EP1005398B1 - Dispositif permettant de trier des produits en fonction de certaines caracteristiques et son mode de fonctionnement - Google Patents

Dispositif permettant de trier des produits en fonction de certaines caracteristiques et son mode de fonctionnement Download PDF

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Publication number
EP1005398B1
EP1005398B1 EP98945211A EP98945211A EP1005398B1 EP 1005398 B1 EP1005398 B1 EP 1005398B1 EP 98945211 A EP98945211 A EP 98945211A EP 98945211 A EP98945211 A EP 98945211A EP 1005398 B1 EP1005398 B1 EP 1005398B1
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EP
European Patent Office
Prior art keywords
products
product
separating element
zone
real
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
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EP98945211A
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German (de)
English (en)
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EP1005398A1 (fr
Inventor
Jörg LUDWIG
Andreas Osterer
Joachim Poller
Jens Schmieder
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Select Ingenieurgesellschaft fur Optoelektronik Bilderkennung und Qualitatspruefung Mbh
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Select Ingenieurgesellschaft fur Optoelektronik Bilderkennung und Qualitatspruefung Mbh
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Publication of EP1005398A1 publication Critical patent/EP1005398A1/fr
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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
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/34—Sorting according to other particular properties
    • B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
    • B07C5/3425—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain

