EP2110187B1 - Procédé d'identification, de classification et de tri d'objets, de matériaux et système de reconnaissance destiné à l'exécution de ce procédé - Google Patents

Procédé d'identification, de classification et de tri d'objets, de matériaux et système de reconnaissance destiné à l'exécution de ce procédé Download PDF

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Publication number
EP2110187B1
EP2110187B1 EP09008037A EP09008037A EP2110187B1 EP 2110187 B1 EP2110187 B1 EP 2110187B1 EP 09008037 A EP09008037 A EP 09008037A EP 09008037 A EP09008037 A EP 09008037A EP 2110187 B1 EP2110187 B1 EP 2110187B1
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EP
European Patent Office
Prior art keywords
items
conveyor belt
objects
sorting
unit
Prior art date
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Revoked
Application number
EP09008037A
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German (de)
English (en)
Other versions
EP2110187A1 (fr
Inventor
Christian Gurschler
Axel Dr. Kulcke
Raimund Leitner
Werner Dr. Scherf
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Tomra Sorting AS
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Titech Visionsort AS
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Publication date
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Application filed by Titech Visionsort AS filed Critical Titech Visionsort AS
Publication of EP2110187A1 publication Critical patent/EP2110187A1/fr
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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
    • B07C5/367—Sorting apparatus characterised by the means used for distribution by means of air using a plurality of 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
    • B07C5/04—Sorting according to size
    • B07C5/10—Sorting according to size measured by light-responsive 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

