CN115815150A - High-speed sorting unit based on three-dimensional detection and spectral detection - Google Patents
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Abstract
The invention discloses a high-speed sorting device based on three-dimensional detection and spectral detection, and relates to the technical field of sorting devices. The invention comprises a conveying device, a feeding device and a removing device which are respectively arranged at the head end and the tail end of the conveying device, and a digital image acquisition device arranged above the conveying device; the conveying device, the digital image acquisition device and the removing device are all connected with a central processing unit; the digital image acquisition device comprises an ultraviolet fluorescence detection module, a spectrum detection module and a three-dimensional detection module. When the device is used, materials are uniformly distributed on the conveying device, the digital image acquisition device is used for acquiring the reflection and scattering image information of the materials, simultaneously acquiring three-dimensional contour signals, ultraviolet fluorescence signals and visible light infrared signals of the materials, integrating the characteristic information according to the selected requirements, performing label classification on the materials through a multi-classification identification algorithm, and driving the rejecting module to separate the materials if the materials belong to the characteristic labels.
Description
Technical Field
The invention belongs to the technical field of sorting devices, and particularly relates to a high-speed sorting device based on three-dimensional detection and spectral detection.
Background
With the development of society, the population number shows a big outbreak, the recycling and the reutilization of resources become extremely important, the resources are continuously utilized from waste to treasure, treasure to waste, the resources are saved, the discharge amount of pollutants is reduced, the aim of scientific development is fulfilled, and the establishment of a green environment society becomes significant.
According to investigation, only 14% of the waste plastics are recycled, and the remaining 86% are discarded, buried, or incinerated. In the recycled part, only 2% is used for the same stage of regeneration. In the past, most of plastic bottles and household garbage are sorted manually, and along with the technical progress in recent years, a high-speed online sorting device is provided in the market, so that the sorting efficiency and precision are improved.
Traditional high-speed on-line sorting device, generally based on visible light and infrared sorting technology, sorts by the color and infrared spectrum of bottle, and its limitation is as follows: 1. the sorting precision is greatly influenced by the transparency of the bottles, the bottles are easy to be merged into the background, and are misjudged as the background 2, the materials 3 with the fluorescent characteristics cannot be sorted, the materials 4 with the same background color and material quality cannot be distinguished, and the special-shaped materials with different heights and shapes cannot be sorted. Therefore, the existing common high-speed sorting device has the problems of narrow sorting range and low precision.
Disclosure of Invention
The invention aims to provide a high-speed sorting device based on three-dimensional detection and spectral detection, and aims to improve the applicability of the high-speed sorting device, expand the resource recovery application range and solve the problems of narrow sorting range and low precision of a common high-speed sorting device.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to a high-speed sorting device based on three-dimensional detection and spectral detection, which comprises a digital image acquisition device arranged above a conveying device and a removing device arranged at the tail end of the conveying device; the digital image acquisition device comprises an ultraviolet fluorescence detection module, a spectrum detection module and a three-dimensional detection module; the device also comprises a central processing unit connected with the conveying device, the digital image acquisition device and the removing device.
Further, the device also comprises a feeding device arranged at the head end of the conveying device.
Further, an arc-shaped slide way is arranged between the feeding device and the conveying device.
Further, the rejecting device is a high-pressure nozzle assembly.
Further, the ultraviolet fluorescence detection module comprises an ultraviolet lamp and a fluorescence camera; the ultraviolet lamp is an ultraviolet LED or a mercury lamp, and the spectrum of the ultraviolet lamp is 200-410nm; the fluorescence camera is a linear array scanning camera or an area array camera.
Furthermore, the fluorescent camera is opposite to the upper surface of the conveying belt of the conveying device, and the two ultraviolet lamps are symmetrically distributed on two sides of the fluorescent camera; and the included angle between the light source of the ultraviolet fluorescence detection module and the normal is 10-45 degrees.
Further, the three-dimensional detection module comprises a line laser detection module and an area array structure light detection module.
Further, the line laser three-dimensional detection module comprises a line laser and an area array camera, the area array camera is right opposite to the upper surface of the conveying belt of the conveying device, and an included angle between the line laser and the area array camera is 3-15 degrees; the line laser has a wavelength of 700-1000nm, the area-array camera is a black-and-white CMOS camera, an optical filter is arranged in front of the area-array camera, and the optical filter is consistent with the spectrum of the line laser.
