EP0661108B1 - Verfahren zum optischen Sortieren von Schüttgut - Google Patents
Verfahren zum optischen Sortieren von Schüttgut Download PDFInfo
- Publication number
- EP0661108B1 EP0661108B1 EP94250285A EP94250285A EP0661108B1 EP 0661108 B1 EP0661108 B1 EP 0661108B1 EP 94250285 A EP94250285 A EP 94250285A EP 94250285 A EP94250285 A EP 94250285A EP 0661108 B1 EP0661108 B1 EP 0661108B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- colour
- examination material
- values
- process according
- color
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
- B07C5/366—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means during free fall of the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S209/00—Classifying, separating, and assorting solids
- Y10S209/939—Video scanning
Definitions
- the invention relates to a method for optical sorting of bulk goods according to the preamble of claim 1.
- test material is conveyed on tapes and its image for testing with a diode line camera or TV camera is recorded.
- the signal is preferably recorded in flight if e.g. the test material from one belt to one other band is translated.
- recording signals in flight the test material can be viewed from several sides with a defined background be assessed.
- the color is also used for image acquisition detected.
- the color is used to identify striking areas in the Detect image.
- the image of the test material keeps pace with the image scan evaluated so that immediately after passing through a test part this can be classified by the measuring station. So that is ejection of the parts in flight using flaps or air nozzles possible.
- a disadvantage of the known methods is that the Detection rate for color heterogeneous products is low, if you focus on the detection of conspicuous pixels Detection of color values limited that are not included in the product because there are many different color values in the product occurrence. If one extends the detection to color values, the are also included in the product is generally already at Extensions to colors rarely found in the product are unbearable high proportion of the faultless product as rejects detected.
- the object of the invention is the method for optical sorting of bulk goods to improve that in color heterogeneous bulk material to be detected with a foreign body very low error rate can be recognized.
- the light from each pixel is transmitted Color filter in front of the detection elements of a line e.g. in the three color components red (R), green (G) and blue (B) disassembled.
- RGB red
- G green
- B blue
- This ensures that detection of conspicuous pixels (Points with color values that rarely occur in a faultless product) by evaluating those measured by the row elements Color values (intensities of the respective color components) possible is. Then an evaluation of the geometry with regard on local clusters of conspicuous pixels.
- the color space is spanned by the different color components that be measured for each pixel.
- red, green and blue are three-dimensional Color space formed.
- Classifiers i.e. Means for evaluation of the measured values based on specified criteria a classification of the measured color values, whereby a Classifier focused on only one sub-area and included in this sub-area for the color heterogeneous product Detects detection areas, i.e. contiguous areas of eye-catching pixels.
- the committee part as a relatively large area of pixels of the color values of the selected sub-area is detected and can be evaluated this detection area can be recognized by the classifier.
- the faultless product within a such sub-area in general only in rare cases large areas of conspicuous pixels found, and the number of false detections remains small.
- This improvement classification is used in practical application by dividing the committee into typical classes and a classifier is set up for each class, where the classifiers work in parallel during the test.
- the bulk material moves preferentially in a color sorting machine in flight on an observation head with a light source and a product signal receiver arranged in the vicinity of the light source past.
- the test material is made more adjacent by different color filters
- Line elements of a camera line e.g. a CCD line, of the receiver in the three colors red (R), green (G) and blue (B) disassembled.
- the row elements thus measure in their respective Spectral ranges the brightness of the pixels, also color values called. This results in a three-dimensional distribution of color values, the evaluation of which is based on one-dimensional examples is discussed.
- test material is in a pre-learning process without Measure committee parts and the frequency distribution 1 of Color values determined.
- the test material is also without rejects measured and in a first step a color value range determined for good test material by an experience Threshold 2 is placed over the frequency distribution 1 of the color values , the intersection between the threshold 2 and the curve of the frequency distribution 1 the limits of the test material color value range surrender.
- the color value ranges of the product are divided into sub-ranges.
- everyone is concentrating in this example of the classifiers A, B and C working in parallel only a sub-area.
