Patent Description:
Document <CIT> relates to a process for removing a film packing from a multi-layer stacked load on a pallet. In this document the damage of the products is prevented by providing the mobile support <NUM> which bears the cutter <NUM> "with a safety clutch mechanism to avoid a situation in which a blunt or broken blade might lead the cutting mechanism to tear the film <NUM> and drag it away, with a consequent risk of the load's being tipped over".

Thus, the object of the present invention is identifiable in a device adapted to cut and allow the removal of a film or other layer (hereinafter referred to univocally by the term film) from a pallet or another pack/box, identified hereinafter for simplicity by the term pallet.

As known, in order to stock, block, protect and send products, they are gathered on pallets, which are wrapped, usually partially, in film, preferably extensible film, which adheres to the products.

Consequently, when a product is needed, the operator depalletizes the pallet, i.e. he/she cuts and removes the film freeing the product from the others arranged on the pallet, thus allowing the withdrawal thereof.

The described prior art comprises a few important drawbacks.

In particular, the operations are carried out almost completely manually, which is very time-consuming for the operator.

In particular, the cutting of the film must be carried out using utility knives or other cutting means, which involve significant risks of injury to the operator and/or damage to the product, thus requiring great care, making the operation slow and laborious. It should be noted how such drawbacks have a high negative impact on the profitability of the service and therefore, on the costs of the stocking process and therefore, on the end costs of the product.

In this situation, the technical task underlying the present invention is to conceive a logistic device capable of substantially overcoming at least part of the stated drawbacks.

In the scope of said technical task, it is an important object of the invention to obtain a logistic device, which allows the depalletizing operations to be accelerated without damaging the products or risks to the operator.

It is an object to have a logistic device, which allows the costs of the depalletizing process to be reduced.

The technical task and specified objects are achieved with a logistic device as claimed in the attached claim <NUM>. Preferred embodiments are described in the dependent claims.

The features and advantages of the invention are clarified below by the detailed description of preferred embodiments of the invention, with reference to the accompanying drawings, wherein:.

In the present document, measurements, values, shapes and geometric references (such as perpendicularity and parallelism), when associated with words, such as "about" or other similar terms, such as "almost" or "substantially", shall be understood as except for measurement errors or inaccuracies due to errors of production and/or manufacturing and, above all, except for a slight divergence from the value, measurement, shape or geometric reference with which it is associated. For example, if associated with a value, such terms preferably indicate a divergence of no more than <NUM>% of the value itself.

Furthermore, when terms such as "first", "second", "upper", "lower", "main" and "secondary" are used, they do not necessarily identify an order, relationship priority or relative position, but they can simply be used to distinguish different components more clearly from one another.

Unless otherwise stated, the measurements and data contained in this text shall be considered as performed in ICAO International Standard Atmosphere (ISO <NUM>). Unless otherwise specified, as is apparent from the following discussions, terms such as "processing", "computing", "determination", "calculation", or similar, are considered to refer to the action and/or processes of a computer or similar electronic calculation device, which manipulates and/or transforms data represented as physical, such as electronic magnitudes of registers of an IT system and/or memories, other data similarly represented as physical quantities within IT systems, registers or other information memorization, transmission or display devices.

With reference to the Figures, the logistic device according to the invention is globally denoted with numeral <NUM>.

It is adapted to be used for cutting and, in particular, for removing a film <NUM> from a pallet <NUM>, allowing the products <NUM> placed on the pallet <NUM> to be removed.

The pallet <NUM> can comprise one or more products <NUM> and at least a film <NUM>, at least partially wrapping the products <NUM>. Optionally, it can comprise a platform <NUM> on which the products <NUM> are placed and conveniently, at least partially wrapped by the film <NUM>.

The film <NUM> can comprise one or more layers of film, usually a polymeric film (such as polyethylene), preferably of the extensible type.

The logistic device <NUM>, which will be described better below, is automatic, i.e. able to operate without the support/control of an inspector.

The logistic device <NUM> can comprise an acquisition apparatus <NUM> adapted to make at least one acquisition, conveniently, automatically, of the position and size of the pallet <NUM> and thus, of the film <NUM>, preferably of the one or more products <NUM> and, if present, of the platform <NUM>.

