| 主权项 |
1. A method for selectively sorting in order to identify and sort material objects of waste material, of different natures, shapes and sizes and having the form of a pile, the method comprising the following steps:
a. supplying a flow of objects in the form of a pile, to a zone of vision comprising at least two sensors for measuring electromagnetic radiation, the zone being located in a zone of action of a robot provided with at least one gripping member; b. capturing at least two two-dimensional images of the pile contained in the zone of vision using the sensors for measuring electromagnetic radiation, in order to reconstruct a virtual or electronic image of the pile of objects in the zone of vision that can be viewed on a screen; c. processing the information resulting from the two-dimensional images, and identifying substantially all possible gripping zones associated with objects present in the pile for the gripping member or members of the robot without seeking to know the nature of the objects; d. locating, in position and orientation, the possible gripping zones; e. choosing one of the gripping zones; f. defining automatically, for a given gripping member, a trajectory for gripping a unitary object corresponding to the chosen gripping zones; g. grasping the corresponding unitary object according to the defined trajectory; h. displacing the grasped unitary object to a receiving zone; i. displacing the unitary object located in the receiving zone to an outlet according to the nature; wherein the nature of the object gripped or that is to be gripped by the robot is attributed between the steps (e) and (i), and includes capturing at least one two-dimensional image wherein the object appears, using at least one sensor for electromagnetic radiation and diffusing at least one of the two-dimensional images on a display screen that can be observed by an operator, the operator attributing a nature to the object viewed. |