- the reject part is detected as a relatively large area and can be recognized by evaluating the detection areas become. Again, the distributions of the color values of this large areas measured and after their normalization as Thresholds introduced. All color values at which these thresholds 4, 5 and 6 exceed the color value distribution 1 of the test parts, are interpreted as rejects and lead to error detection.
- the threshold 8 shows the Color value distribution of a reject part. Within the by the Threshold 8 of certain color value range becomes error-free test material classified as a committee. Through the learning process the color value distribution of this large-area detection area measured in error-free test material and according to a standardization as Threshold 7 introduced. All color values with threshold 7 the threshold 8 of the reject part is considered to be Test material is interpreted appropriately and does not lead to one Fault detection.
- the classification system doubled.
- a system takes over the test task while the other system the current color value distribution of the product measures.
- the measurement of the current color value distribution is carried out by the testing classifier is monitored so that during this measurement no color values of the committee are recorded.
- the learning classifier becomes a representative number of measured values with the newly measured distribution for the test task activated while the classifier currently set to check takes over the learning task.
- the test item is, for example, of two Lamps illuminated from the direction of the line scan camera. Between Both lamps have the optical axis of the line scan camera. At this arrangement comes with the design of the background essential importance because of the background the color value distribution if possible, do not expand the faultless product should. An extension would lower the detection performance.
- the background has the Color of the test material, which has the advantage that the contrast between Background and test material is low and therefore the color value distribution of the test material due to edge effects at the transition from the background is not significantly expanded to test material.
- This variant provides in terms of color and spatial resolution the best results.
- the disadvantage of pollution is avoided by the background running as a rotating roller, which deposits flung away immediately.
- the shadow of the test specimen on the background becomes diffuse and, depending on the bulk density, harmless if the rotating roller at an adjusted distance from the test material is installed.
- the background can be a cylindrical spotlight that is in the Color of the test specimen shines and from a transparent rotating Surrounded role, which throws away the deposits.
- the background is on dark hole, which has the advantage that the test material from Background segmenting and no interference Pollution and shadow formation arise.
- segmentation of the test material can, for example, be the form for separating Good sharing and committee are used.
- the line scan camera looks through a slit into this container.
- the slot is regarding its width at the aperture and focal length of the camera lens and adapted to the distance to the focus plane.
- the light of each pixel is reflected in the three colors red (R), green (G) and blue (B) disassembled.
- the color sensors are in common color cameras even side by side so that the color sensors with regard to a pixel different local areas of the See the target. 4 are the color sensors (R, G, B) arranged horizontally while the measurement object is from moved up and down this horizontal line.
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Sorting Of Articles (AREA)
- Spectrometry And Color Measurement (AREA)
- Treatment Of Sludge (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
- Crystals, And After-Treatments Of Crystals (AREA)
- Epoxy Compounds (AREA)
Description
- Fig. 1
- zeigt beispielhaft eine eindimensionale Farbwertverteilung mit den Bereichen für gutes Prüfgut.
- Fig. 2
- zeigt ein eindimensionales Beispiel zur Klassifizierung mit parallelen Klassifikatoren bei der Erkennung von Ausschuß, dessen Farbwerte sich mit den Farbwerten des Produktes überlappen.
- Fig. 3
- zeigt ein eindimensionales Beispiel zur Korrektur eines Klassifikators durch das Nachlernen.
- Fig. 4
- zeigt ein Beispiel für die Farbverfälschung an Objektkanten bei Verwendung einer Kamera mit Bildpunkten, bei denen die Farbsensoren nebeneinander liegen.