The acquisition apparatus <NUM> allows the positioning of the pallet <NUM> with respect to the logistic device <NUM> and how the film <NUM> is wrapped around the products <NUM>, as described below. The acquisition apparatus <NUM> comprises at least one depth sensor, which provides a cloud of dots of the scene from which, as described below, at least one reconstruction of the pallet <NUM> is made, to determine the initial cutting point.

In detail, the acquisition apparatus <NUM> can be optical and thus, the acquisition can comprise several images of the pallet <NUM>. Thus, it can comprise at least one optical sensor <NUM> (for example, a camera) for filming the pallet <NUM> and, in particular, several optical sensors <NUM> (identifying said depth sensor), preferably adapted to film the pallet <NUM> from different angles, allowing a spatial/three-dimensional reconstruction i.e. a 3D image of the pallet, as described below.

The acquisition apparatus <NUM> can comprise a Kinect®.

<FIG> shows an illustrative example of the acquisition apparatus <NUM>. Note that the position of the acquisition apparatus is such as to allow the acquisition of at least the surface in view of the pallet, i.e. not resting on a support plane of the pallet <NUM>. Note how the acquisition apparatus <NUM> allows the positioning of the pallet <NUM> with respect to the logistic device <NUM> and how the film <NUM> is wrapped around the products <NUM>, as described below.

The logistic device <NUM> can comprise a manipulator <NUM>, comprising cutting means <NUM> for cutting the film <NUM>; and a control unit for controlling at least the manipulator <NUM>.

The cutting means <NUM>, as highlighted in <FIG>, can be adapted to cut the film hot or mechanically. Preferably, they comprise a blade <NUM> adapted to cut the film <NUM>. Preferably, the blade <NUM> is circular and the cutting means <NUM> comprise a motor <NUM>, conveniently an electric motor, which is adapted to rotate the blade <NUM> about a rotation axis 31a; and preferably a card <NUM> for controlling the motor <NUM>.

In order to make the cut safely (i.e. cutting only the film <NUM> avoiding damage to the products <NUM>); the cutting means can comprise a casing <NUM> defining a compartment, partially housing the blade <NUM>, which thus has a portion in view of the wire able to make the cut.

Thus, the casing <NUM> can be identified in a circular/cylindrical body having an incision 314a, which is conveniently tangential to the rotation axis 31a, defining said visible portion.

The casing <NUM> can comprise a slide 314b defining an extension of the cut 314a, adapted to direct the film <NUM> towards the portion in view of the blade <NUM>.

The slide 314b has a prevalent development axis tangential to the rotation axis 31a and a tapered section along said prevalent development axis. In particular, it has a maximum section proximal to the cut 314b (i.e. to the blade <NUM>) and a minimum section distal from the cut 314b (i.e. from the blade <NUM>), favouring the separation of the film <NUM> from the products <NUM> and thus the safe cutting of the film <NUM>.

The manipulator <NUM> can be adapted to move the cutting means <NUM> with respect to the pallet <NUM> and, in particular, to the film <NUM>, so as to cut said film <NUM>.

The manipulator <NUM> can be identified in a robotic arm.

It can comprise one or more rigid bodies <NUM>, identifiable in section bars, which are optionally telescopic, and one or more mechanical joints <NUM>, adapted to move and, to be precise, mutually rotate the rigid bodies <NUM>, conveniently, independently of each other.

Between the rigid bodies <NUM>, a final rigid body is identifiable, to which the cutting means <NUM> are constrained and, optionally, a final mechanical joint constraining the final rigid body to at least one rigid body <NUM> upstream thereof. Optionally, the mechanical arm <NUM> can comprise at least a hinge, preferably a motorized hinge, adapted to define at least a rotation axis between the cutting means <NUM> and the final rigid body.

The mechanical joints <NUM> are adapted to move, and, to be precise, mutually rotate the rigid bodies <NUM>, varying the spreading angle between two adjacent rigid bodies <NUM>.

The mechanical joints <NUM> rotate the rigid bodies <NUM> according to an inverse kinematics or direct kinematics. Thus, it is specified that, although not expressly stated, each movement of the manipulator <NUM> described in this document is determined according to an inverse kinematics or direct kinematics.

The expression inverse kinematics defines a trajectory in the operating space, i.e. the calculation of the path of the terminal member of the manipulator <NUM> (identifiable in the cutting means <NUM>). Therefore, the control unit determines the position, speed and acceleration of the single mechanical joints <NUM>, so as to have said path of the terminal member of the manipulator <NUM>.