Definitions

  • the invention relates to a device for a feature-related Sorting products, especially small pieces agricultural products, of products of Food industry or other lumpy sequential Mass flows, as well as a method of operating the facility.
  • US Pat. No. 5,388,705 describes a device in which plastic bottles are classified as contaminated by a detection station or in some other way as defective by means of an ejector (plunger) operated with compressed air.
  • a prerequisite for this solution is a strict lateral alignment of the plastic bottles of uniform standard size between the detection station and the ejector.
  • This solution uses four retro-reflective sensors, which are aimed at the height of the bottle necks arriving serially on a belt, which only serve as position indicators and only provide a yes / no signal. This teaching is not suitable for achieving the object of the present invention.
  • DE 195 32 306 A1 also describes a sorting device for bottles, in which a stepper motor drives a cam-shaped sorting device which impulses the bottles to be sorted out with a pulse-like impact.
  • a prerequisite for the functionality of this device is the strict alignment of the bottle flow to be sorted, with all bottles having to be in the same position with respect to a constant small distance from the rejecting device.
  • a product-friendly sorting out according to different characteristics from a product stream with different sizes and quality is also not possible with this solution.
  • the known devices closest to the invention are sorting devices in the fields of agriculture and the food industry.
  • a device is known from DE 27 23 674 A1, in which a discharge plate is provided in a crop to be sorted in a falling stream, which is controlled by a previous detection device and can thus be sorted into two fractions.
  • a similar sorting into two fraction streams is described in DE 27 09 905 A1, in which stones in particular are to be separated from harvested crops and in which a finger unit adjustable in two positions, for example, clears a path for the vertical diarrhea of stones.
  • a further improvement is brought about by an optoelectronic sorting machine, as described, for example, in DE 41 27 903.
  • These selectors are that the products to be read out are optoelectronically scanned individually, one after the other in a drop space by, for example, image converters arranged at 120 ° to one another. Products with damaged areas are identified and an incorrectly identified product is separated from the material flow by means of an air blast using suitable computer programs.
  • These sorting machines work for example with potatoes with throughput rates of up to 5000 kg / h.
  • For the quality selection or size sorting of smaller or more sensitive products such as tomatoes, beans, peas, stone east, pome fruit, berries, carrots, finger carrots, carrots, onions, cereal grains, legumes, almonds, nuts, spice grains etc.
  • WO 91/04803 describes a solution for sorting and classifying objects, in particular fruits, in which a feature-related product acquisition is carried out by means of a real-time image tracking system.
  • the camera provided there only detects the products being passed on chain rollers from above; A visual assessment of the side product surfaces is not guaranteed.
  • wet, slippery or non-uniform product geometries mean that the products on the chain rollers cannot rotate and therefore pass under the camera without changing their position, which means that only the product surface facing upwards can be detected, which leads to very high sorting inaccuracies.
  • the invention has for its object a device feature-based sorting of any lumpy products and to provide a process for their operation which is very fast, at least three-channel fractionation of a product stream at the same time gentle product treatment, low energy consumption, enable low noise emissions and high wear resistance and when changing products to be sorted, e.g. between carrots, Onions, screws, plastic parts, a largely automatic Adaptation to the target result of the sorting enabled.
  • the essence of the invention is that products are sequential Product partial stream pass through a first approach zone, into a enter the second zone, in which by means of a stepper motor Rotationally movable separating element is provided, which circumferentially equally spaced fingers and which depending on Control the products to be sorted in at least three more Sub-fraction stream zones transferred using a real-time image tracking system is provided so that it is all the way of the products through the three zones mentioned and assignable and addressable to each individual product
  • Single product information such as one or more parameters, such as Volume, speed, part contour, center of mass, damaged areas, Deflection characteristics, angular momentum or the like, stores in a memory whose Addresses or address ranges a fixed assignment to the geometric coordinates of the zones traversed by the products and the geometric coordinates of the starting position or congruent position of the separating element with a resolution in of the order of 1 mm / address and its Access speed is at least so great that between each of the Image tracking system stored image by multiple processors different addresses simultaneously in parallel or
  • the device according to the invention with its Features essential to the invention schematically in their entirety shown.
  • the products should only be hinted at Channel k has already been lined up in a row and this on a path p, here a flight parabola, as sequential Leave partial flow or be forwarded in such a stream.
