CA3029632C - Method for sorting objects by shape and apparatus for the implementation thereof - Google Patents
Method for sorting objects by shape and apparatus for the implementation thereof Download PDFInfo
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- CA3029632C CA3029632C CA3029632A CA3029632A CA3029632C CA 3029632 C CA3029632 C CA 3029632C CA 3029632 A CA3029632 A CA 3029632A CA 3029632 A CA3029632 A CA 3029632A CA 3029632 C CA3029632 C CA 3029632C
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- 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
Abstract
The invention relates to methods of sorting different objects into a limited number of classes according to their shape. The main use of the invention is in processes for sorting (grading) precious stones, primarily diamonds, by shape. The present method of sorting objects by shape consists in feeding objects one-by-one in a free-fall phase into an illumination and examination zone, generating an image of the objects in the light of light sources by means of electronic image generating devices paired with said light sources, processing the resulting images using a computing device with the aim of putting the shape of an object into one of a number of predetermined classes of shapes, and generating a command to a sorting device, which places the object into the appropriate storage bin for its size. The illumination of the object in the illumination and examination zone and the generation of an image of the shape of the object are carried out by the consecutive activation of each individual pair of illuminating devices and image generating devices as the object is on a free-fall trajectory in the illumination and examination zone. The not less than eight pairs of illuminating devices and image generating devices are all arranged in different planes equidistantly about a sphere around the point at which the free-fall trajectory of the object intersects the optical axes of the pairs of illuminating devices and image generating devices. The technical result is a method of sorting objects by classes of shapes which is highly efficient and also reduces the degree of classification error, which in turn reduces the number of objects that need to be resorted or manually processed.
Description
METHOD FOR SORTING OBJECTS BY SHAPE
AND APPARATUS FOR THE IMPLEMENTATION THEREOF
Description Technical field This invention relates to a method and an apparatus for sorting different objects into limited number of the classes according to their shape. The present invention may be specifically applied to processes of sorting (grading) gemstones, particularly raw diamonds, by their shape, and in apparatuses for sorting (grading) gemstones.
Prior art Known methods for sorting objects by their shape and other characteristics are based on the following general principles: transporting plurality of the objects one by one through a viewing zone by a special means, illuminating individually each of the objects passed through the viewing zone, capturing an image of the object shape or registering an object response to illuminating in a sensing detection means, preprocessing and converting the captured image (signal) to the digital form, analyzing of an information received by such way in a calculating means for assessing complains with or not the predetermined set of parameters which identifying belongings of the objects to the particular class, making a decision and then generating a command to an actuator for dispensing the object in a corresponding collecting bin of the objects of one of the classes according to the selected classification..
There is a known apparatus for automatic classifying crystal objects (for example, rough diamonds) by color or purity (US Patent 4,951,825, IPC BO7C
5/342, BO7C 5/36, published on 28.08.1990), where a feed system is configured as a combination of a vibratory bowl feeder and a rotary wheel structure with a system of suction ports. The apparatus has an illuminating ¨ viewing zone, comprised illuminators and detection means, and further a collecting bin for the objects with the number of outlets according to the selected classification.
The apparatus operates as follows. The vibratory feeder lines up the objects from an unclassified mass along a feed path. The rotary wheel structure feeds objects by objects to be classified to the illuminating ¨ viewing zone where receiving the information for making a decision about the classification is provided by means of the illuminators and the detectors of a light being passed (reflected) through (from) the objects. Then said rotary wheel structure feeds the object to a sorting apparatus provided to direct the object by a command of a calculating means to outlet bin according to the object class. The above-mentioned invention has obvious drawbacks in case the classification characteristic is the object shape, for example, the shape of a rough diamond crystal. The complete analysis of the shape would require increasing number of the registered devices (cameras) in the viewing zone while part of the objects being in the suction ports cannot be viewed completely.
In an sorting apparatus (Patent RU 2016672, IPC BO7C 5/342, GO1N
21/87, published on 30.07.1994) it was attempt to complicate the construction of the vacuum rotary conveyer in order to the maximum part of surface of the object can be viewed by means of rotation of the object (crystal) around its axis during passing the view zone of an optical measurement system. Said apparatus may be used in sorting objects by their shape. However this invention has the critical drawback of the transport system, based on the rotary conveyer, - part of the object in the suction port still cannot be viewed.
Other drawback of the described inventions and methods implemented by them is low performance, less than 5 ¨ 10 objects per second.