The expression direct kinematics identifies the calculation of a trajectory in the joint space, in which the position, speed and acceleration of the single mechanical joints <NUM> are determined and not the path of the terminal member. Consequently, the path of the terminal member of the manipulator <NUM> is a consequence of the position, speed and acceleration of the mechanical joints <NUM>.

Each joint <NUM> is adapted to rotate at least the rigid body <NUM> following it according to the kinematic chain defining a rotation axis, which is transversal and, substantially, almost perpendicular to the axis of preferred extension of the rigid body <NUM>. Preferably, a joint <NUM> defines two rotation axes, which are almost transversal and, more preferably, perpendicular to each other.

The mechanical joints <NUM> can be of a various type, motorized or not motorized, such as - by way of a non-limiting example - rotoidal, prismatic, ball, helical, cylindrical and hinge joints.

Each mechanical joint <NUM> can comprise a servomotor i.e. an electric motor provided with an encoder, adapted to measure the rotation angle between the rigid bodies <NUM> given by the motor and constantly maintain such angle.

Advantageously, the manipulator <NUM> has a controllable compliance. Therefore, one or more mechanical joints <NUM> can be with varying compliance. Joints with varying compliance are described, for example, in <CIT> and <CIT>. The manipulator <NUM> can comprise one or more sensors adapted to detect the forces between the pallet <NUM> and the manipulator <NUM> (in particular on the cutting means <NUM>). The mechanical joints <NUM> can define at least two compliances, which are different from each other per module and\or direction of application as described below.

In particular, the sensors are adapted to detect the forces, which one or more objects <NUM> apply to the cutting means <NUM>, conveniently, at the casing <NUM> and specifically, at the outer profile of the casing <NUM>.

Alternatively or additionally, the sensors are adapted to detect the forces, which the film <NUM> applies to the cutting means <NUM>, preferably at the slide 314b and in particular, at the sliding surface of the film <NUM> along the slide 314b.

Said sensors are adapted to detect the intensity of said forces.

Said sensors are adapted to detect the direction and, conveniently, the line of said forces.

The control unit is in data connection with at least the manipulator <NUM> and the acquisition apparatus <NUM>.

Thus, it is able to command, conveniently, automatically, the operation of the manipulator <NUM> (movements, compliance, etc.) depending on the acquisition of the acquisition apparatus <NUM>.

The control unit can comprise a memory containing the information necessary for controlling the manipulator <NUM>.

Said memory can comprise an arm database adapted to allow the control unit to control the manipulator <NUM> and in particular know the spatial arrangement thereof. The arm database can comprise at least the data relating to the compliance (i.e. to the joints <NUM>) allowing the control unit to vary the compliance of the manipulator <NUM> (thus of the cutting means <NUM> with respect to the pallet <NUM>).

The memory can comprise a film database associating, with one or more films, the specific techniques of the film itself, such as friction, for example, conveniently dynamic friction, and the force needed for the cutting thereof.

The memory can comprise a product database associating, with each product, the specific techniques of the product itself, such as the maximum force applicable thereto, for example, without damaging it.

The control unit is adapted to control, as a function of the acquisition made by the apparatus <NUM>, the trajectory of the cutting means <NUM>, which are brought into contact with the pallet <NUM> and can cut the film <NUM> preferably safely.

Thus, the control unit is able to control, conveniently automatically, the operation of the acquisition apparatus <NUM> and thus, the execution of the acquisition.

Based on the acquisition, it defines at least one reconstruction, preferably a three-dimensional reconstruction, of the pallet <NUM>. In particular, based on the acquisition, it defines a nominal reconstruction, which is preferably a three-dimensional reconstruction and at least a probable reconstruction, which is preferably a three-dimensional reconstruction (described below).

The reconstruction can represent an image illustrating the profile of the pallet <NUM>. The logistic device <NUM> can comprise a supplementary manipulator <NUM> (<FIG>).

The supplementary manipulator <NUM> can comprise distancing means <NUM> for distancing the film <NUM> from the products <NUM>.

The distancing means <NUM> can be suction means and thus comprise an extractor hood, adapted to be placed close to the film <NUM>.

The supplementary manipulator <NUM> can be identified in a robotic arm. It can comprise one or more supplementary rigid bodies <NUM>, identifiable in section bars, which are optionally telescopic section bars, and one or more supplementary mechanical joints <NUM>, which are adapted to move, and to be precise, mutually rotate the rigid bodies <NUM>, conveniently independently of each other.

