EP0734789A2 - Dispositif et procédé de tri de matière en vrac - Google Patents

Dispositif et procédé de tri de matière en vrac Download PDF

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Publication number
EP0734789A2
EP0734789A2 EP96104846A EP96104846A EP0734789A2 EP 0734789 A2 EP0734789 A2 EP 0734789A2 EP 96104846 A EP96104846 A EP 96104846A EP 96104846 A EP96104846 A EP 96104846A EP 0734789 A2 EP0734789 A2 EP 0734789A2
Authority
EP
European Patent Office
Prior art keywords
bulk material
particles
color
sorting
objects
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP96104846A
Other languages
German (de)
English (en)
Other versions
EP0734789B1 (fr
EP0734789A3 (fr
Inventor
Günther Petzold
Hartmut Harbeck
Gerd Reischmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CommoDaS GmbH
Original Assignee
CommoDaS GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CommoDaS GmbH filed Critical CommoDaS GmbH
Publication of EP0734789A2 publication Critical patent/EP0734789A2/fr
Publication of EP0734789A3 publication Critical patent/EP0734789A3/fr
Application granted granted Critical
Publication of EP0734789B1 publication Critical patent/EP0734789B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
    • B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3425—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain

Definitions

  • the invention relates to a device and a method for sorting bulk material in two fractions by color and / or shape according to the preamble of the main claim.
  • Devices for sorting out have recently become increasingly used for sorting out certain stones according to particle size or color from a bulk material flow, for sorting out ergot from bulk grain material, for sorting out glass of different colors and for sorting out impurities from glass, for sorting plastic by color or transparency and Sorting food and pharmaceuticals by color, e.g. B. for French fries and corn flakes, or by shape, e.g. B. at tablet breakage, and according to minimum sizes, eg. B. of fruit, related.
  • color e.g. B. for French fries and corn flakes
  • shape e.g. B. at tablet breakage
  • a generic device is known from EP 0 550 944, in which non-transparent particles are separated from transparent particles.
  • the device described there has set itself the task of sorting particles of different sizes.
  • the problem here is the different trajectory of objects of different sizes. This is solved by a conveyor belt with grooves. After the particles have separated from the conveyor belt, they pass through a flight path, where they are observed by a CCD camera, the signal of which is used to control blow-out nozzles that are assigned to the individual pixels of the CCD camera.
  • the device from the cited document is not able to sort bulk goods of different shapes or sizes according to these characteristics.
  • EP 0 426 893 relates to a similar device, in which a color distinction between green and brown glass is to be made by scanning at two wavelengths.
  • a universal adaptation to other colors is not easily possible, and the image processing speed is conceptually too slow to be able to work efficiently.
  • the invention is therefore based on the object of providing a device which is capable of sorting a wide variety of bulk goods and which provides improved sorting with the least possible incorrect sorting at a high pressure set.
  • the subclaims represent further advantageous embodiments of the invention, which can be implemented individually or in combination for special purposes.
  • cameras can also be used which work under incident light, or a combination of two cameras directed in opposite directions can be used, each of which operates under incident or transmitted light conditions.
  • a camera operating under incident light conditions is preferred, in which two fluorescent tube elements are arranged on both sides of the observation beam path. This enables lighting that is favorable for most applications to be achieved.
  • a bulk chute that approximates the trajectory of free fall, but is still slightly horizontal, so that all particles still slide on the bulk chute move, is to be provided, which serves to create a similar trajectory for all particles and further ensures that the particles do not rotate between the time of observation and the blowing and remain in their relative positional relationship with the other neighboring particles as possible.
  • This enables an aluminum chip that flies differently on longer free-fall distances than, for example, broken glass, to be carried along by the broken glass on the chute, so that it reaches the same speed.
  • the bulk material chute makes it possible to separate the individual bulk material particles on a conveyor belt by means of an oscillating device.
  • the vibrating device without bulk chute would otherwise produce uneven exit speeds when leaving the conveyor belt. The exit speeds have become more even due to the bulk material slide.
  • the advantageously easily replaceable bulk material chute can also be provided with guide grooves which, with a trapezoidal cross section in the direction of the extent of the bulk material chute, ensure that transverse movements of individual bulk material particles are largely converted into straight travel. It is also advantageous to manufacture the bulk material slide for different materials from different materials. In addition to a plastic version, which in some applications can be replaced by a bulk material slide made of glass due to electrostatic charges, a bulk material slide is also conceivable for food technology applications (e.g. sorting rice or grain) made of metal with profiled guide grooves.
  • the electronic image processing according to the invention is advantageous, which generates a two-dimensional image of the bulk material flow, which stands for a brief moment, from successive line signals.
  • Two-dimensional images are usually achieved in television technology by scanning a two-dimensional image area. However, it is also possible to scan a one-dimensional line if the bulk material continues to move uniformly, as in the present case.