Definitions

  • the invention relates to a method for identifying, classifying and sorting objects, objects and materials, wherein in one method step the spectral data, such as color, chemical properties, and spatial data, such as shape, size, position and / or structure of relative to Measurement unit of moving or moving objects, objects and materials in both planar dimensions with high spatial and full spectral resolution in real time and detected, and the objects, objects and materials thus detected are classified by this data in real time and then sorted, and wherein the a sorting criterion corresponding items are withdrawn from the process cycle by means of a sorting device, preferably by means of a controllable air flow, without interruption of the overall process.
  • the invention further relates to an arrangement for carrying out this method.
  • an automated sorting method in which the identification of the objects to be sorted is performed by means of spectral data analysis.
  • the spectral data for a given amount of objects to be sorted are determined and forwarded for subsequent classification to a computer unit.
  • This method is complicated in terms of apparatus technology, since such a detection system consists of three subsystems, namely an image analysis system, a scanning device and an NIR (near infrared) spectrometer.
  • Another known method for classifying objects, objects and materials is the measurement of spectral properties on a measurement object in one or more optical wavelength ranges and the evaluation of the spectral absorption, emission or reflection patterns thus obtained.
  • these methods assume that the measuring spot is representative of the entire object to be measured. If this is not guaranteed, for example, if there is a possibility that the object is made by other materials is contaminated or covered, inhomogeneous, or if the measurement objects have a relevant surface structure to be detected, these methods are insufficient. For such cases, the use of systems is required with which the required spectral information can be detected spatially resolved.
  • a method of the type mentioned is proposed, which is characterized in that a recognition system, consisting of a detection unit for the simultaneous determination of spatially resolved image and spectral data in real time, which is above the on a transport system, preferably a conveyor track, distributed to be sorted objects to be positioned, and one with this unit connected evaluation unit for evaluating the determined multispectral image data is used, and that as the detection unit, an imaging spectrograph is used in combination with a recording unit, whereby lines which are transverse to the direction of relative movement between the observed object, object or material and the detection unit, with Mapped by an appropriate, spectrally matched optics and fed through an entrance slit the imaging spectrograph, which with a wavelength-dispersive element, preferably a transmission grating, for the extraction of the spect alinformation from a light beam is equipped, so that at the exit side of the spectrograph, while preserving the spatial information of the imaged line, the light beams of the imaged lines are spectrally
  • the invention further relates to an arrangement for carrying out the method according to the invention, comprising a detection system consisting of a detection unit, which is positioned above on a transport system, and an evaluation unit connected to this unit, wherein the detection unit used is an imaging spectrograph in combination with a recording unit is provided, and being provided as Transportanalge a continuous conveyor track and at least one means operatively connected to the detection unit for sorting out of the sorting criteria corresponding detected objects, objects or materials.
  • a detection system consisting of a detection unit, which is positioned above on a transport system, and an evaluation unit connected to this unit, wherein the detection unit used is an imaging spectrograph in combination with a recording unit is provided, and being provided as Transportanalge a continuous conveyor track and at least one means operatively connected to the detection unit for sorting out of the sorting criteria corresponding detected objects, objects or materials.
  • the following ranges and / or subregions of the ranges and / or combinations of the ranges are used as spectral ranges: ultraviolet (UV, 200-380 nm), visible light (380-780 nm), near infrared ( NIR, 780 - 2500 nm) and mid-infrared (> 2.5 ⁇ m).
  • UV, 200-380 nm ultraviolet
  • visible light 380-780 nm
  • NIR, 780 - 2500 nm near infrared
  • mid-infrared > 2.5 ⁇ m
  • An exemplary application for the method according to the invention is the sorting of articles in terms of material or type, Objects and materials, such as waste materials, but also the treatment of recycled materials. It is known to sort by hand any kind of items, such as waste and recycled material. It is based on criteria such as color, shape and composition of the items to be sorted. Although presorting by hand, as is done, for example, with smaller amounts of waste in households, is a relief for further waste disposal, yet manual sorting are consuming to perform. In order to simplify the sorting or to enable the sorting of health-endangering or harmful substances, the method according to the invention can be used here.
  • Another application example is the use of the method according to the invention for in-line quality control of products during the production process, for example of surface coatings.
  • the use of the method according to the invention makes it possible to control the distribution, homogeneity and quality of a coating process in real time for this application.
  • this recognition system consists of an imaging spectrograph in combination with a recording unit.
  • This system is characterized in that lines which extend transversely to the direction of relative movement between the object to be measured and detection unit, with Mapped by an appropriate, spectrally matched optics and fed via an entrance slit an imaging spectrograph, which is equipped with a wavelength dispersive element for spectral dissection of the lines, so that decomposed at the exit side of the spectrograph, the incoming light into the corresponding spectral regions and a receiving unit is shown.
  • the data determined as explained above are subsequently forwarded to the evaluation unit, which consists for example of an electronic data processing system.
  • the data transmitted at high speed from the detection unit are first read in by means of a corresponding computer software program.
  • the computer software includes a number of mathematical algorithms for processing in real time the data streams determined using the recognition system (s).
  • this classification serves to associate the detected objects with groups having similar or comparable properties, such as in the case according to the invention, shape, size, color, structure and / or chemical constitution, as well as combinations of these and / or similar parameters.
  • colors can also be captured with the help of conventional color cameras, these are limited to three color channels, so that a color classification can be made only with great technical effort or reduced precision.
  • the method according to the invention enables a spectral decomposition which is typical for 100 to 200 wavelengths, so that a precise identification and classification can be achieved the items to be sorted is guaranteed.
  • the unit-detectable spectral range it may be advantageous for specific applications to equip the overall system with two or more detection units, each consisting of spectrally tuned optics, imaging spectrograph, and camera. This makes it possible to broaden the information base of the classification and thus to increase the classification reliability.
  • the detection units are preferably integrated into the overall system in such a way that they run synchronously with each other and detect the same observation field.
  • the detection units can optionally be connected to a common or individual recognition and evaluation units.
  • the data is transmitted to the evaluation unit 3 and further processed there.
  • Two categories of data are simultaneously determined with the recognition system used according to the invention, namely on the one hand the spectral data for determining the color and / or the chemical properties and on the other hand the image data for determining the shape, position, size and / or structure of the objects to be classified.
  • the shape of the objects is captured by capturing and evaluating the lines across the conveyor belt with a typical resolution of between 128 points and 1600 points. Due to the sequential recording of the lines, a two-dimensional image emerges from the aforementioned lines. From this data set, the geometric properties of the objects to be classified can be determined.
  • the data processing includes a dark current correction, a referencing to a standard, a normalization of the spectra, a filter stage to reduce the noise, the calculation of the 1st or 2nd derivative as well as the actual classification according to a specific application and optimized algorithm.
  • Further functions can be, for example, those for determining the center of gravity and / or the object or class edges and / or other object properties by means of image processing algorithms. This makes it possible to precise the objects to be separated recognize, classify in real time and in the further example to make a corresponding sorting.
  • the data is transmitted via a user-defined interface, another model of the computer software, to the corresponding control components, for example a higher-level process control system or, as in this exemplary application, to an automated sorting unit , about controllable exhaust nozzles, forwarded.
  • an automated sorting for example by blowing out or by means of controlled flaps, can thus take place after the determination of the aforementioned data.
  • nozzle row 5 is as out FIGS. 3 and 4 can be seen, advantageously arranged below the strands of the strips 13 carrying the articles.
  • Another preferred method is the use of an additional cross conveyor belt 6, which is mounted at a distance of, for example, 30 cm across the transport conveyor belt 4.
  • the articles to be discharged are in this embodiment swirled through the discharge nozzles on this conveyor belt and then transported away on the cross conveyor belt.
  • This sorting process is based on the representation according to Fig. 3 explained in more detail. It's too see that the conveyor belt 4 in the longitudinal direction of a plurality of spaced apart, for example, about 50 strips 13 consists.
  • the nozzle row 5 is mounted so that the individual nozzles 14 between the strips 13 of the conveyor belt come into effect.
  • the method according to the invention for identifying, classifying and sorting objects can therefore be carried out in a simple manner, since geometric and spectral data, for example concerning color and / or chemical data, of a unit simultaneously and with high spatial and spectral resolution in real time Characteristics of the objects to be measured are recorded.
  • the method according to the invention is particularly relevant in the case of measurement objects which are in motion relative to the recognition system for process engineering or other reasons.
  • the method according to the invention can be carried out in a simple manner, in particular with the aid of the recognition system used according to the invention, consisting of a unit for the simultaneous determination of image and spectral data and a unit connected therewith for evaluating the determined image and spectral data.