The supplementary rigid bodies <NUM> are substantially similar to the rigid bodies <NUM> whose description is referred to.

The supplementary mechanical joints <NUM> are substantially similar to the mechanical joints <NUM> whose description is referred to.

The supplementary manipulator <NUM> can be controlled by the control unit.

The supplementary manipulator <NUM> can be controlled by the control unit as a function of the manipulator <NUM>, so as to avoid interference between the two manipulators <NUM> and <NUM> and thus have the distancing means again in view of the film <NUM> without the manipulator <NUM> overlapping between the means <NUM> and the film <NUM>.

For such purpose, the memory of the control unit can comprise the information necessary for controlling the supplementary manipulator <NUM>.

Said memory can comprise an arm database, adapted to allow the control unit to control the supplementary manipulator <NUM> and, in particular, know the spatial arrangement thereof.

The logistic device <NUM> can comprise a support structure <NUM>.

The support structure <NUM> is adapted to sustain the manipulator <NUM> and, in some cases, the acquisition apparatus <NUM>. Alternatively, the acquisition apparatus <NUM> can be arranged on a structure, which is independent of the support structure <NUM> and thus of the arm <NUM>.

The support structure <NUM> can be movable and thus identifiable in a trolley, preferably with driverless automatic operation and controllable by the control unit.

The support structure <NUM> can be adapted to sustain the supplementary manipulator <NUM>. Alternatively, the device <NUM> can comprise a supplementary support structure <NUM> for the supplementary manipulator <NUM>.

Finally, the logistic device <NUM> can comprise an interface, adapted to allow a data exchange between the operator and the logistic device <NUM> itself.

In particular, the interface can comprise a keyboard, a touch screen or another data input means, adapted to allow an operator to enter data in the logistic device <NUM>. Alternatively or additionally, the interface can comprise a printer, a screen or another data output means adapted, for example, to allow an operator to monitor the operation of the logistic device <NUM>.

The operation of the logistic device <NUM>, described previously in structural terms, defines an innovative logistic method.

Said innovative logistic method is adapted to be controlled by the control unit and thus, carried out automatically by the logistic device <NUM> without the support of an operator (optionally, at most once the start command of the method has been given). The logistic method makes the cut and subsequently the removal of a film <NUM> wrapping at least the products <NUM> of a pallet <NUM>.

The logistic method comprises an initial setting step.

In the setting step, the film <NUM> present on the pallet <NUM> is selected, conveniently by an operator, from the film database and the one or more products <NUM> present on the pallet <NUM> is selected from the product database.

The setting step can be the only step carried out by an operator.

The logistic method comprises a step of detecting at least one pallet <NUM>, wherein the acquisition apparatus <NUM>, conveniently controlled by the control unit, makes an acquisition (in particular, an optical acquisition) of the pallet <NUM> and, thus, based on such acquisition, at least one reconstruction of the pallet <NUM> reproduced is defined, conveniently by the control unit.

In detail, in the detection step the unit defines the position and size of the pallet <NUM> and then makes a reconstruction of the pallet <NUM> as a function of the acquisition. The detection step can be carried out and controlled automatically by the control unit.

In this step, based on the acquisition, the control unit defines a nominal reconstruction and at least one and, in particular, several probable reconstructions of the pallet <NUM> reproduced.

Each reconstruction is identified by a series of dots, identified by coordinates, which are defined with respect to a single triaxial Cartesian system of reference (X, Y, Z). In particular, the presence of a nominal reconstruction and one or more probable reconstructions is determined by the fact that the acquisition apparatus <NUM> has an acquisition error\imprecision, which makes it impossible to identify, with precision and certainty, the true profile of the pallet <NUM>, but only a set of possible dots/profiles of a possible representation of the pallet <NUM>. Consequently, the control unit extrapolates, from such data, a nominal reconstruction identifying the most probable profile of the pallet <NUM> and one or more probable reconstructions identifying all of the possible profiles of the pallet <NUM>.

The nominal reconstruction is usually interposed between the probable reconstructions.

Such detection step is known in itself. In fact, it is described, for example, by<NPL>); or by <NPL>).

The logistic method comprises an identification step of the film <NUM>, i.e. the surface of the pallet covered by the film <NUM>.