  • This generated two-dimensional image can be displayed on a screen, it being particularly advantageous if the particles to be blown out are displayed in a different color after image signal processing.
  • This enables the user to visually compare the sorting ratio visible to him on the conveyor belt with the sorting ratio recognized by the device. Furthermore, the correct detection of the objects can be clearly presented to the user at any time. If, for example, objects appear in a significantly different form or number on the screen after image signal processing than can actually be seen, for example, on the conveyor belt, one parameter of the device, e.g. B. readjust the speed. Of course, this readjustment can also take place automatically based on the recorded blow-out statistics and the user can be notified of this readjustment by appropriate signals, for example to a control center or alarm signals.
  • the advantage here is in particular the use of a recursive filter which, in the case of homogeneously distributed bulk material particles to be sorted out, for example ergot and rye grain, can inform the user in good time of changing sorting statistics.
  • the recursive filter can change the sorting characteristics accordingly, so that again only a preselected component of the Grain is sorted out. Since this presupposes that the material to be sorted out, for example the ergot, is actually homogeneously distributed, the user should be informed accordingly so that he can check the existence of the acceptance again.
  • the color on both sides of an object can be checked independently of one another, so that, if necessary, both the transmitted light and incident light information can be determined by a combination in the electronic image signal processing for an individual object and this can be sorted accordingly.
  • the possibility of forwarding the bulk material flow and the sorting statistics and even the current image information about the objects to be sorted out makes it possible to control centers for a plurality of these devices with image information of both the bulk material itself, for example by viewing on the conveyor belt and detailed information about the To provide the quantity and type of the sorted out particles and possibly a second object class that comes closest to the sorted out particles, as well as an indication of the sorted out particles when the sorting characteristics change.
  • the use of the bulk material chute ensures that flat particles align themselves along the extent of the chute and that their flight movement, which is considerably shorter than that of the prior art mentioned, also begins in this direction, so that the air outlet nozzles are much more reliably capable of flushing them with air to act upon.
  • An acceleration which is desired for separating the bulk material particles in the bulk material flow, nevertheless takes place to at least the same extent. Due to the possibility of object formation in a two-dimensional image, the center of gravity of the particles can be blown on, so that it can be avoided that compressed air is applied to a front edge of the particle, which would result in an undesired wobbling movement of the particle.
  • FIG. 1 shows the blow-out nozzles 10 which can be moved and swiveled in guides 22 both in the lateral directions upwards and downwards and which are controlled by a compressed air control 24.
  • the guides 22, 36, etc. which are used to adjust the angular and spatial relationships of the individual parts to one another, are each ball-bearing guides arranged laterally on the side walls of the machine.
  • a conveyor belt (not shown) provided with a vibrating device will convey the bulk material coming from the right to the bulk material chute 12, on which it will slide down to the desired speed, whereby the bulk material flow "pulled apart” and thus the particles are separated. Continuing their flight movement essentially in a straight line, they will fall, as indicated by the solid line and the one particle.
  • the blow-out nozzles 10 arranged essentially vertically to this effect blow out certain bulk material particles into a sorting-out bulk material channel 26.
  • a suction fan 28 and air suction nozzles 30 provided on the blown side wall of the shaft 26 are provided in order to form steady air conditions, to avoid air eddy formation.
  • a partition 16 is provided between the shaft for blown-out bulk material and a shaft 32 for non-blown-out, proper bulk material, which is coupled to a pivoting device 18 via a continuous straight rod or plate connection in order to place the upper edge of the partition wall 16 exactly as desired.
  • Interchangeable drawers for collecting the sorted goods are shown below the shafts 26 and 32 in the figure. Of course, larger containers or other processing systems can follow here.
  • lighting means 14 are provided, each consisting of two fluorescent tubes running parallel to the extension of the bulk material slide, that is to say perpendicular to the plane of the drawing, between which a distance remains. This distance, which also allows a radiation from outside the device as a gap, the Line cameras used according to the invention observe the bulk material flow. It is possible to observe under reflected and transmitted light conditions with at least one camera (not shown) placed on the right and / or top left of the part of the device shown in the drawing. Bulk particles are observed either on the transparent bulk chute or, preferably due to the lower optical disturbances, just behind the bulk chute.
  • the particles Shortly behind the bulk material slide, the particles continue to fly in the same direction as on the slide, i.e. in one plane and at the same speed. Different bulk particle properties cannot change the trajectory there yet. Close to the gap between two fluorescent tubes there is an approximately one to two centimeter white stripe that serves as a well-lit background for the camera opposite.