Further, the spectrum detection module comprises a visible light LED, an infrared light source and a spectrum camera, wherein the imaging spectrum range of the spectrum camera is 400-2500nm, the visible light LED is a white light LED, and the spectrum of the infrared light source is 900-2500nm.
Furthermore, a light blocking baffle is arranged on the periphery of the light path of the ultraviolet fluorescence detection module.
The invention has the following beneficial effects:
1. when the device is used, materials are uniformly distributed on the conveying device, the digital image acquisition device is used for acquiring the reflection and scattering image information of the materials, simultaneously acquiring three-dimensional contour signals, ultraviolet fluorescence signals and visible light infrared signals of the materials, and performing data fusion processing analysis on the acquired multi-dimensional data images, so that the materials can be distinguished from the background, and the fluorescence characteristics, color characteristics and material characteristics of the materials can be acquired. According to the selected requirements, the characteristic information is integrated, the materials can be subjected to label classification through a multi-classification recognition algorithm, and if the materials belong to the characteristic labels, the rejecting module is driven to separate the materials.
2. The high-speed belt of the conveying device is a pattern with a plane profile or a specific periodic profile, the color and infrared difference of the high-speed belt is small for materials with the same color and material as the belt, but the height information of the high-speed belt is obviously different, and the obtained three-dimensional profile of the materials is used for distinguishing the materials from the belt background, particularly for the materials similar to the belt.
Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a control system diagram according to embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of a high-speed sorting apparatus according to embodiment 1 of the present invention;
FIG. 3 is a schematic structural view of a high-speed sorting apparatus according to embodiment 2 of the present invention;
FIG. 4 is a schematic structural view of a high-speed sorting apparatus according to embodiment 3 of the present invention;
fig. 5 is a schematic structural view of a high-speed sorting apparatus according to embodiment 4 of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the case of the example 1, the following examples are given,
as shown in fig. 1-2, a high-speed sorting device based on three-dimensional detection and spectrum detection comprises a conveying device 1, a feeding device 4 and a rejecting device 3 which are respectively arranged at the head end and the tail end of the conveying device 1, and a digital image acquisition device 2 arranged above the conveying device 1; the conveying device 1, the digital image acquisition device 2 and the rejecting device 3 are all connected with a central processing unit 7; the digital image acquisition device 2 comprises an ultraviolet fluorescence detection module 2a, a spectrum detection module 2b and a three-dimensional detection module 2c, wherein the ultraviolet fluorescence detection module 2a acquires ultraviolet scattering and reflection fluorescence images of the material, the spectrum detection module 2b acquires scattering and reflection spectrum data from visible light to infrared light of the material, and the three-dimensional detection module 2c acquires three-dimensional profile images of the material; and the rejecting device 3 adopts a high-pressure nozzle component.
When the device is used, an object to be detected uniformly tiles materials on the conveying device 1 through the feeding device 4, the materials pass through the digital image acquisition device 2 to acquire fluorescence signals, three-dimensional contour signals and visible light infrared signals of the materials, the central processing unit 7 analyzes the data, and when a target to be rejected passes through the high-pressure nozzle assembly, the high-pressure nozzle assembly sprays high-pressure gas to separate the materials to be rejected.
Meanwhile, an arc-shaped slideway 5 is also arranged between the feeding device 4 and the conveying device 1, and the initial speed of the material entering the conveying device 1 is increased through the arc-shaped slideway 5, so that the material speed reaches the expected speed; a material conveying medium is provided by the conveying device 1 through a high-speed conveying device, so that the material passes through the digital image acquisition device 2 at a constant speed.
In the case of the example 2, the following examples are given,
as fig. 3, on the basis of example 1; the ultraviolet fluorescence detection module 2a is arranged at the front ends of the three-dimensional detection module 2c and the spectrum detection module 2 b; the detection viewpoints of the three-dimensional detection module 2c and the spectrum detection module 2b are at the same position; meanwhile, the detection positions of the ultraviolet fluorescence detection module 2a, the three-dimensional detection module 2c and the spectrum detection module 2b are parallel, the amplification rates of the three are basically consistent, and the horizontal and left-right positions are aligned.
The ultraviolet fluorescence detection module 2a comprises an ultraviolet lamp and a fluorescence camera; the ultraviolet lamp is ultraviolet LED with spectrum of 365nm; the fluorescent camera is a line scan camera. The fluorescence camera is just opposite to the upper surface of the conveying belt of the conveying device 1, the two ultraviolet lamps are symmetrically distributed on two sides of the fluorescence camera, and the included angle between the light source of the ultraviolet fluorescence detection module 2a and the normal is 15 degrees.