  • the products 51, 52, 53 shown here pass through a first, Zone a designated as an approach zone, followed by a zone b, in which a separating element 1 is provided, and depending on selection to be made, in fraction partial streams c1, c2 and c3.
  • a separating element 1 is provided, and depending on selection to be made, in fraction partial streams c1, c2 and c3.
  • fraction partial streams can be provided for the selection specification.
  • the signals of the real-time image acquisition system 3 are assigned to the individual products.
  • the respective Single product information such as volume, speed, Part contour, center of mass, damaged areas, angular momentum, Deflection characteristics are each in a separate microprocessor 40 stored and addressed from there to a main coordinate processor 4 fed. Signals outgoing from the main coordinate processor 4 are fed to a high speed stepper motor 2. This carries a separating element 1, to which in the context of the figure description Figures 2, 3a and 3b is discussed in more detail.
  • Figure 2 shows a separating element 1 in plan view.
  • the circumference Fingers 10 arranged, in the example in each case by an angular offset of 72 °.
  • Number of fingers should be provided, at least in the sense of the invention however, there are three fingers 10.
  • the fingers externally preferably with a covering 11 consisting of a very soft elastomer.
  • the fingers are as in 3a and 3b indicated in section as follows: The inside of a finger is a conical taper Cavity 14 is provided, which is surrounded by a core body 13.
  • the core body 13 Around to give the core body 13 high inherent rigidity, it is made a hard elastomer (e.g. 80 Shore) the fibers, in particular Carbon fibers, are stored, manufactured. On this core body 13 are further wrappings with increasing softness (e.g. 70, 60, 50, 40 Shore) applied, of which in Figures 3a and 3b only two envelopes 11, 12 are shown.
  • the separating element 1 requires a relatively small mass and thus low inertia, making it with great angular velocity and much less energy than one Compressed air selection unit can be driven. The resulting noise emission can be reduced to below 70 db.
  • the top reaches as a ripe, healthy fruit designated fruit 51 between the fingers 10a and 10b, the Stepper motor 2 no pulse from the main coordinate processor 4 or a control subordinate to this and the fruit 51 gets into the Fraction stream c1 while the separating element is in its initial position remains. If it already arrives in approach zone a as too small recognized fruit 52 in zone b between fingers 10a and 10b the stepper motor sends an acceleration pulse in the direction (in FIG.
  • the real-time image tracking system is also the way of Products after the separation into the individual fraction partial streams c1, c2, c3 tracked and the signals obtained (ejection distances) feeds a memory 41. These won signals are constantly with the specifiable target values, the hits in the respective, the Partial streams assigned, otherwise not shown in detail Discharge channels or bands correspond, compared.
  • one Logic level 42 are adapted to the setpoint in the memory Output signals generated and the stepper motor 2 with respect to Acceleration application changed. This measure is particularly in the start-up phase of sorting a product batch and important when switching between different products, because For example, different-mass products of different types with identical Experience impulse different ejection distances. In particular harbors However, this measure has the advantage that no structural Changes to the entire facility when changing products need to be made.
  • the real-time image tracking system 3 detects sequential product streams originating from several channels k simultaneously.
  • Proximity zone a is upstream or partially includes, and which independently of the real-time image tracking system 3 enables independent all-round product detection and also the signals obtained, assigned to the data of the real-time image tracking system 3 on an individual product basis and fed to the main coordinate processor 4. Such a combination is sensible if all-round product recognition is desired.
  • the task of all-round product detection can also be assigned to the real-time image tracking system 3 in an integrated manner, but in this case at least two such real-time image tracking systems 3 are to be provided which, opposite one another, detect the products at different angles, comparable to an arrangement according to DE 196 46 753.5, and theirs supply information obtained to a common evaluation and control unit 4, 40, 41, 42.
  • the invention is not limited to that described Embodiments limited in their entirety and in detail. So can the described separating element 3 depending on the sorting products and the specifiable sorting criteria also e.g. Products lined up from above in fixed routes intervention.
  • the design of the fingers 10 can also differ of the circular design described e.g. flattened carried out if, for example, products are to be sorted that are by such a finger design no injuries or Experience surface damage.
  • a device has been created by the invention, which at appropriate mode of operation at high speed and Hit accuracy a product-friendly sorting at low Energy consumption, high wear resistance and comparably low Enables costs.
  • sortings for any part sizes depending on the design of the Separating element, in particular on the number of fingers, possible. in the special example, five fingers in a 72 degree arrangement, are included Part sizes from 35 ... 150 mm Part sequences of at least fifty Sortable / sec.
  • tomatoes or Cucumbers are throughput rates in the range of 6000 ... 9000 kg / h reachable.