  • a device for pivoting the bulk material chute 12 is shown, with reference number 36, the laterally attached guides for height adjustment of the bulk material chute. This is also adjustable in the lateral direction, as is also provided for the blow-out nozzles by the guides 22 and for the lighting elements 14 by guides provided in their attachment.
  • the two-dimensional image generated with this device is displayed on a color monitor, it being particularly advantageous that an image takes a certain time, for example half a second, to build up its many lines, while the rest of the image is stationary. During this half a second, a detected bulk particle is stationary on the screen be recognizable so that its size, color and size, and the amount of such particles can be easily read by the user. Only after the line camera has recorded enough lines at the same location, but with a moving bulk material flow, to fill an entire image, is the display on the screen replaced with a new image.
  • a user can recognize whether the combination of object-indicating pixels into two-dimensional image objects, which are supposed to correspond to the bulk material particles, is handled correctly by the electronics, or whether objects that are too large or too small are recognized. If necessary, readjustments can be made.
  • this representation can also be used to display object inclusions in a different color. This is particularly advantageous for applications in which ore or rock is to be examined for inclusions.
  • color information about an object can also be acquired.
  • the color information on both the front and the back can be combined by arithmetic means to form a total color information, which, for example in the case of waste glass, makes sorting by different colors considerably easier.
  • inclusions can also be detected, it is also possible to use the system to sort bulk particles according to a relationship between their own size and the size of an inclusion. This can be both a sorting out of those bulk material particles in which the bulk material parts with larger inclusions make processing worthwhile, and in the opposite case a sorting out of those bulk material parts that have such large inclusions that post-processing or use does not appear to make sense.
  • a color line sensor which is provided with a color line camera interface FZKINT, is proposed for color information acquisition.
  • the incoming pixel data streams are processed using a multi-stage pipeline.
  • the three color channels red, green and blue serve as input data. They must be available in digitized, 8-bit wide form, such as that supplied by some color line cameras or the FZKSAIM module used for simulation purposes.
  • 8 bit wide color class information is available for each pixel of a line, which can be supplied to an SBIP / L module.
  • the desired color space coding of the individual classes is determined by the content of several lookup tables (LUTs). The individual processing stages of the pipeline are discussed in more detail below.
  • a line delay (color divergence) is carried out.
  • Their function is closely linked to the geometric conditions of the camera used and was therefore physically assigned to the color line camera interface.
  • the FZKINT especially does justice to the fact that with some color line cameras, the individual colors (red, green and blue) are assigned to spatially separate CCD sensors. This results in considerable problems with the color identification of edges that run parallel to the CCD camera, since the individual sensors only get the new color value one after the other. Wrong color values are therefore read out during the transition.
  • the problem can, however, be remedied by delaying the individual color channels depending on their spatial separation. A constant movement speed is a prerequisite for this procedure of the objects, which is also software-controlled and coupled to the corresponding delay time.
  • a variable line offset for the individual color components can be programmed and thus color divergence due to movement can be eliminated.
  • 8 lines can be set as the maximum line offset between two spatially adjacent color channels (red: green, green: blue).
  • the pixel data stream After passing through the corresponding line delay, the pixel data stream leaves the FZKINT and arrives at the CCD lookup tables on a color line preprocessing device.
  • a separate LUT is then available for each color channel (rccd-LUT, gccd-LUT, bccd-LUT). It is used for linearization and offset correction of the CCD sensor. It can also be used for white balance.
  • Y 0.299 R + 0.587 G + 0.114
  • the colors are assigned an 8-bit value, so that, for example, only 1000, for example, are selected from a set of 16 million colors in the YUV space. Then several such colors can be combined into one class.
  • the brightness value Y can drop in the edges of the line.
  • the conversion into the YUV color space takes this "shading" error into account.
  • the use of a recursive filter is also possible in the color process.
  • the recursive filter acts on the brightness signal.
  • the recursive filter acts as a brightness correction over several lines.
  • the color signals in the YUV space are also referred to as chrominance, which are advantageously independent of the luminance.
  • FIG. 2 shows the optional online statistics within dashed boxes, which are carried out over the objects detected in each case.
  • the optional morphology processor is used for recursion.
  • the angular relationships, in particular the bulk material chute but also the blow-out nozzles, and the relative position of these relative to one another along the provided guides and angle adjustment devices can be changed automatically, if necessary.
  • Suitable sensors for, for example, humidity, temperature or similar environmental factors can optionally also be provided.
  • alarm means inform the user of this beforehand.