A prior art apparatus for sorting diamond crystals (Patent RU 2424859, IPC BO7C 5/342, published on 27.07.2011) comprising an assembly configured to feed the crystals one by one and a horizontal bowl feeder. This apparatus consists of the means for illuminating and viewing, a control and calculating means and an executing sorting means to direct the crystals to bins according to the classification criteria. Illuminating the object and receiving the information about its shape is performed on the horizontal bowl feeder. The control and calculating means processes the received information and issues to the sorting means a command for directing the crystal to the bin according to its determined shape. The drawbacks of this invention are follows: the low performance, an incomplete visibility of a crystal on the surface of feeder, a possible irregularity in feeding the crystals to the viewing zone.
AND APPARATUS FOR THE IMPLEMENTATION THEREOF
Description Technical field This invention relates to a method and an apparatus for sorting different objects into limited number of the classes according to their shape. The present invention may be specifically applied to processes of sorting (grading) gemstones, particularly raw diamonds, by their shape, and in apparatuses for sorting (grading) gemstones.
Prior art Known methods for sorting objects by their shape and other characteristics are based on the following general principles: transporting plurality of the objects one by one through a viewing zone by a special means, illuminating individually each of the objects passed through the viewing zone, capturing an image of the object shape or registering an object response to illuminating in a sensing detection means, preprocessing and converting the captured image (signal) to the digital form, analyzing of an information received by such way in a calculating means for assessing complains with or not the predetermined set of parameters which identifying belongings of the objects to the particular class, making a decision and then generating a command to an actuator for dispensing the object in a corresponding collecting bin of the objects of one of the classes according to the selected classification..
There is a known apparatus for automatic classifying crystal objects (for example, rough diamonds) by color or purity (US Patent 4,951,825, IPC BO7C
5/342, BO7C 5/36, published on 28.08.1990), where a feed system is configured as a combination of a vibratory bowl feeder and a rotary wheel structure with a system of suction ports. The apparatus has an illuminating ¨ viewing zone, comprised illuminators and detection means, and further a collecting bin for the objects with the number of outlets according to the selected classification.
The apparatus operates as follows. The vibratory feeder lines up the objects from an unclassified mass along a feed path. The rotary wheel structure feeds objects by objects to be classified to the illuminating ¨ viewing zone where receiving the information for making a decision about the classification is provided by means of the illuminators and the detectors of a light being passed (reflected) through (from) the objects. Then said rotary wheel structure feeds the object to a sorting apparatus provided to direct the object by a command of a calculating means to outlet bin according to the object class. The above-mentioned invention has obvious drawbacks in case the classification characteristic is the object shape, for example, the shape of a rough diamond crystal. The complete analysis of the shape would require increasing number of the registered devices (cameras) in the viewing zone while part of the objects being in the suction ports cannot be viewed completely.
In an sorting apparatus (Patent RU 2016672, IPC BO7C 5/342, GO1N
21/87, published on 30.07.1994) it was attempt to complicate the construction of the vacuum rotary conveyer in order to the maximum part of surface of the object can be viewed by means of rotation of the object (crystal) around its axis during passing the view zone of an optical measurement system. Said apparatus may be used in sorting objects by their shape. However this invention has the critical drawback of the transport system, based on the rotary conveyer, - part of the object in the suction port still cannot be viewed.
Other drawback of the described inventions and methods implemented by them is low performance, less than 5 ¨ 10 objects per second.
A prior art apparatus for sorting diamond crystals (Patent RU 2424859, IPC BO7C 5/342, published on 27.07.2011) comprising an assembly configured to feed the crystals one by one and a horizontal bowl feeder. This apparatus consists of the means for illuminating and viewing, a control and calculating means and an executing sorting means to direct the crystals to bins according to the classification criteria. Illuminating the object and receiving the information about its shape is performed on the horizontal bowl feeder. The control and calculating means processes the received information and issues to the sorting means a command for directing the crystal to the bin according to its determined shape. The drawbacks of this invention are follows: the low performance, an incomplete visibility of a crystal on the surface of feeder, a possible irregularity in feeding the crystals to the viewing zone.
2 A technical solution, provided to obtain the high performance and complete viewing the object, is analysis of its shape in the freefall phase.
The prior art discloses a method and a device for shape sorting. (US Patent 5,184,732, IPC BO7C 5/342, published on 09.02.1993). According to the method each object to be classified is fed to the viewing zone in the freefall phase. The image of the object profile (silhouette) is registered simultaneously by plurality of illuminators and viewers which are arranged in the viewing zone in one plane around the viewing zone and normally at 900 to the direction of feed of the objects. A calculating means based on the hierarchic algorithm ascertains the shape classes of the object while the object falls from the viewing zone to a sorting zone positioned below. For example, for row diamonds it may be 16 different classes.
The above-mentioned invention also discloses a sorting machine for classifying a succession of objects according to shape comprising the viewing zone through which the objects freefall. In this zone the illuminators and viewers for further processing according to the hierarchic algorithm in order to ascertain the shape class of the objects passed through the viewing zone are located.