The three-dimensional detection module 2c comprises a line laser detection module; the linear laser three-dimensional detection module 2c comprises a linear laser and an area-array camera, the area-array camera is right opposite to the upper surface of the conveying belt of the conveying device 1, and an included angle between the linear laser and the area-array camera is 8 degrees; the wavelength of the line laser is 850nm, the area array camera is a black and white CMOS camera, an optical filter is arranged in front of the area array camera, the optical filter and the line laser have the same spectrum, and the optical filter is a 850nm band-pass optical filter.
The spectrum detection module 2b comprises a visible light LED, an infrared light source and a spectrum camera, wherein the imaging spectrum range of the spectrum camera is 400-2500nm, the visible light LED is a white light LED, the infrared light source is a halogen lamp, and the spectrum of the infrared light source is 900-2500nm.
Fig. 2 shows a visible light infrared multispectral camera structure, which is formed by aligning a dichroic mirror or a half-mirror, a visible light camera and an infrared camera in horizontal, left-right and magnification.
Example 3
As shown in fig. 4, on the basis of embodiment 1, the ultraviolet fluorescence module, the three-dimensional detection module 2c and the spectrum detection module 2b are sequentially arranged along the conveying direction of the conveying device 1, when in use, materials sequentially pass through the ultraviolet fluorescence module, the three-dimensional detection module 2c and the spectrum detection module 2b under the action of the conveying device 1, and meanwhile, the detection positions of the ultraviolet fluorescence detection module 2a, the three-dimensional detection module 2c and the spectrum detection module 2b are parallel, the amplification rates of the three are basically consistent, and the horizontal position and the left-right position are aligned.
The ultraviolet fluorescence detection module 2a comprises an ultraviolet lamp and a fluorescence camera; the ultraviolet lamp is ultraviolet LED with spectrum of 365nm; the fluorescence camera is a linear array scanning camera. The fluorescence camera is just opposite to the upper surface of the conveying belt of the conveying device 1, the two ultraviolet lamps are symmetrically distributed on two sides of the fluorescence camera, and the included angle between the light source of the ultraviolet fluorescence detection module 2a and the normal is 15 degrees.
The three-dimensional detection module 2c comprises a line laser detection module; the linear laser three-dimensional detection module 2c comprises a linear laser and an area-array camera, the area-array camera is right opposite to the upper surface of the conveying belt of the conveying device 1, and an included angle between the linear laser and the area-array camera is 8 degrees; the wavelength of the line laser is 850nm, the area array camera is a black and white CMOS camera, an optical filter is arranged in front of the area array camera, the optical filter and the line laser have the same spectrum, and the optical filter is a 850nm band-pass optical filter.
Further, the spectrum detection module 2b comprises a visible light LED, an infrared light source and a spectrum camera, wherein the imaging spectrum range of the spectrum camera is 400-2500nm, the visible light LED is a white light LED, the infrared light source is a halogen lamp, and the spectrum of the infrared light source is 900-2500nm.
In the case of the example 4, the following examples are given,
as shown in fig. 5, on the basis of embodiment 1, the detection points of the ultraviolet fluorescence module, the three-dimensional detection module 2c and the spectrum detection module 2b are located at the same position, the magnifications of the three modules are basically consistent, and the horizontal and left-right positions are aligned.
The ultraviolet fluorescence detection module 2a comprises an ultraviolet lamp and a fluorescence camera; the ultraviolet lamp is an ultraviolet LED with a spectrum of 365nm; the fluorescent camera is a line scan camera. The fluorescence camera is right opposite to the upper surface of the conveying belt of the conveying device 1, the two ultraviolet lamps are symmetrically distributed on two sides of the fluorescence camera, and the included angle between the light source of the ultraviolet fluorescence detection module 2a and the normal is 15 degrees.
The three-dimensional detection module 2c comprises a line laser detection module; the linear laser three-dimensional detection module 2c comprises a linear laser and an area array camera, the area array camera is over against the upper surface of the conveying belt of the conveying device 1, and the included angle between the linear laser and the area array camera is 8 degrees; the wavelength of the line laser is 850nm, the area array camera is a black and white CMOS camera, an optical filter is arranged in front of the area array camera, the optical filter and the line laser have the same spectrum, and the optical filter is a 850nm band-pass optical filter.
Further, the spectrum detection module 2b comprises a visible light LED, an infrared light source and a spectrum camera, wherein the imaging spectrum range of the spectrum camera is 400-2500nm, the visible light LED is a white light LED, the infrared light source is a halogen lamp, and the spectrum of the infrared light source is 900-2500nm.