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  • Sorting Of Articles (AREA)
  • Control And Other Processes For Unpacking Of Materials (AREA)
  • Combined Means For Separation Of Solids (AREA)
EP96104846A 1995-03-31 1996-03-27 Dispositif et procédé de tri de matière en vrac Expired - Lifetime EP0734789B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19511901A DE19511901A1 (de) 1995-03-31 1995-03-31 Vorrichtung und Verfahren zum Sortieren von Schüttgut
DE19511901 1995-03-31

Publications (3)

Publication Number Publication Date
EP0734789A2 true EP0734789A2 (fr) 1996-10-02
EP0734789A3 EP0734789A3 (fr) 1998-05-27
EP0734789B1 EP0734789B1 (fr) 2001-11-28

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ID=7758304

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EP96104846A Expired - Lifetime EP0734789B1 (fr) 1995-03-31 1996-03-27 Dispositif et procédé de tri de matière en vrac

Country Status (4)

Country Link
EP (1) EP0734789B1 (fr)
AT (1) ATE209534T1 (fr)
DE (2) DE19511901A1 (fr)
ES (1) ES2168114T3 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU696901B2 (en) * 1996-12-16 1998-09-24 Satake Corporation Color sorting machine for cereal grain or the like having dust collecting device
EP0873795A3 (fr) * 1997-04-25 1999-04-14 Bodenseewerk Gerätetechnik GmbH Procédé et dispositif de tri de tessons
EP2085154A2 (fr) 2008-01-31 2009-08-05 Axel Kulcke Procédé, dispositif d'éclairage et système de tri à base spectrale
CN105728346A (zh) * 2016-04-22 2016-07-06 安徽捷迅光电技术有限公司 一种带有下料管的色选机
US9492849B2 (en) 2005-05-17 2016-11-15 Visys Nv Method for sorting products moving in a continuous stream on a chute
CN109085170A (zh) * 2017-06-14 2018-12-25 中国科学院沈阳自动化研究所 同步带式玉米籽粒破碎率在线检测装置及方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10011093A1 (de) * 2000-03-09 2001-10-04 Commodas Gmbh Sortiervorrichtung und Sortierverfahren für dreidimensionale, insbesondere Hohlkörper
DE102019204444A1 (de) * 2019-03-29 2020-10-01 Robert Bosch Gmbh Verfahren und System zur Identifikation von Schüttgut
CN111889399B (zh) * 2020-08-25 2022-02-08 湖南省伟利米业有限公司 一种大米生产线用色选装置