- Besetzung
- density
- fehlerfreies Prüfgut
- fault-free examination material
- Meßwert
- measured value
- Besetzung
- density
- Klassifikator
- classifier
- detektiert
- detects
- Ausschuß
- reject
- Meßwert
- measured value
- Besetzung
- density
- Detektion von
- detection of reject
- Ausschuß
- Meßwert
- measured value
- Bildpunkraster
- image point grid
- Hintergrund
- background
- Prüfobjekt
- examination subject
Claims (10)
- Verfahren zum optischen Sortieren von mit Ausschußteilen versetztem Schüttgut, wie Agrarprodukten, Arzneimittel, Erzen, etc. in einer Farbsortiermaschine, indem dieses über ein Transportband gefördert wird und sich an einem Beobachtungskopf mit einer Lichtquelle und einem in der Nähe der Lichtquelle angeordneten Produktsignalempfänger vorbeibewegt, wobei das reflektierte Licht der Bildpunkte des Prüfgutes durch verschiedene Farbfilter nebeneinanderliegender Nachweiselemente einer Zeile des Empfängers in mehrere Farbkomponenten zerlegt und das Prüfgut aufgrund der den gemessenen Intensitäten der jeweiligen Farbkomponenten entsprechenden Farbwerte sortiert wird, dadurch gekennzeichnet, daß jeweils die Farbwerte des Produktes in mehreren ausgewählten Unterbereichen des Farbraums untersucht werden, indem in jedem Unterbereich ein Klassifikator zusammenhängende Flächen von Bildpunkten mit in den jeweiligen Unterbereich fallenden Farbwerten ermittelt und nach vorgegebenen Kriterien aus der Geometrie und der Größe dieser Detektionsflächen eine Klassifizierung durchführt.
- Verfahren nach Anspruch 1, dadurch gekennzeichnet,daß in einem Vorlernprozeß das Prüfgut ohne Ausschußteile vermessen und dessen Farbwert-Häufigkeitsverteilung abhängig von der Farbe ermittelt wird;daß in einem Nachlernprozeß in einem ersten Schritt bei Verwendung von Prüfgut ohne Ausschußteile ein Farbwertbereich für gutes Prüfgut festgelegt wird, indem jeweils eine erfahrungsgemäße Schwelle über die Häufigkeitsverteilung der Farbwerte gelegt wird, wobei sich aus den Schnittpunkten zwischen der Schwelle und der Kurve der Häufigkeitsverteilung die Grenzen des Prüfgutfarbwertbereiches ergeben;daß in dem Nachlernprozeß bei Verwendung von Prüfgut ohne Ausschußteile farbabhängig fremdkörperverdächtige Meßwerte, die nach den Grenzen des Prüfgutfarbwertbereiches des ersten Schrittes des Nachlernprozesses irrtümlich als Ausschuß klassifiziert würden, ermittelt werden und die Größe der örtlichen Ballung dieser Meßwerte bestimmt wird; unddaß in dem Nachlernprozeß bei Verwendung von Prüfgut ohne Ausschußteile bei Überschreiten einer vorgegebenen Größe dieser örtlichen Ballung von fremdkörperverdächtigen Meßwerten die Schwellenwertentscheidung des ersten Schrittes des Nachlernprozesses farbabhängig so geändert wird, daß für diese Meßwerte auf gutes Prüfgut entschieden wird.
- Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß bei Prüfung des mit Ausschußteilen versetzten Prüfgutes die parallel arbeitenden Klassifikatoren nur Unterbereiche des Farbraums analysieren, in denen Ausschußteile vermutet werden.
- Verfahren nach Anspruch 3, dadurch gekennzeichnet, daß in den Unterbereichen des Farbraums, in denen Ausschußteile vermutet werden, durch Vorzeigen von Ausschußteilen deren Farbwertverteilung gelernt wird.
- Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Prüfung des mit Ausschußteilen versetzten Prüfgutes mit einem ersten Klassifikationssystem erfolgt, während die aktuelle Häufigkeitsverteilung der Farbwerte des Prüfgutes zur Anpassung an systematische driftartige Änderungen des Prüfgutes mit einem zweiten Klassifikationssystem gemessen wird, wobei die Messung vom prüfenden ersten Klassifikator überwacht wird, damit bei der Messung keine Ausschußwerte erfaßt werden.
- Verfahren nach Anspruch 5, dadurch gekennzeichnet, daß sich beide Klassifikationssysteme in ihrer Funktion abwechseln.
- Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß durch Vergleich von Farbsignalen benachbarter Bildpunkte große Gradienten und diese im allgemeinen gestörten Farbwerte bei der Messung nicht berücksichtigt werden.
- Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß das Sortieren des Gutes im Flug erfolgt, wenn das Gut beispielsweise von einem Band auf ein anderes Band übersetzt.
- Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß der Meßhintergrund ein dunkles Loch ist.
- Verfahren nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, daß der Meßhintergrund als zylindrischer Strahler mit einer den Strahler umgebenden, rotierenden transparenten Rolle ausgeführt ist, wobei der Strahler Licht in einer dem Prüfgut angeglichenen Farbe aussendet.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4345106 | 1993-12-28 | ||
DE4345106A DE4345106C2 (de) | 1993-12-28 | 1993-12-28 | Verfahren zum optischen Sortieren von Schüttgut |
Publications (3)
Publication Number | Publication Date |
---|---|
EP0661108A2 EP0661108A2 (de) | 1995-07-05 |
EP0661108A3 EP0661108A3 (de) | 1997-02-12 |
EP0661108B1 true EP0661108B1 (de) | 1999-11-03 |
Family
ID=6506597
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP94250285A Expired - Lifetime EP0661108B1 (de) | 1993-12-28 | 1994-11-25 | Verfahren zum optischen Sortieren von Schüttgut |
Country Status (8)
Country | Link |
---|---|
US (1) | US5586663A (de) |
EP (1) | EP0661108B1 (de) |
JP (1) | JP3517292B2 (de) |
AT (1) | ATE186242T1 (de) |
BR (1) | BR9405268A (de) |
CA (1) | CA2136779C (de) |
DE (2) | DE4345106C2 (de) |
HK (1) | HK1013038A1 (de) |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5577733A (en) * | 1994-04-08 | 1996-11-26 | Downing; Dennis L. | Targeting system |
DE19511534C2 (de) * | 1995-03-29 | 1998-01-22 | Fraunhofer Ges Forschung | Verfahren und Vorrichtung zur Erfassung von 3D-Fehlstellen bei der automatischen Inspektion von Oberflächen mit Hilfe farbtüchtiger Bildauswertungssysteme |
DE19511901A1 (de) * | 1995-03-31 | 1996-10-02 | Commodas Gmbh | Vorrichtung und Verfahren zum Sortieren von Schüttgut |
JPH0943058A (ja) * | 1995-05-23 | 1997-02-14 | Olympus Optical Co Ltd | 色分類装置及び色むら検査装置 |
EP0775533A3 (de) * | 1995-11-24 | 1998-06-17 | Elpatronic Ag | Sortierverfahren |
DE19609916A1 (de) * | 1996-03-14 | 1997-09-18 | Robert Prof Dr Ing Massen | Preisgünstiger spektroskopischer Sensor für die Erkennung von Kunststoffen |
ATE291969T1 (de) | 1999-04-30 | 2005-04-15 | Binder Co Ag | Verfahren und vorrichtung zum sortieren von altpapier |
MXPA04011737A (es) * | 2002-05-28 | 2005-02-14 | Satake Usa Inc | Fuente de ilumiancion para maquina de separacion. |
EP2001609A4 (de) * | 2006-04-04 | 2011-12-07 | 6511660 Canada Inc | System und verfahren zum identifizieren und sortieren von material |
US20110068051A1 (en) * | 2009-05-22 | 2011-03-24 | 6358357 Canada Inc. | Ballistic separator |
WO2013028196A1 (en) * | 2011-08-25 | 2013-02-28 | Alliance For Sustainable Energy, Llc | On-line, continuous monitoring in solar cell and fuel cell manufacturing using spectral reflectance imaging |
