parameters of an object positioned on the inductor, the initial object parameters comprising at least:-object length, object width and object position on the inductor, -a second sensor positioned at a point where the outlet and the main translation device intersects, the second sensor adapted to detect translation parameters of an object translating from the outlet to the main translation device, the translation parameters comprising at least:-occupancy status of main translation device, velocity of the object at the outlet, and position of the object, when translated to the main translation device,-a control system comprising at least:-a controller, the controller adapted to control operation parameters of at least one of the inductor and the main translation device,-a processor in data connection with the sensor system and the control system, the processor comprising a memory and a mathematical model, wherein the mathematical model is adapted to:-obtain the initial object parameters, the translation parameters and the operation parameters associated with each object,-detect an error relating to translation of an object from the inductor to a target location and, based on the detected error, the initial object parameters, the translation parameters and the operation parameters,-adjust one or more operation parameters,-store the adjusted operation parameters in the memory; and if the sensor system detects a further object on the inductor, the further object having object parameters identical to the initial object parameters:-provide the adjusted operation parameters to the controller.In yet another alternative embodiment, the invention relates to an object handling system comprising:-a main translation device adapted to translate objects in a primary direction,85056PC0128-at least one inductor comprising an inlet and an outlet, the outlet leading to the main translation device and adapted to translate objects from the inductor to said main translation device,-a sensor system comprising at least:-a first sensor positioned at, or near the inductor, the first sensor adapted to detect initial object parameters of an object positioned on the inductor,-a second sensor adapted to detect translation parameters of an object translating from the outlet to the main translation device,-a control system comprising at least:-a controller, the controller adapted to control operation parameters of at least one of the inductor and the main translation device,-a processor in data connection with the sensor system and the control system, the processor adapted to execute a mathematical model, wherein the mathematical model is adapted to:-obtain the initial object parameters, the translation parameters and the operation parameters associated with each object,-detect an error relating to translation of an object from the inductor to a target location and, based on the detected error, the initial object parameters, the translation parameters and the operation parameters:-adjust one or more operation parameters,-store the adjusted operation parameters in a memory; and if the sensor system detects a further object on the inductor, the further object having object parameters identical or similar to the initial object parameters:-provide the adjusted operation parameters to the controller.In short, the present invention relates to an object handling system 1 comprising at least a first inductor IND and a main translation device MTD. The main translation device MTD may be a sorter system for e.g. parcels or luggage, and wherein the inductor IND is adapted to receive objects OBJ at a stand still or very low velocity and accelerate said objects OBJ to a velocity at or near a velocity of the main translation device MTD without the objects OBJ toppling or tilting during acceleration or translation from the inductor IND to the main translation device85056PC0129MTD. The object handling system 1 further comprises a control system CS comprising at least a controller CO and optionally a processor PROC and wherein the control system CS controls the operation of the inductor IND and the main translation device MTD. The processor PROC is adapted with a mathematical model MM, preferably a learning algorithm, the mathematical model MM adapted to receive data from a sensor system SS of the object handling system 1, and adjust operation parameters OP of at least the inductor IND, based on any detected error ERR during translation of a specific object OBJ1 from the inductor IND to a target TAR of the specific object OBJ1 along a path of the main translation device MTD. The mathematical model MM is further configured to apply the adjusted operation parameters ADJ_OP when a further object OBJ2 is received at the inductor IND and wherein object parameters IOP' sensed by the sensor system SS of the further object OBJ2 is similar to initial object parameters IOP of the specific object OBJ1, to reduce error ERR during translation of the further object OBJ2.The invention can be implemented by means of hardware, software, firmware or any combination of these. The invention or some of the features thereof can also be implemented as software running on one or more data processors and / or digital signal processors.The individual elements of an embodiment of the invention may be physically, functionally and logically implemented in any suitable way such as in a single unit, in a plurality of units or as part of separate functional units. The invention may be implemented in a single unit, or be both physically and functionally distributed between different units and processors.Although the present invention has been described in connection with the specified embodiments, it should not be construed as being in any way limited to the presented examples. The scope of the present invention is to be interpreted in the light of the accompanying claim set. In the context of the claims, the terms "comprising" or "comprises" do not exclude other possible elements or steps. Also, the mentioning of references such as "a" or "an" etc. should not be construed as excluding a plurality. The use of reference signs in the claims with respect to elements indicated in the figures shall also not be construed as limiting the scope85056PC0130 of the invention. Furthermore, individual features mentioned in different claims, may possibly be advantageously combined, and the mentioning of these features in different claims does not exclude that a combination of features is not possible and advantageous.