The machine is provided a sorting assembly to dispense the objects classified by the shape into the collecting bins according to each shape class. The performance of the machine achieves ten crystals per second and more, till twenty crystals per second. In addition the quality of sorting, defined as percent of the crystals to be subject to manual sorting after passing through the machine from their total quantity, is low, about 30% for crystals with size from 1/15 to 4 carats.
The main drawback of said method and machine is the relatively high percent of the crystals unclassified automatically and must be subject to manual sorting. The misclassifications are determined both by a hardware implementation of the method and the algorithm of an identification process of the shape class implemented by the calculating means. However positioning of the illuminators and registered cameras in one plane and processing of the image of the object as it falls where the image has been received simultaneously for each registered devices, substantially can not exclude the identification mistake as result of an unpredictable random variation of position of the object during falling at the moment of registering the silhouette shape.
The prior art discloses a method and a device for shape sorting. (US Patent 5,184,732, IPC BO7C 5/342, published on 09.02.1993). According to the method each object to be classified is fed to the viewing zone in the freefall phase. The image of the object profile (silhouette) is registered simultaneously by plurality of illuminators and viewers which are arranged in the viewing zone in one plane around the viewing zone and normally at 900 to the direction of feed of the objects. A calculating means based on the hierarchic algorithm ascertains the shape classes of the object while the object falls from the viewing zone to a sorting zone positioned below. For example, for row diamonds it may be 16 different classes.
The above-mentioned invention also discloses a sorting machine for classifying a succession of objects according to shape comprising the viewing zone through which the objects freefall. In this zone the illuminators and viewers for further processing according to the hierarchic algorithm in order to ascertain the shape class of the objects passed through the viewing zone are located.
The machine is provided a sorting assembly to dispense the objects classified by the shape into the collecting bins according to each shape class. The performance of the machine achieves ten crystals per second and more, till twenty crystals per second. In addition the quality of sorting, defined as percent of the crystals to be subject to manual sorting after passing through the machine from their total quantity, is low, about 30% for crystals with size from 1/15 to 4 carats.
The main drawback of said method and machine is the relatively high percent of the crystals unclassified automatically and must be subject to manual sorting. The misclassifications are determined both by a hardware implementation of the method and the algorithm of an identification process of the shape class implemented by the calculating means. However positioning of the illuminators and registered cameras in one plane and processing of the image of the object as it falls where the image has been received simultaneously for each registered devices, substantially can not exclude the identification mistake as result of an unpredictable random variation of position of the object during falling at the moment of registering the silhouette shape.
3 Increasing the number of the illuminators and registered devices (cameras) positioned coaxially with the illuminators is limited by a construction and doesn't result in a proportional reduction of a probability of the identification mistakes, also because of increasing a data massive to be processed.
The prior art contents an apparatus and method for inspecting gemstones (application PCT/EP2013/055165 "GEMSTONE INSPECTION", applicant DE BEERS CENTENARY AG, priority date 16.03.2012). The apparatus comprises a vacuum nozzle for picking up gemstones from a supply of gemstones, wherein the vacuum nozzle comprises a central bore for supplying a vacuum, said bore is made from transparent material for measurement of the stone optical properties and also is configured to be manipulated for changing the orientation of the gemstone; a transport mechanism configured to rotate around a hub and comprises an array of the nozzles for transporting the gemstone that is held by latter to a measurement location; a measurement system; a control system, operatively coupled to the vacuum nozzle and measurement system and configured so that the gemstone arrives at the measurement location at the predetermined time; a positive pressure application system is provided for releasing the gemstone from the nozzle at an ejection location.
The method for inspecting gemstones comprises the steps of picking up the crystal objects from a supply means of objects; performing measurement of the gemstone properties while the gemstone being conveyed and held on the moving vacuum nozzle in one or more measurement points or while gemstone freely falls; releasing the gemstone into a bin selected from plurality of the bins in dependence on the measured properties of the gemstone.
In the proposed method for sorting gemstones one of measurement device includes a collimated light source and viewing means arranged so that gemstones on the nozzle passes between the light source and the viewing means so as to obtain a series of silhouette images of each gemstone with further reconstructing in computer a 3D model of the shape of each stone from the series of images. The image is captured at the different angles with the light source. The drawback of said method is present of catchlights in the viewing means and, correspondingly, obtaining the nondistinct image of the stone because of position of the light source and the viewing means, and
The prior art contents an apparatus and method for inspecting gemstones (application PCT/EP2013/055165 "GEMSTONE INSPECTION", applicant DE BEERS CENTENARY AG, priority date 16.03.2012). The apparatus comprises a vacuum nozzle for picking up gemstones from a supply of gemstones, wherein the vacuum nozzle comprises a central bore for supplying a vacuum, said bore is made from transparent material for measurement of the stone optical properties and also is configured to be manipulated for changing the orientation of the gemstone; a transport mechanism configured to rotate around a hub and comprises an array of the nozzles for transporting the gemstone that is held by latter to a measurement location; a measurement system; a control system, operatively coupled to the vacuum nozzle and measurement system and configured so that the gemstone arrives at the measurement location at the predetermined time; a positive pressure application system is provided for releasing the gemstone from the nozzle at an ejection location.