In detail, the position of the film <NUM> in the reconstruction and, in detail, in each reconstruction is defined in the identification step.

The identification step can be carried out and controlled automatically by the control unit.

The identification step can be manual, i.e. carried out by the operator, who, by means of the interface, identifies the film <NUM> on the preferably nominal reconstruction.

Alternatively or additionally, the identification step can be automatic and thus carried out by the control unit. It can be carried out by exploiting the preceding acquisition, which, by highlighting a surface reflectance variation, for example, allows the film <NUM> to be identified. Examples of the identification step are described by <NPL>); or by<NPL>).

The logistic method comprises a planning step of the cutting trajectory, i.e. the trajectory along which the cutting means <NUM> are moved to cut the film <NUM>, and, in particular the function of varying the compliance of the cutting means <NUM>.

The planning step can be carried out and controlled automatically by the control unit. In the planning step, the control unit defines a cutting trajectory, adapted to allow the cutting means <NUM> to cut the film <NUM> as a function of the acquisition and in particular of the position and reconstruction of the pallet and, specifically, of the identification of the film <NUM>.

The cutting trajectory is substantially parallel to the pallet <NUM> and in particular, to the conveniently nominal reconstruction.

Thus, the cutting trajectory can be identified in a line in the case of a pallet <NUM> with film <NUM> only wrapping the side; or in the other cases consisting of two or more lines, which, in the mutual contact point thereof, imposes a rotation of the means <NUM>. Note that the control unit can comprise a first part of the cutting trajectory, which is adapted to bring the blade <NUM> into contact with only the film <NUM>. Specifically, said first part is such as to allow the manipulator <NUM> to bring the minimum section of the slide into contact with a free edge of the film <NUM> and cause the film <NUM> to slide along the slide 314b, bringing it into contact with the blade <NUM>.

The planning step can comprise a sub-step of estimating the discrepancy of the reconstruction, i.e. the differences between the probable and nominal reconstructions.

Based on the difference between the probable and nominal reconstructions, the control unit determines, for each point of the nominal reconstruction, the minimum value taken by the point in the probable reconstructions and the value in the nominal reconstruction, conveniently along each axis of the system of reference. More specifically, for each point of the nominal reconstruction, the control unit determines a minimum error with respect to the nominal reconstruction.

Additionally or alternatively, the control unit can determine, for each point of the nominal reconstruction, the maximum value taken by the point in the probable reconstructions, conveniently along each axis of the system of reference. More specifically, for each point of the nominal reconstruction, the control unit determines a maximum error as the difference between said maximum value with respect to the nominal reconstruction.

Preferably, the maximum and minimum value of each point and the maximum and minimum error are determined at least along a direction substantially perpendicular to the cutting trajectory and to the pallet <NUM>.

Thus, the planning step can comprise a first calculation sub-step, conveniently after the estimate sub-step.

In the first calculation sub-step, for each point of the conveniently nominal reconstruction, the control unit determines a first compliance, which is substantially parallel to the cutting trajectory. Thus, the unit defines whether and how to vary the first compliance (conveniently at the joints <NUM>) while the cutting means <NUM> are moved along the cutting trajectory.

The first compliance defines the first force, i.e. the maximum force applicable by the manipulator <NUM> and in particular by the cutting means <NUM> along the cutting trajectory. The first compliance is determined as a function of the first force, which is determined, in turn, as a function of the characteristics of the film <NUM> (resistance to cutting and friction).

Thus, the planning step can comprise a second calculation sub-step, conveniently after the estimate sub-step.

It should be noted how the compliance (specifically, first and\or second) can be by the control unit imposing said compliance on at least one mechanical joint <NUM>. For example, the control unit can impose said compliance by regulating the compliance of only one mechanical joint <NUM> and\or of all of the mechanical joints <NUM>.

The calculation sub-steps can be carried out simultaneously.

In the second calculation sub-set, for each point of the conveniently nominal reconstruction, the control unit determines a second force, which is substantially perpendicular to the cutting trajectory and to the pallet <NUM> (specifically, to the film <NUM> at the point in question) and thus a second compliance along said direction perpendicular to the cutting trajectory and to the pallet <NUM>. Thus, in this sub-set, the unit defines whether and how to vary the second compliance (conveniently at the joints <NUM>) while the cutting means <NUM> are moved along the cutting trajectory.

The second compliance defines the first force, i.e. the maximum force applicable by the manipulator <NUM> and in particular, by the cutting means <NUM> on the products <NUM> without damaging them.