Claims

85056PC0131CLAIMS1. An object handling system (1) comprising:-a main translation device (MTD) adapted to translate objects (OBJ) in a primary direction,-at least one inductor (IND, IND', IND") comprising an inlet (INLE) and an outlet (OUTL), the outlet leading to the main translation device and adapted to translate objects from the inductor to said main translation device,-a sensor system (SS) adapted to detect initial object parameters (IOP) of an object positioned on the inductor and detect translation parameters (TP) of an object translating from the outlet to the main translation device, the sensor system comprising:-a first sensor (SENS_1) positioned at, or near the inductor,-a control system (CS) comprising at least:-a controller (CO), the controller adapted to control operation parameters (OP) of at least the inductor,-a processor (PROC) in data connection with the sensor system and the control system, the processor adapted to execute a mathematical model (MM), wherein the mathematical model is adapted to:-obtain one or more of the initial object parameters, the translation parameters and the operation parameters associated with each object,-detect an error (ERR) relating to translation of an object from the inductor to a target location (TAR) and, based on the detected error and one or more of the initial object parameters, the translation parameters and the operation parameters:-adjust one or more operation parameters,-store the adjusted operation parameters (ADJ_OP) in a memory; and if the sensor system detects a further object (OBJ2) on the inductor, the further object having object parameters (IOP') identical or similar to the initial object parameters (IOP):-provide the adjusted operation parameters (ADJ_OP) to the controller.85056PC01322. The object handling system according to claim 1, wherein to adjust one or more operation parameters comprises to adjust one of the operation parameters of the inductor.

3. The object handling system according to claim 1 or 2, wherein the mathematical model is a control algorithm.

4. The object handling system according to any of the preceding claims, the sensor system further comprising a second sensor (SENS_2) adapted to detect the translation parameters.

5. The object handling system according to any of the preceding claims, wherein the inductor further comprises two or more conveyors arranged in between said inlet and outlet.

6. The object handling system according to claim 5, wherein a first conveyor of the two or more conveyors of the inductor translates the object in a first direction (TD) and another of the two or more conveyors is angled, relative to the first conveyor, translating the object in a second direction (TD').

7. The object handling system according to any of claim 5 or 6, the inductor adapted to rotate the object by adjusting speed of one of the two or more conveyors of the inductor, relative to the speed of another of the two or more conveyors.

8. The object handling system according to any of claims 2 to 7, wherein the second sensor is positioned at a point where the outlet and the main translation device intersects.

9. The object handling system according to any of the preceding claims wherein the initial object parameters further comprises one or more of: object height, object shape, object type, object volume, object fragility, object hazard, surface texture of object, material type of object, object weight, object centre of gravity, object orientation and object density.85056PC013310. The object handling system according to any of the preceding claims wherein the translation parameters comprises one or more of:-velocity of the object at the outlet, and -position of the object, when translated to the main translation device.

11. The object handling system according to any of claims 5 to 10, the second sensor adapted to detect an orientation of the object as a further translation parameter, the mathematical model adapted to detect a change in orientation of the object.

12. The object handling system according to any of the preceding claims, wherein the operation parameters are selected from one or more of:-rate of acceleration of object from inlet to outlet, -velocity of object at outlet, -induction point by inductor on main translation device, by adjustment of temporal activation of inductor.

13. The object handling system according to any of the preceding claims wherein the control system further comprises a memory, the processor adapted to store and retrieve the adjusted operation parameters in said memory.

14. The object handling system according to any of the preceding claims wherein the mathematical model is a learning algorithm, such as a deep learning algorithm or a convolutional neural network.

15. The object handling system according to any of the preceding claims further comprising at least a second inductor (IND', IND"), the mathematical model adapted to activate or deactivate induction of objects to the main translation device, from individual inductors, based on one or more of initial object parameters, translation parameters, operation parameters and detected errors.85056PC013416. The object handling system according to any of the preceding claims, the sensor system further comprising one or more of the following: a temperature sensor, a humidity sensor, a vibration sensor; the translation parameters comprising one or more of:-ambient temperature,-ambient humidity,-object humidity, and-vibrations of the inductor or the main translation device.

17. The object handling system according to any of the preceding claims, the mathematical model further comprising an autocorrelation or Pearson's correlation matrix.

18. A method of operating an object handling system (1) according to any of claims 1 to 17, the method comprising the following steps:-receiving an object (OBJ) at the inlet of the inductor,-obtaining initial object parameters of the object from the sensor system,-obtaining a current set of operation parameters of one or both of the inductor and the main translation device,-obtaining occupancy status of the main translation device, -identifying an object space of the occupancy status, the object space corresponding to at least the object width and the object length,-translating the object from the inductor to the detected object space of the main translation device,-obtaining further translation parameters during said translation, -detecting any error during translation of the object, -adjusting, by the mathematical model-the operation parameters of the inductor by providing the mathematical model with the initial object parameters, the translation parameters, the operation parameters and the detected error,85056PC0135-storing the adjusted operation parameters in a memory; and when the sensor system detects an object with object parameters identical or similar to the initial object parameters:-applying the adjusted operation parameters to the control system.

19. The method according to claim 18, wherein the adjustment of the operation parameters comprises one or more of the following steps: -adjusting the rate of acceleration of the object from the inlet to the outlet, -adjusting position of the object on one or both of the inductor and the main translation device, -rotating the object on the inductor,-rotating the object on the main translation device, -activating or deactivating a further inductor leading to the main conveyor,-adjusting operation parameters of said further inductor leading to the main conveyor.

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