The method for inspecting gemstones comprises the steps of picking up the crystal objects from a supply means of objects; performing measurement of the gemstone properties while the gemstone being conveyed and held on the moving vacuum nozzle in one or more measurement points or while gemstone freely falls; releasing the gemstone into a bin selected from plurality of the bins in dependence on the measured properties of the gemstone.
In the proposed method for sorting gemstones one of measurement device includes a collimated light source and viewing means arranged so that gemstones on the nozzle passes between the light source and the viewing means so as to obtain a series of silhouette images of each gemstone with further reconstructing in computer a 3D model of the shape of each stone from the series of images. The image is captured at the different angles with the light source. The drawback of said method is present of catchlights in the viewing means and, correspondingly, obtaining the nondistinct image of the stone because of position of the light source and the viewing means, and
4 simultaneous capturing the image by each of the measurement device that results in increasing number of the mistakes in identification of the gemstone shape and increasing the percent of unclassified objects.
In another embodiment of above-mentioned invention the measurement device includes a diffuse light source and an array of cameras at the different locations as well below stone and also a means for rotating the nozzles holding the gemstone around its axis for identifying the color of the stone.
One of the measurement devices comprises a spectrometer to determine a photoluminescence spectrum of the gemstone.
All apparatuses and methods implemented by their according to above-mentioned invention determine the classification characteristics of the gemstone held on the nozzle and, correspondingly, have the same drawbacks, indicated above, that is the lack of possibility to obtain the complete image of the object shape and the increased percent incorrectly classified crystals. In the description of the invention a method and an apparatus mentioned but not disclosed properly, for determining the classified characteristics of gemstones, for example, the shape, in which determining is performed during the freefall phase. So the described method and the apparatus would still have the main drawback - the low performance of sorting.
The prior art discloses a sorting apparatus for sorting rough gemstones "Sorting aggregate material" (International application PCT/EP2013/055240, applicant: DE BEERS CENTENARY AG", priority date 16.03.2012, published on 19.09.2013) which have been chosen as the prototype. This apparatus includes a transport system for individually transporting a crystal object to a measurement location comprising a rotatable carousel which the stone is being held on by a vacuum nozzle; a measurement system configured to determine the properties of the object, in general, diamonds, being held by the vacuum nozzle, that is one or more of: identification of the diamond, quality of the diamond and its shape; a dispenser system configured to dispense the gemstone from the transport system to one of a plurality of locations in dependence on the determination of the measuring system.
The measurement system is configured to determine the shape of gemstones comprising the plurality of cameras arranged in a circular array in one plane or in a spherical array in relation to the measurement location
In another embodiment of above-mentioned invention the measurement device includes a diffuse light source and an array of cameras at the different locations as well below stone and also a means for rotating the nozzles holding the gemstone around its axis for identifying the color of the stone.
One of the measurement devices comprises a spectrometer to determine a photoluminescence spectrum of the gemstone.
All apparatuses and methods implemented by their according to above-mentioned invention determine the classification characteristics of the gemstone held on the nozzle and, correspondingly, have the same drawbacks, indicated above, that is the lack of possibility to obtain the complete image of the object shape and the increased percent incorrectly classified crystals. In the description of the invention a method and an apparatus mentioned but not disclosed properly, for determining the classified characteristics of gemstones, for example, the shape, in which determining is performed during the freefall phase. So the described method and the apparatus would still have the main drawback - the low performance of sorting.
The prior art discloses a sorting apparatus for sorting rough gemstones "Sorting aggregate material" (International application PCT/EP2013/055240, applicant: DE BEERS CENTENARY AG", priority date 16.03.2012, published on 19.09.2013) which have been chosen as the prototype. This apparatus includes a transport system for individually transporting a crystal object to a measurement location comprising a rotatable carousel which the stone is being held on by a vacuum nozzle; a measurement system configured to determine the properties of the object, in general, diamonds, being held by the vacuum nozzle, that is one or more of: identification of the diamond, quality of the diamond and its shape; a dispenser system configured to dispense the gemstone from the transport system to one of a plurality of locations in dependence on the determination of the measuring system.
The measurement system is configured to determine the shape of gemstones comprising the plurality of cameras arranged in a circular array in one plane or in a spherical array in relation to the measurement location
5 (viewing location). The transport system is designed to feed and rotate the gemstone to be classified to the measurement location (viewing location).