Such second force and thus the second compliance depend on the differences between the probable and nominal reconstructions along a direction, which is substantially perpendicular to the cutting trajectory and to the pallet <NUM>. In particular, they are determined on the basis of the maximum error and minimum error along a direction, which is almost perpendicular to the cutting trajectory and to the pallet <NUM>. More specifically, the second force, and thus the second compliance depend on the minimum error along a direction, which is almost perpendicular to the cutting trajectory and to the pallet <NUM>.

Preferably, the second force and thus, the second compliance are determined depending on said error, conveniently the minimum error, and on the maximum force applicable on the product, which is known based on the aforesaid product database.

The second compliance can be substantially at least equal and, specifically, substantially greater than the first compliance.

The logistic method comprises a step of cutting the film <NUM>.

The cutting step can be carried out and controlled automatically by the control unit. The cutting and planning steps can be carried out simultaneously.

In this step, based on the control unit, the manipulator <NUM> moves moving the cutting means <NUM> and in particular along the blade <NUM>, along the cutting trajectory varying the compliance and thus the force applied by the means <NUM> based on what was determined in the planning step.

Specifically, in the cutting steps, the manipulator <NUM>, conveniently controlled by the control unit, moves the cutting means <NUM> with respect to the pallet <NUM> (and thus to the film <NUM>) conveniently defining, at one or more of the mechanical joints <NUM>, a first compliance along a direction, which is substantially parallel to the cutting trajectory and a second compliance, along a direction, which is substantially perpendicular to the cutting trajectory, which is substantially greater than the first compliance. Thus, the manipulator cuts only the film <NUM>.

The logistic method comprises a step of distancing the cut film <NUM>.

The distancing step can be carried out and controlled automatically by the control unit.

The distancing and planning steps can be carried out simultaneously.

In this step, the supplementary manipulator <NUM> sucks up and then distances the film <NUM> from the pallet <NUM>, keeping the film <NUM> tight, thus facilitating the cut.

The cutting device <NUM> according to the invention achieves important advantages.

In fact, the logistic device <NUM> and thus, the method actuated thereby, can be carried out, conveniently almost completely automatically, without the aid and/or supervision of an operator (optionally notwithstanding the setting step).

The logistic device <NUM> and the method make the distancing of the film <NUM> from the pallet automatic/autonomous, thus, automating one of the most complex, laborious and risky operations for a depalletizing operator.

In particular, the device <NUM> allows the film to be cut quickly and without damaging the product <NUM> significantly reducing the costs of the operation.

Claim 1:
A logistic device (<NUM>) for removing the protective film (<NUM>) of a pallet (<NUM>) or similar; said pallet (<NUM>) comprising at least one product (<NUM>) and said film (<NUM>) at least partially wrapping said product (<NUM>); said logistic device (<NUM>) being characterized in that it comprises
- an acquisition apparatus (<NUM>) adapted to make at least an acquisition of the position and size of said pallet (<NUM>);
- a manipulator (<NUM>) comprising cutting means (<NUM>) for cutting said film (<NUM>) and adapted to move said cutting means (<NUM>);
- a control unit adapted to control the execution of
∘ a detection step, in which said acquisition apparatus (<NUM>) makes an acquisition of said pallet (<NUM>) and wherein said control unit defines the position and size of said pallet (<NUM>) and then makes a reconstruction of said pallet (<NUM>);
∘ an identification step, in which the position of said film (<NUM>) is defined in said reconstruction;
∘ a planning step, in which, depending on said position and said reconstruction of said film and of said position of said film (<NUM>) in said reconstruction, said control unit defines a cutting trajectory, which is adapted to allow said cutting means (<NUM>) to cut said film (<NUM>);
∘ a cutting step, in which said cutting means (<NUM>) are moved along said cutting trajectory, to cut said film (<NUM>).
and in that
- said control unit defines, by said cutting means (<NUM>) a first compliance along a direction substantially parallel to said cutting trajectory and a second compliance along a direction substantially perpendicular to said cutting trajectory; said second compliance is substantially greater than said first compliance so as to cut said film (<NUM>) without damaging said product (<NUM>); and
- in said cutting step, said control unit commands said manipulator (<NUM>) to move said cutting means (<NUM>) and thus cut said film (<NUM>) having said first compliance and said second compliance.