The spectrum camera is a visible light infrared multispectral camera, and simultaneously, the spectrum camera and the fluorescence camera are linear scanning cameras, and the cameras sequentially acquire ultraviolet fluorescence data and visible light data in a time-sharing exposure mode.
And simultaneously, the ultraviolet LEDs and the white LEDs sequentially flash alternately and are synchronously exposed with the visible linear array scanning camera.
In the above embodiments 1 to 4, the ultraviolet fluorescence signal is that after the material is irradiated by ultraviolet light, the electron absorption capacity is excited, so as to emit photon information, and the wavelength of the ultraviolet light can be selected to be 254nm or 405nm; the visible light infrared signal is a visible light to near infrared signal reflected and scattered by the material, the wave band is 400-2500nm, preferably 400-1700nm, and the visible light infrared signal can be used for distinguishing color characteristics and material characteristics through color and infrared spectrums. The color characteristic band is 400-700nm, the material characteristic band is 900-2500nm, and the material characteristics are distinguished according to the molecular vibration and the transition difference of the rotation energy level of different substances.
Meanwhile, a light blocking baffle 6 is arranged on the periphery of the light path of the ultraviolet fluorescence detection module 2a, so that external environment light and the LED and halogen lamp of the spectrum detection module 2b are prevented from irradiating to the ultraviolet detection viewpoint position.
In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand the invention for and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. The utility model provides a high-speed sorting unit based on three-dimensional detection and spectral detection which characterized in that: comprises a digital image acquisition device (2) arranged above a conveying device (1) and a rejection device (3) arranged at the tail end of the conveying device (1);
the digital image acquisition device (2) comprises an ultraviolet fluorescence detection module (2 a), a spectrum detection module (2 b) and a three-dimensional detection module (2 c);
the device also comprises a central processing unit (7) connected with the conveying device (1), the digital image acquisition device (2) and the rejecting device (3).
2. A high-speed sorting device based on three-dimensional detection and spectral detection according to claim 1, characterized by further comprising a feeding device (4) arranged at the head end of the conveying device (1).
3. The high-speed sorting device based on three-dimensional detection and spectral detection according to claim 1, characterized in that an arc-shaped slideway (5) is further arranged between the feeding device (4) and the conveying device (1).
4. The high-speed sorting device based on three-dimensional detection and spectral detection according to claim 1, characterized in that the rejecting device (3) is a high-pressure nozzle assembly.
5. The high-speed sorting device based on three-dimensional detection and spectral detection according to any one of claims 1-4, wherein the ultraviolet fluorescence detection module (2 a) comprises an ultraviolet lamp, a fluorescence camera; the ultraviolet lamp is an ultraviolet LED or a mercury lamp, and the spectrum of the ultraviolet lamp is 200-410nm; the fluorescent camera is a linear array scanning camera or an area array camera.
6. The high-speed sorting device based on three-dimensional detection and spectral detection as claimed in claim 5, wherein the fluorescence camera faces the upper surface of the conveying belt of the conveying device (1), and the two ultraviolet lamps are symmetrically distributed on two sides of the fluorescence camera.
7. The high-speed sorting device based on three-dimensional detection and spectral detection according to any one of claims 1-4, wherein the three-dimensional detection module (2 c) comprises a line laser detection module and an area array structure light detection module.
8. The high-speed sorting device based on three-dimensional detection and spectrum detection as claimed in claim 7, wherein the line laser three-dimensional detection module (2 c) comprises a line laser and an area-array camera, the area-array camera is opposite to the upper surface of the conveying belt of the conveying device (1), and the included angle between the line laser and the area-array camera is 3-15 degrees;
the wavelength of the line laser is 700-1000nm, the area-array camera is a black and white CMOS camera, an optical filter is arranged in front of the area-array camera, and the optical filter is consistent with the spectrum of the line laser.
9. The high-speed sorting device based on three-dimensional detection and spectral detection according to any one of claims 1-4, wherein the spectral detection module (2 b) comprises visible light LED, infrared light source, spectral camera,
the imaging spectral range of the spectral camera is 400-2500nm, the visible light LED is a white light LED, and the spectrum of the infrared light source is 900-2500nm.
10. The high-speed sorting device based on three-dimensional detection and spectral detection as claimed in claim 1, wherein the ultraviolet fluorescence detection module (2 a) is provided with a light blocking baffle on the periphery of the light path.
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