The transport system is configured to move the gemstone from the measurement location (viewing location) at the second level, on which the stone is being released in a particular cell by a multi-way carousel of the first and second level in dependence on the made classification decision.
In this method for sorting crystal objects (gemstones) by the shape, the object is held by nozzle while the measurements is being performed that essentially may result in the mistakes in identifying the shape as the gemstones silhouette is not completely viewed, and also limit a sorting rate of the objects by the shape.
The above indicated problems may be solved by the proposed invention.
Disclosure of the invention The object of the present invention is to propose method and apparatus provided the high performance of sorting objects by the shape.
The technical effect is to provide the high performance of method for sorting objects by the shape classes and simultaneously reduce the percent of misclassifications expressed in the quantity of objects to be subjects for re-sorting or manual sorting.
The technical effect of the present invention is achieved by that the proposed method for sorting objects according their shape comprising the step of feeding objects one by one to an illuminating - viewing zone in the freefall phase, capturing images of the objects in the emission of illuminators by at least eight electronic image capture devices; processing the captured images by a calculating means to classify the object shape according to one of the predetermined shape classes; generating a command to be issued to a sorting actuator configured to dispense the object into a collecting bin corresponding to its shape; further comprises the following step ¨ sequential activating each individual pair of "illuminator - image capture device", from the first pair till the eighth pair, while the object is on the freefall trajectory in the illuminating ¨
viewing zone to capture the images of its shape.
In the preferred embodiment of the present invention high-speed electronic cameras configured to pre-process the image to derive a profile of the
The transport system is configured to move the gemstone from the measurement location (viewing location) at the second level, on which the stone is being released in a particular cell by a multi-way carousel of the first and second level in dependence on the made classification decision.
In this method for sorting crystal objects (gemstones) by the shape, the object is held by nozzle while the measurements is being performed that essentially may result in the mistakes in identifying the shape as the gemstones silhouette is not completely viewed, and also limit a sorting rate of the objects by the shape.
The above indicated problems may be solved by the proposed invention.
Disclosure of the invention The object of the present invention is to propose method and apparatus provided the high performance of sorting objects by the shape.
The technical effect is to provide the high performance of method for sorting objects by the shape classes and simultaneously reduce the percent of misclassifications expressed in the quantity of objects to be subjects for re-sorting or manual sorting.
The technical effect of the present invention is achieved by that the proposed method for sorting objects according their shape comprising the step of feeding objects one by one to an illuminating - viewing zone in the freefall phase, capturing images of the objects in the emission of illuminators by at least eight electronic image capture devices; processing the captured images by a calculating means to classify the object shape according to one of the predetermined shape classes; generating a command to be issued to a sorting actuator configured to dispense the object into a collecting bin corresponding to its shape; further comprises the following step ¨ sequential activating each individual pair of "illuminator - image capture device", from the first pair till the eighth pair, while the object is on the freefall trajectory in the illuminating ¨
viewing zone to capture the images of its shape.
In the preferred embodiment of the present invention high-speed electronic cameras configured to pre-process the image to derive a profile of the
6 object shape directly in a camera processor may be used as the image capture devices.
The technical effect is also achieved by that in the apparatus for implementation of the method for sorting objects by the shape comprises an assembly configured to form succession of the objects and feed the objects, an illuminating ¨ viewing zone, a sorting zone and the calculating means processing the images of the objects being classified as they passes through the viewing zone, furthermore there is special positioning of pairs "illuminator ¨
image capture device": at least eight pairs "illuminator ¨ image capture device"
are positioned in different planes and equally spaced on the sphere around the intersection point of the freefall trajectory of the object and the optical axes of pairs "illuminator¨ image capture device"
A process of capturing the images starts at the command of the first sensor arranged at the point of arrival of the object to the illuminating ¨
viewing zone when said sensor signals arrival of the object to the illuminating ¨
viewing zone. The object is in the freefall phase. Then each individual pair of "illuminator - image capture device", from the first pair till the last pair, is sequentially activated while the object is in the illuminating ¨ viewing zone.
At least eight pairs of "illuminator - image capture device" is used during capturing images. The illuminators and the image capture devices are synchronized by pairs. The illuminators are configured to emit the infra-red light for providing maximum contrast of the images.
Digital preprocessing of the captured images of the object profile in the electron image capture devices is carried out in order to increase the contrast of the images.
The apparatus for sorting objects by the shape consists of an assembly configured to feed the objects to the free fall trajectory one by one, comprising a vacuum rotary transporter and two vibratory feeders, an illuminating ¨ viewing zone, a sorting zone with the collecting bins and the calculating means for processing the captured images of the object. In addition the sorting zone includes a buffer carousel with pockets intended for temporary storage of the objects until they will be classified and dispensed by the air blast means into the collecting bins according to the objects shape class.