Landscapes

  • Sorting Of Articles (AREA)
  • Investigating Or Analysing Materials By Optical Means (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Claims (8)

  1. Procédé pour l'identification, la classification et le tri d'articles, d'objets et de matériaux, selon lequel, au cours d'une étape du procédé, les données spectrales, telles la couleur, les caractéristiques chimiques, et les données spatiales, telles la forme, la grandeur, la position et/ou la structure d'articles, d'objets et de matériaux déplacés ou se déplaçant par rapport à l'appareil de mesure dans les deux dimensions planes sont déterminées et détectées en temps réel avec une résolution spatiale élevée et à spectre total, et les articles, objets et matériaux ainsi décelés au moyen de ces données étant classés en temps réel et ensuite triés, et les articles correspondants à un critère de tri étant retirés du circuit du procédé grâce à un dispositif de tri, de préférence grâce à un flux d'air pouvant être commandé, sans interruption du processus global, caractérisé en ce que l'on utilise un système de reconnaissance se composant d'une unité de détection (2) pour la détermination simultanée de données spectrales et d'images à résolution spatiale en temps réel, laquelle est positionnée au-dessus d'articles à trier répartis sur un dispositif de transport, de préférence une bande transporteuse (4), et d'une unité d'analyse (3) raccordée à cette unité pour analyser les données d'image multispectrales déterminées, et en ce que l'on utilise en guise d'unité de détection un spectrographe d'imagerie (10) en combinaison avec une unité d'enregistrement (12), moyennant quoi des lignes, lesquelles s'étendent transversalement à la direction du mouvement relatif entre l'article, l'objet ou le matériau observé et l'unité de détection, sont représentées à l'aide d'une optique (8) adéquate à harmonisation spectrale et sont amenées via une fente d'entrée (9) au spectrographe d'imagerie (10), lequel est équipé d'un élément à dispersion de longueur d'onde, de préférence un réseau de transmission (11), pour l'extraction de l'information spectrale d'un faisceau lumineux, de sorte que du côté de sortie du spectrographe, les faisceaux lumineux des lignes représentées sont décomposés en obtenant l'information spatiale de la ligne représentée, et sont représentés sur l'unité d'enregistrement (12).
  2. Agencement pour la mise en oeuvre du procédé selon la revendication 1, comprenant un système de reconnaissance se composant d'une unité de détection (2), laquelle est positionnée au-dessus d'un dispositif de transport, et d'une unité d'analyse (3) raccordée à cette unité, moyennant quoi l'on utilise en guise d'unité de détection un spectrographe d'imagerie (10) en combinaison avec une unité d'enregistrement (12),et moyennant quoi l'on prévoit en guise de dispositif de transport une bande transporteuse (4) d'un seul tenant et au moins un dispositif (5) raccordé de manière opérative à l'unité de détection pour le triage des articles, objets ou matériaux reconnus de manière correspondante grâce aux critères de tri.
  3. Agencement selon la revendication 2, caractérisé en ce que le dispositif pour le triage comprend une rangée de buses (5) et des récipients de collecte aménagés latéralement.
  4. Agencement selon la revendication 2, caractérisé en ce que le dispositif pour le triage comprend une rangée de buses (5) et une bande transporteuse transversale (6) positionnée transversalement au-dessus de la bande transporteuse (4).
  5. Agencement selon l'une des revendications 2 à 4, caractérisé en ce que la bande transporteuse (4) est d'un seul tenant à travers toute l'installation.
  6. Agencement selon la revendication 5, caractérisé en ce que la bande transporteuse d'un seul tenant (4) est formée par plusieurs bandes parallèles (13) en direction longitudinale et en ce que la rangée de buses (5) est disposée en-dessous des brins des bandes (13) supportant les articles.
  7. Agencement selon l'une des revendications 2 à 6, caractérisé en ce que les articles à trier sont éliminés latéralement en biais du flux de matériaux grâce à un soufflage.
  8. Agencement selon la revendication 7, caractérisé en ce que l'on fait tourbillonner les articles à trier à l'aide d'un soufflage sur une bande transporteuse transversale (6) se trouvant au-dessus de la bande transporteuse en les éliminant ainsi du flux de matériaux.
EP09008037A 2002-11-21 2003-11-20 Procédé d'identification, de classification et de tri d'objets, de matériaux et système de reconnaissance destiné à l'exécution de ce procédé Revoked EP2110187B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT17512002 2002-11-21
EP03450254A EP1421999A3 (fr) 2002-11-21 2003-11-20 Procédé d'identification, de classification et de tri d'objets ou matériaux et système de reconnaissance correspondant

