Sileane

Veolia Environnement Ve

Orano Ds - Démantèlement Et Services

Hervé Henry

Romain Bregier

Christophe Gambier

Jérémy Doublet

Jean-Louis Deparis

Jean-François Thro

Julien Reynard

Florian Sella

Automatically performing an operation on an object-with a tool-carried by a polyarticulated system-that can be moved in a working environment, the object-and the working environment being open-ended or insufficiently defined to carry out the operation. A method comprises: capturing a scatter plot image of the object-and the working environment-with a 3D sensor, merging this image with the CAD model of the system and the environment into a working image, and defining anti-collision parameters;— defining a path of the tool-on the portion of the working image representing the object and executing a simulation of the corresponding movement of the system-and the tool in the working image so as to ensure that the operation is feasible;— and if the operation is feasible executing the actual movement of the system carrying the tool-according to the path defined for performing the operation on the object.

Method for automatically performing an operation on an object with a tool carried by a polyarticulated system

A selective sorting method in order to identify and sort material objects of different natures, sizes and shapes having the form of a pile is described. The method is characterized in that the choice of a gripping zone, associated with an object contained in the pile to be sorted, is carried out automatically, and in that the defining of the nature of the object associated with this gripping zone is carried out using at least one sensor that measures at least one electromagnetic radiation emitted by this object. A device able to implement such a method is also described.

Selective sorting method

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Saint-Cyr-les-Vignes, France

Hervé Henry