The technical effect is also achieved by that in the apparatus for implementation of the method for sorting objects by the shape comprises an assembly configured to form succession of the objects and feed the objects, an illuminating ¨ viewing zone, a sorting zone and the calculating means processing the images of the objects being classified as they passes through the viewing zone, furthermore there is special positioning of pairs "illuminator ¨
image capture device": at least eight pairs "illuminator ¨ image capture device"
are positioned in different planes and equally spaced on the sphere around the intersection point of the freefall trajectory of the object and the optical axes of pairs "illuminator¨ image capture device"
A process of capturing the images starts at the command of the first sensor arranged at the point of arrival of the object to the illuminating ¨
viewing zone when said sensor signals arrival of the object to the illuminating ¨
viewing zone. The object is in the freefall phase. Then each individual pair of "illuminator - image capture device", from the first pair till the last pair, is sequentially activated while the object is in the illuminating ¨ viewing zone.
At least eight pairs of "illuminator - image capture device" is used during capturing images. The illuminators and the image capture devices are synchronized by pairs. The illuminators are configured to emit the infra-red light for providing maximum contrast of the images.
Digital preprocessing of the captured images of the object profile in the electron image capture devices is carried out in order to increase the contrast of the images.
The apparatus for sorting objects by the shape consists of an assembly configured to feed the objects to the free fall trajectory one by one, comprising a vacuum rotary transporter and two vibratory feeders, an illuminating ¨ viewing zone, a sorting zone with the collecting bins and the calculating means for processing the captured images of the object. In addition the sorting zone includes a buffer carousel with pockets intended for temporary storage of the objects until they will be classified and dispensed by the air blast means into the collecting bins according to the objects shape class.
7 The apparatus for sorting objects by the shape is characterized that the illuminators and the image capture devices are arranged in the different planes around a part of the freefall trajectory of the object and at the different angles to said trajectory that provide to obtain the most complete information about the object, form the images of the object and reduce the number of misclassifications. In addition, capturing the images of each object being passed is carried out by the sequential activation of each individual pair of "illuminator - image capture device" as the object is in the viewing zone, such activation allows to prevent catchlights on the cameras from the surrounding illuminators, optimize time of processing the captured images that also can reduce the number of misclassifications and, correspondingly, improve the performance of the sorting process.
Brief description of the drawings Fig. 1 is a block diagram of the apparatus according to the present invention.
1 ¨ a vacuum rotary feeding transporter;
2 ¨ a big vibratory feeder configured to form a succession of objects;
3 ¨ a small vibratory feeder;
4 ¨ a sensor of arrival of object to the illuminating ¨ viewing zone;
¨ image capture devices (cameras);
6 ¨ LED illuminators;
7 - a sensor of arrival of an object to a sorting zone;
Brief description of the drawings Fig. 1 is a block diagram of the apparatus according to the present invention.
1 ¨ a vacuum rotary feeding transporter;
2 ¨ a big vibratory feeder configured to form a succession of objects;
3 ¨ a small vibratory feeder;
4 ¨ a sensor of arrival of object to the illuminating ¨ viewing zone;
¨ image capture devices (cameras);
6 ¨ LED illuminators;
7 - a sensor of arrival of an object to a sorting zone;
8 ¨ a buffer carousel with pockets;
9 ¨ a collecting bin according to classes of the object shape;
¨ air blast means dispensing the objects into collecting bin corresponding their shape.
Description of the preferred embodiment The method for sorting objects by the shape comprises the steps of feeding the objects to the freefall trajectory, passing by the object the illuminating ¨
viewing zone, sequential activating of each individual pair "illuminator ¨
image capture device", capturing the object images, processing Date Recue/Date Received 2020-12-08 the images of the object shapes being captured by the calculating means, passing through the sorting zone with the collecting bins.
The apparatus for implementation of the proposed method comprises an assembly configured to feed the objects to the freefall trajectory one by one, consisting of the vacuum rotary transporter 1 configured to feed the objects and two vibratory feeders configured to form succession of the objects ¨ the big vibratory feeder 2 and the small vibratory feeder 3, that provide an uniform variable reproduced feeding the objects to the illuminating ¨ viewing zone along the freefall trajectory. First optoelectronic sensor of arrival of the object to the illuminating ¨ viewing zone 4 is mounted in the point of arrival of the object to the said zone and designed to activate a synchronized process of sequential capturing the images of the object by each of cameras 5. Illuminating the object is performed by the LED illuminators 6 in the infrared band of spectra in order to provide the maximum contrast of the images. The LED illuminators 6 provide to obtain the images of the high quality by the cameras 5 in the point of the freefall trajectory of the object in the illuminating ¨ viewing zone and are activated sequentially and synchronously. Sequential capturing the images provides both to optimize the time for processing and avoid catchlights from surrounded cameras distorting the image. Also a microprocessor of the electron cameras performs digital preprocessing of the captured image of the profile object in order to increase the contrast. A loading of this preprocessed information about the object shape as the digital images to the calculating means begins from the moment of receiving the information from the first camera and ends after receiving the information from the last camera. Then the object is identified by the predetermined shape class or the decision about inability of identification of the object shape is made. After passing the second optoelectronic sensor of arrival of the object to the sorting zone 7 the object falls into one of the pockets of the buffer carousel 8, number of which is send to the calculating means. By the moment when the pocket achieves a coverage area of the air blast means
¨ air blast means dispensing the objects into collecting bin corresponding their shape.