Claims (9)

  1. L'installation destinée au triage de produits selon des caractéristiques déterminées comprenant au moins un couloir k d'alimentation par lequel les produits à trier (51, 52, 53) arrivent, pièce par pièce, avant de traverser la zone d'approche (a) pour passer ensuite par une deuxième zone (b) où est positionné un dispositif séparateur (1) mis en rotation par un moteur pas à pas (2) et doté de doigts montés dans des intervalles réguliers les uns par rapport aux autres, et renfoncés à l'intérieur par un corps (13) portant au moins une enveloppe en élastomère (11), pour assurer la rigidité des doigts, qui en fonction du signal de pilotage reçu, renvoient les produits à trier (51,52,53) vers au moins trois zones différentes (c1, c2, c3) où, lors de leur passage, le triage est suivi par un système optoélectronique avec prise d'images en temps réel (3) assurant sur l'ensemble du parcours la saisie des données caractérisant tout produit individuel (51,52,53) traversant une des zones (a, b c1,c2,c3), et attribuant en même temps à chacun des produits (51, 52, 53) une adresse sous laquelle seront regroupées les valeurs des données collectées relatives à un ou à plusieurs paramètres tels que par ex. le volume, la vitesse, le contour du produit individuel, le centre de gravité de la masse du produit, les endroits abímés, la caractéristique de déviation et autres, pour pouvoir ensuite les mémoriser dans différents microprocesseurs ou dans l'unité d'adresses au moment de l'entrée du produit dans la zone d'approche, afin de les transmettre ensuite au processeur gérant les coordonnées principales (4) dont les signaux émis pilotent le moteur pas à pas (2) et de cette façon aussi le dispositif séparateur (1), dont le sens de rotation et l'accélération varient en fonction des informations reçues sur le produit individuel à trier.
  2. L'installation suivant la revendication 1 est caractérisée en ce que, sur les deux côtés du parcours (p) des produits (51, 52 et 52), est prévue une chambre de mesure (6) équipée de plusieurs amplificateurs optoélectroniques d'images et positionnée en amont de la première zone d'approche (a) ou en la couvrant en partie, et qui, indépendamment du système optoélectronique de suivi avec prise d'images en temps réel (3) permet la saisie globale des paramètres du produit individuel et de transférer les signaux ainsi collectés et attribués à chacun des produits au processeur gérant les coordonnées principales (4).
  3. L'installation suivant la revendication 1 est caractérisée en ce que le dispositif séparateur (1) est pourvu d'au moins trois doigts (10) montés en étoile.
  4. L'installation suivant les revendications 1 et 3 est caractérisée en ce qu'au dispositif séparateur (1) sont attribués de préférence cinq doigts (10) disposés en quinconce sous un angle de 72°.
  5. L'installation suivant la revendication 1 est caractérisée en ce que le corps intérieur (13) en forme de cône diminuant depuis le centre du dispositif séparateur (1) vers l'extérieur est constitué d'un élastomère renforcé par des fibres, de préférence des fibres de carbone.
  6. L'installation suivant les revendications 1 et 6 est caractérisée en ce que l'enveloppe élastomère du corps intérieur (13) peut se composer de plusieurs enveloppes superposées (12, 11) gagnant en souplesse au fur et à mesure qu'elles sont proches de la surface.
  7. L'installation suivant la revendication 1 est caractérisée en ce que le système optoélectronique de suivi avec prise d'images en temps réel (3) comprend une caméra haute vitesse de résolution d'au moins 230° images/sec.
  8. Le mode opératoire de l'exploitation d'une installation suivant les revendications précédentes est caractérisé en ce qu'un système optoélectronique de suivi avec prise d'images en temps réel (3) assure le suivi et la saisie des paramètres de chaque produit individuel (51,52,53) dès son apparition dans la zone d'approche (a) et lors de son passage par une deuxième zone (b) qui est le champs d'action du dispositif séparateur (1), ainsi que dans une troisième zone au terme de son intégration dans un des flux de produits (c1,c2,c3); que les valeurs des paramètres collectées caractérisant tout produit manipulé pièce par pièce dès son arrivée dans la zone d'approche, seront transmises aux microprocesseurs ou aux unités d'adresses (40), puis au processeur gérant les coordonnées principales renvoyant quant à lui des signaux de pilotage au moteur pas à pas (2) pour que celui-ci, au moment de l'arrivée d'un produit individuel dans la deuxième zone (b), puisse mettre le dispositif séparateur (1) en action de sorte qu'un doigt (10) du dispositif séparateur se déplace dans un mouvement accéléré, en direction du produit individuel (52, 53), s'immobilise juste avant le toucher pour exécuter ensuite un mouvement accéléré en fonction des valeurs spécifiques saisies pour déplacer le produit suivant les critères de triage ; l'opération terminée, le dispositif séparateur regagne une position permettant aux doigts (10) du dispositif séparateur de se positionner dans une position équivalente à leur position initiale, indépendamment du sens de rotation du dispositif séparateur (1).
  9. Le procédé selon la revendication 8 est caractérisé en ce que les résultats de sélection des produits, se référant en particulier à sa masse et à son volume ainsi que les paramètres relatifs aux longueurs d'éjection déterminées en fonction des données saisies et décisives pour l'intégration du produit dans un des différents couloirs de la troisième zone (c2, c3), sont réunis par le système optoélectronique de suivi avec prise d'images en temps réel (3) et mémorisés dans une autre mémoire (41), au moins pendant la phase de démarrage du processus de triage ou lors du changement des produits à trier, pour permettre que, dans le cas de la non réalisation des valeurs théoriques prédéterminées, une autre unité logique (42) puisse intervenir pour obtenir des corrections requises en modifiant les signaux émis du processeur gérant les coordonnées principales (4) pilotant le moteur pas à pas (2), jusqu'à ce que les valeurs des données saisies correspondent à la valeur théorique défini pour le produit individuel.
EP98945211A 1997-08-22 1998-08-11 Dispositif permettant de trier des produits en fonction de certaines caracteristiques et son mode de fonctionnement Expired - Lifetime EP1005398B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19736567 1997-08-22
DE19736567A DE19736567C1 (de) 1997-08-22 1997-08-22 Einrichtung zu einer merkmalsbezogenen Sortierung von Produkten und Verfahren zu deren Betrieb
PCT/EP1998/005088 WO1999010113A1 (fr) 1997-08-22 1998-08-11 Dispositif permettant de trier des produits en fonction de certaines caracteristiques et son mode de fonctionnement

Publications (2)

Publication Number Publication Date
EP1005398A1 EP1005398A1 (fr) 2000-06-07
EP1005398B1 true EP1005398B1 (fr) 2002-12-11

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EP98945211A Expired - Lifetime EP1005398B1 (fr) 1997-08-22 1998-08-11 Dispositif permettant de trier des produits en fonction de certaines caracteristiques et son mode de fonctionnement

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Country Link
US (1) US6444936B1 (fr)
EP (1) EP1005398B1 (fr)
AT (1) ATE229379T1 (fr)
AU (1) AU9260398A (fr)
DE (1) DE19736567C1 (fr)
DK (1) DK1005398T3 (fr)
ES (1) ES2190813T3 (fr)
WO (1) WO1999010113A1 (fr)

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WO1999010113A1 (fr) 1999-03-04
EP1005398A1 (fr) 2000-06-07
DK1005398T3 (da) 2003-03-31
DE19736567C1 (de) 1998-11-26
AU9260398A (en) 1999-03-16
US6444936B1 (en) 2002-09-03
ATE229379T1 (de) 2002-12-15
ES2190813T3 (es) 2003-08-16

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