US10480935B2 (en) | 2016-12-02 | 2019-11-19 | Alliance For Sustainable Energy, Llc | Thickness mapping using multispectral imaging |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3560758A (en) * | 1968-01-08 | 1971-02-02 | Conductron Corp | Color identification system taking into account the color and reflecting of the base material |
DE2544703C3 (de) * | 1975-10-07 | 1978-04-06 | Dr.-Ing. Rudolf Hell Gmbh, 2300 Kiel | Verfahren und Schaltungsanordnung zum Erkennen von Farben einer farbigen Fläche |
US4122951A (en) * | 1977-02-28 | 1978-10-31 | Alaminos Jose I L | Machine for the automatic detection of blemishes in olives and other fruits |
US4246098A (en) * | 1978-06-21 | 1981-01-20 | Sunkist Growers, Inc. | Method and apparatus for detecting blemishes on the surface of an article |
IT1205622B (it) * | 1982-12-21 | 1989-03-23 | Illycaffe Spa | Procedimento per effettuare una selezione in un materiale granuliforme e macchina per attuare il procedimento |
GB2151018B (en) * | 1983-12-06 | 1987-07-22 | Gunsons Sortex Ltd | Sorting machine and method |
JPS63119887A (ja) * | 1986-11-06 | 1988-05-24 | カネボウ株式会社 | 選別装置 |
DE3802681C2 (de) * | 1987-01-30 | 1997-01-09 | Fuji Photo Film Co Ltd | Verfahren zur Klassifizierung von Farbvorlagen und Vorrichtung hierfür |
US5085325A (en) * | 1988-03-08 | 1992-02-04 | Simco/Ramic Corporation | Color sorting system and method |
EP0342354A3 (de) * | 1988-04-15 | 1992-01-08 | Tecnostral S.A. Industria E Tecnologia | Vorrichtung zur Sortierung nach Farbe |
JPH0670590B2 (ja) * | 1988-09-10 | 1994-09-07 | 倉敷紡績株式会社 | 色順判定方式 |
NL8803112A (nl) * | 1988-12-19 | 1990-07-16 | Elbicon Nv | Werkwijze en inrichting voor het sorteren van een stroom voorwerpen in afhankelijkheid van optische eigenschappen van de voorwerpen. |
US5062714A (en) * | 1990-02-12 | 1991-11-05 | X-Rite, Incorporated | Apparatus and method for pattern recognition |
DE4210157C2 (de) * | 1992-03-27 | 1994-12-22 | Bodenseewerk Geraetetech | Verfahren zum Sortieren von Glasbruch |
-
1993
- 1993-12-28 DE DE4345106A patent/DE4345106C2/de not_active Expired - Fee Related
-
1994
- 1994-11-25 AT AT94250285T patent/ATE186242T1/de not_active IP Right Cessation
- 1994-11-25 DE DE59408885T patent/DE59408885D1/de not_active Expired - Fee Related
- 1994-11-25 EP EP94250285A patent/EP0661108B1/de not_active Expired - Lifetime
- 1994-11-28 CA CA002136779A patent/CA2136779C/en not_active Expired - Fee Related
- 1994-12-27 BR BR9405268A patent/BR9405268A/pt not_active IP Right Cessation
- 1994-12-28 JP JP33871294A patent/JP3517292B2/ja not_active Expired - Fee Related
- 1994-12-28 US US08/365,489 patent/US5586663A/en not_active Expired - Lifetime
-
1998
- 1998-12-21 HK HK98114163A patent/HK1013038A1/xx not_active IP Right Cessation
Also Published As
Publication number | Publication date |
---|---|
DE4345106C2 (de) | 1995-11-23 |
ATE186242T1 (de) | 1999-11-15 |
JPH08206611A (ja) | 1996-08-13 |
CA2136779C (en) | 2004-04-06 |
EP0661108A3 (de) | 1997-02-12 |
BR9405268A (pt) | 1995-09-19 |
DE59408885D1 (de) | 1999-12-09 |
JP3517292B2 (ja) | 2004-04-12 |
CA2136779A1 (en) | 1995-06-29 |
US5586663A (en) | 1996-12-24 |
HK1013038A1 (en) | 1999-08-13 |
EP0661108A2 (de) | 1995-07-05 |
DE4345106A1 (de) | 1995-06-29 |
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