Description of the preferred embodiment The method for sorting objects by the shape comprises the steps of feeding the objects to the freefall trajectory, passing by the object the illuminating ¨
viewing zone, sequential activating of each individual pair "illuminator ¨
image capture device", capturing the object images, processing Date Recue/Date Received 2020-12-08 the images of the object shapes being captured by the calculating means, passing through the sorting zone with the collecting bins.
The apparatus for implementation of the proposed method comprises an assembly configured to feed the objects to the freefall trajectory one by one, consisting of the vacuum rotary transporter 1 configured to feed the objects and two vibratory feeders configured to form succession of the objects ¨ the big vibratory feeder 2 and the small vibratory feeder 3, that provide an uniform variable reproduced feeding the objects to the illuminating ¨ viewing zone along the freefall trajectory. First optoelectronic sensor of arrival of the object to the illuminating ¨ viewing zone 4 is mounted in the point of arrival of the object to the said zone and designed to activate a synchronized process of sequential capturing the images of the object by each of cameras 5. Illuminating the object is performed by the LED illuminators 6 in the infrared band of spectra in order to provide the maximum contrast of the images. The LED illuminators 6 provide to obtain the images of the high quality by the cameras 5 in the point of the freefall trajectory of the object in the illuminating ¨ viewing zone and are activated sequentially and synchronously. Sequential capturing the images provides both to optimize the time for processing and avoid catchlights from surrounded cameras distorting the image. Also a microprocessor of the electron cameras performs digital preprocessing of the captured image of the profile object in order to increase the contrast. A loading of this preprocessed information about the object shape as the digital images to the calculating means begins from the moment of receiving the information from the first camera and ends after receiving the information from the last camera. Then the object is identified by the predetermined shape class or the decision about inability of identification of the object shape is made. After passing the second optoelectronic sensor of arrival of the object to the sorting zone 7 the object falls into one of the pockets of the buffer carousel 8, number of which is send to the calculating means. By the moment when the pocket achieves a coverage area of the air blast means
10, the calculating means determines the shape class of the object and then the object is dispensed by a pneumatic impulse of the air blast means 10 into the collecting bin 9 according to the determined shape of the object.
The distinctive features of the described method for sorting objects by the shape, particularly, sequential capturing the images of the shape of the object as it passes the illuminating ¨ viewing zone and positioning the illuminators and the registered cameras on sphere, provide to reduce the percent of unclassified objects from their total quantity as a result of reducing the probability of misclassifications. The sequential transmission of the captured images of the object as the object is in the illuminating ¨ viewing zone provides to achieve the high performance and simultaneously keep the percent of unclassified objects being less than (5 ¨ 10) % from their total quantity.
The examples of implementation of the method and the apparatus The invention and the method may be implemented in the sorting machines ASA-2 for sorting rough diamonds by the shape. Industrial PCs with proprietary software applies as calculating means in these sorting machines.
This apparatuses are used for sorting the rough diamonds in the industrial conditions. Testing of the apparatus for sorting by ten classes of the shape of the rough diamond of size (-6+1,5) mm showed the performance of ten crystals per second. Furthermore the percent of unclassified crystals for re-sorting was less than 10% from the total quantity of the sorted crystals.
Industrial applicability The method for sorting objects by the shape and the apparatus for its implementation provides to achieve the high performance of sorting objects by the shape classes, reduce the number of misclassifications and also can be used for sorting (grading) the gemstones by their shape. Some of the above mention sorting machines are used in the United Selling Organization (USO) of ALROSA in Moscow (Russia).
The distinctive features of the described method for sorting objects by the shape, particularly, sequential capturing the images of the shape of the object as it passes the illuminating ¨ viewing zone and positioning the illuminators and the registered cameras on sphere, provide to reduce the percent of unclassified objects from their total quantity as a result of reducing the probability of misclassifications. The sequential transmission of the captured images of the object as the object is in the illuminating ¨ viewing zone provides to achieve the high performance and simultaneously keep the percent of unclassified objects being less than (5 ¨ 10) % from their total quantity.