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DE8124756U1 (de) * 1981-08-25 1982-01-07 Ruhrkohle Ag, 4300 Essen Einrichtung zur uebergabe von schuettgut
DE3443476A1 (de) * 1984-11-29 1986-05-28 Helmut A. 6720 Speyer Kappner Verfahren und vorrichtung zum pruefen und sortieren von granulatfoermigem material
DE3528069A1 (de) * 1985-08-05 1987-02-05 Mabeg Muell & Abfall Vorrichtung zum sortieren von altglas
EP0267790A3 (fr) * 1986-11-12 1990-01-17 Lockwood Graders (U.K.) Limited Procédé et dispositif de trí d'articles
DE3804391A1 (de) * 1988-02-12 1989-08-24 Hubertus Exner Verfahren und vorrichtung zum sortieren von altglasbruchstuecken
US5085325A (en) * 1988-03-08 1992-02-04 Simco/Ramic Corporation Color sorting system and method
AT394631B (de) * 1988-07-25 1992-05-25 Wurth Paul Sa Handhabungsvorrichtung fuer eine verteilerschurre eines schachtofens, und an diese vorrichtung angepasster antriebsmechanismus
GB8909164D0 (en) * 1989-04-21 1989-06-07 Radix Systems Ltd Method and apparatus for sorting discrete materials and manufactured products
EP0440993A1 (fr) * 1990-02-05 1991-08-14 Multi Minerals Méthode et dispositif pour récupérer, à partir de matériaux résiduels, des produits pour un traitement ultérieur
DE4029202A1 (de) * 1990-09-14 1992-03-19 Buehler Ag Verfahren zum sortieren von partikeln eines schuettgutes und vorrichtungen hierfuer
DE9116904U1 (de) * 1991-07-29 1994-10-06 Rwe Entsorgung Ag, 45141 Essen Vorrichtung zum Sortieren von Abfallgemischen
DE4210157C2 (de) * 1992-03-27 1994-12-22 Bodenseewerk Geraetetech Verfahren zum Sortieren von Glasbruch
DE4339285A1 (de) * 1992-12-02 1994-06-09 Buehler Ag Verfahren zum Reinigen und Sortieren von Schüttgut
DE4320331A1 (de) * 1993-06-20 1994-12-22 Robert Prof Dr Ing Massen Flexible optische Sortierung von Hohlkörpern
US5339964A (en) * 1993-09-20 1994-08-23 Simco/Ramic Corporation Method and apparatus for using passive exhaust for pneumatic sorting system
DE4339822C1 (de) * 1993-11-23 1995-05-24 Noell Gmbh Verfahren und Vorrichtung zur Sortierung von anorganischen nichtmetallischen Werkstoffen
DE4340173A1 (de) * 1993-11-25 1995-06-01 Hergeth Hubert A Verfahren zum Erkennen und Ausschleusen von andersfarbigen Fremdteilen in Faserverarbeitungslinien
DE4345106C2 (de) * 1993-12-28 1995-11-23 Reemtsma H F & Ph Verfahren zum optischen Sortieren von Schüttgut

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU696901B2 (en) * 1996-12-16 1998-09-24 Satake Corporation Color sorting machine for cereal grain or the like having dust collecting device
EP0847812A3 (fr) * 1996-12-16 1999-02-03 Satake Corporation Machine de tri colorimétrique de grains de céréales ou analogues pourvue d'un dispositif de collecte de poussière
US5994656A (en) * 1996-12-16 1999-11-30 Satake Corporation Color sorting machine for cereal grain or the like having dust collecting device
EP0873795A3 (fr) * 1997-04-25 1999-04-14 Bodenseewerk Gerätetechnik GmbH Procédé et dispositif de tri de tessons
US9492849B2 (en) 2005-05-17 2016-11-15 Visys Nv Method for sorting products moving in a continuous stream on a chute
EP2085154A2 (fr) 2008-01-31 2009-08-05 Axel Kulcke Procédé, dispositif d'éclairage et système de tri à base spectrale
CN105728346A (zh) * 2016-04-22 2016-07-06 安徽捷迅光电技术有限公司 一种带有下料管的色选机
CN109085170A (zh) * 2017-06-14 2018-12-25 中国科学院沈阳自动化研究所 同步带式玉米籽粒破碎率在线检测装置及方法
CN109085170B (zh) * 2017-06-14 2023-08-29 中国科学院沈阳自动化研究所 同步带式玉米籽粒破碎率在线检测装置及方法

Also Published As

Publication number Publication date
EP0734789B1 (fr) 2001-11-28
EP0734789A3 (fr) 1998-05-27
DE19511901A1 (de) 1996-10-02
ES2168114T3 (es) 2002-06-01
ATE209534T1 (de) 2001-12-15
DE59608288D1 (de) 2002-01-10

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