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EP03450254A Division EP1421999A3 (fr) 2002-11-21 2003-11-20 Procédé d'identification, de classification et de tri d'objets ou matériaux et système de reconnaissance correspondant
EP03450254.2 Division 2003-11-20

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EP2110187A1 EP2110187A1 (fr) 2009-10-21
EP2110187B1 true EP2110187B1 (fr) 2013-02-27

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EP09008037A Revoked EP2110187B1 (fr) 2002-11-21 2003-11-20 Procédé d'identification, de classification et de tri d'objets, de matériaux et système de reconnaissance destiné à l'exécution de ce procédé

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AT (1) AT7250U1 (fr)
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CN106824824A (zh) * 2016-10-26 2017-06-13 湖南理工学院 一种具有前置图像处理及反射式光谱单元的塑料分选系统
EP3530360A1 (fr) * 2018-02-21 2019-08-28 Siemens Aktiengesellschaft Détection d'expéditions non éligibles
CN108620337B (zh) * 2018-03-29 2020-02-21 潍坊路加精工有限公司 一种运动物料检测分档的方法及系统
CN109530271A (zh) * 2018-12-11 2019-03-29 天津市宽达水产食品有限公司 速冻青豆残次品在线检测与剔除装备
US11878327B2 (en) 2019-03-13 2024-01-23 Digimarc Corporation Methods and arrangements for sorting items, useful in recycling
CN110202716B (zh) * 2019-05-17 2024-04-30 佛山市玖州智能装备技术有限公司 废品塑料瓶分拣系统及其分拣方法
DE102021200894B3 (de) 2021-02-01 2022-04-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung eingetragener Verein Optisches Untersuchen von Objekten eines Materialstroms wie beispielsweise Schüttgut
CN113910495A (zh) * 2021-10-25 2022-01-11 太初环塑科技(浙江)有限公司 塑料瓶的回收分拣总成
US12365548B2 (en) * 2021-11-19 2025-07-22 Dematic Corp. System and method for identifying and transporting non-conveyable items
CN114589109B (zh) * 2022-02-28 2023-12-12 太仓金马智能装备有限公司 一种高精度可回收物智能识别系统及其识别方法
CN115026011B (zh) * 2022-05-25 2023-02-21 北京隆翔环保科技有限公司 一种固体废弃物智能处理系统
DE102022120823A1 (de) 2022-08-17 2024-02-22 Krones Aktiengesellschaft Vorrichtung und Verfahren zum Inspizieren von Behältnissen
CN116532394A (zh) * 2023-06-09 2023-08-04 福建师范大学 一种基于多光谱影像采集技术的生活源塑料制品快速、精准分选设备

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CN109844509B (zh) * 2016-06-21 2021-10-26 索雷克核研究中心 Xrf分析仪、识别被标记物体的方法、分拣系统和分拣方法

Also Published As

Publication number Publication date
EP1421999A3 (fr) 2005-11-30
EP2110187A1 (fr) 2009-10-21
AT7250U1 (de) 2004-12-27
ES2407086T3 (es) 2013-06-11
EP1421999A2 (fr) 2004-05-26

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