The examples of implementation of the method and the apparatus The invention and the method may be implemented in the sorting machines ASA-2 for sorting rough diamonds by the shape. Industrial PCs with proprietary software applies as calculating means in these sorting machines.
This apparatuses are used for sorting the rough diamonds in the industrial conditions. Testing of the apparatus for sorting by ten classes of the shape of the rough diamond of size (-6+1,5) mm showed the performance of ten crystals per second. Furthermore the percent of unclassified crystals for re-sorting was less than 10% from the total quantity of the sorted crystals.
Industrial applicability The method for sorting objects by the shape and the apparatus for its implementation provides to achieve the high performance of sorting objects by the shape classes, reduce the number of misclassifications and also can be used for sorting (grading) the gemstones by their shape. Some of the above mention sorting machines are used in the United Selling Organization (USO) of ALROSA in Moscow (Russia).
Claims (3)
1. A method of sorting objects according to shape, comprising:
(a) feeding an object one by one to an illuminating¨viewing zone in a freefall phase;
(b) sequentially activating each individual pair of eight pairs of illuminator-image capture devices, from a first pair to an eighth pair, while the object is on a freefall trajectory in the illuminating¨viewing zone to illuminate the object and to capture the images of its shape;
(c) processing the captured images to classify the object shape according to one of a plurality of predetermined shape classes; and (d) generating a command issued to a sorting actuator to dispense the object into a collecting bin corresponding to one of the predetermined shape classes.
(a) feeding an object one by one to an illuminating¨viewing zone in a freefall phase;
(b) sequentially activating each individual pair of eight pairs of illuminator-image capture devices, from a first pair to an eighth pair, while the object is on a freefall trajectory in the illuminating¨viewing zone to illuminate the object and to capture the images of its shape;
(c) processing the captured images to classify the object shape according to one of a plurality of predetermined shape classes; and (d) generating a command issued to a sorting actuator to dispense the object into a collecting bin corresponding to one of the predetermined shape classes.
2. The method according to claim 1, further comprising (e) deriving, with a high-speed electronic camera having a camera processor, a profile of the object shape directly in the camera processor to pre-process the image before transmission of the image to the processing step (c).
3. An apparatus for implementation of the method according to claim 1 or 2, the apparatus comprising: an assembly to feed the objects to the free fall trajectory one by one, the illuminating¨viewing zone, a sorting zone and a calculating means, wherein the calculating means processes images of the objects being classified as they pass through the illuminating-viewing zone; each pair of the eight pairs of the illuminator¨
image capture devices are positioned on different planes and are equally spaced on a sphere around an intersection point of the freefall trajectory of the object and an optical axes of pairs of the illuminator¨image capture devices.
Date Recue/Date Received 2020-12-08
image capture devices are positioned on different planes and are equally spaced on a sphere around an intersection point of the freefall trajectory of the object and an optical axes of pairs of the illuminator¨image capture devices.
Date Recue/Date Received 2020-12-08
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| RU2016103230A RU2615625C1 (en) | 2016-02-01 | 2016-02-01 | Method for sorting objects by shape and device for its implementation |
| RU2016103230 | 2016-02-01 | ||
| PCT/RU2017/000039 WO2017135845A1 (en) | 2016-02-01 | 2017-01-30 | Method of sorting objects by shape and device for the implementation thereof |
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| CA3029632A1 CA3029632A1 (en) | 2017-08-10 |
| CA3029632C true CA3029632C (en) | 2021-07-06 |
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| CA3029632A Active CA3029632C (en) | 2016-02-01 | 2017-01-30 | Method for sorting objects by shape and apparatus for the implementation thereof |
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| CA (1) | CA3029632C (en) |
| RU (1) | RU2615625C1 (en) |
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| RU2699751C1 (en) * | 2019-03-21 | 2019-09-09 | АО "ИЦ "Буревестник" | Method of sorting objects by their colour characteristics |
| CN111266301A (en) * | 2019-12-18 | 2020-06-12 | 深圳市中科华工科技有限公司 | Thermal efficiency full-detection machine |
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| NL194561C (en) * | 1986-08-20 | 2002-07-02 | De Beers Cons Mines Ltd | Method and device for separating diamond from associated gutter material into a diamond-containing material. |
| EP1975603A1 (en) * | 2007-03-27 | 2008-10-01 | Visys NV | Method and system for use in inspecting and/or removing unsuitable objects from a stream of products and a sorting apparatus implementing the same |
| RU2521215C1 (en) * | 2012-12-24 | 2014-06-27 | Григорий Владимирович Чуйко | Fibre-optic laser-based sorting machine |
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| WO2017135845A1 (en) | 2017-08-10 |
| RU2615625C1 (en) | 2017-04-05 |
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