EP1030740B1 - Method and device for identifying and sorting objects conveyed on a belt - Google Patents

Method and device for identifying and sorting objects conveyed on a belt Download PDF

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Publication number
EP1030740B1
EP1030740B1 EP98961191A EP98961191A EP1030740B1 EP 1030740 B1 EP1030740 B1 EP 1030740B1 EP 98961191 A EP98961191 A EP 98961191A EP 98961191 A EP98961191 A EP 98961191A EP 1030740 B1 EP1030740 B1 EP 1030740B1
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Prior art keywords
objects
conveyor belt
nir
belt
detection
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German (de)
French (fr)
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EP1030740A1 (en
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Lutz Priese
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TITECH VISIONSORT GmbH
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Priese Lutz
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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
    • B07C5/34—Sorting according to other particular properties
    • 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

Definitions

  • the invention relates to a method for identifying and Sorting belt-conveyed objects, especially for Waste sorting, where the material quality of the Objects detected spectroscopically using an NIR measuring device and the sorting depending on the spectroscopy result by removing objects from the conveyor belt he follows.
  • the invention also relates to a device to carry out this procedure.
  • Another method of identifying and sorting belt-conveyed objects is from DE 43 05 006 A1 known.
  • the detection of the material properties of the sorting objects is done using a Polarization interferometer, and to evaluate the through Data supplied by this interferometer is used for a Fast Fourier analysis.
  • Such a device for determination the nature of the material to be identified and sorting objects has one essentially on one single measuring point and is limited with the same disadvantages as before explained; i.e. it is a relatively complex one Pre-sorting and separation before the Objects are fed to the point-like measuring location. Moreover is such a measuring instrument critical in relation to the Distance to the target.
  • a method according to the preamble of claim 1 and an apparatus according to the preamble of claim 5 are known from WO 94/25186.
  • the imaging system is only used there to find position information about locations of the objects to be sorted, where an undisturbed determination of the type of substance is possible, where the measuring spot is not falsified by labels, metal embossing or the like on the objects to be measured becomes.
  • the objects to be examined must be very special be introduced to the NIR measuring device, in particular they must be on a conveyor belt be imposed so that they do not touch. Because of this high requirement for separation mechanical positions are increased at certain positions on the conveyor line Requirements and low throughput.
  • the object of the invention is a method to identify and sort belt-conveyed objects with the without great mechanical effort to separate the different items high mass funding succeed.
  • a device for performing this Procedure are provided.
  • the method according to the invention eliminates the disadvantage of the prior art complex pre-sorting and separation by providing a relatively large differentiated approachable detection area through scanning aimed at the objects Movement of the measuring point of the NIR measuring device over the object-carrying conveyor belt.
  • Such a scanning movement is preferably achieved in the form of a scanning device a mirror arrangement for targeted alignment of the measuring point of the NIR measuring device the objects.
  • the NIR measuring device can differentiate the NIR measuring device Identify object materials at the same time. This generally requires longer ones Exposure times or scanning times as in the NIR scanning according to the prior art. However, this is made up for by the fact that measurements are not taken at all locations on the delivery channel must, but only where the upstream of the NIR measurement according to the invention Image processing has localized an object.
  • the NIR spectral analysis is a Image analysis, preferably a color image analysis for Localization upstream, including where appropriate a shape and a size determination of the identifying objects.
  • image analysis Information obtained is used to control the movement of the NIR measuring device upstream scanning device; i.e. it only a specific scan follows identifying objects with the exception of not using Objects occupied by the conveyor belt. This will the scanning process is carried out rationally. Also renders the image analysis information about shape, size, color and for example texture, which is a better selection guaranteed.
  • an object e.g. garbage
  • a color image With the help of a color image.
  • the location, shape, contour, size, color and texture can be used recognized and corresponding characteristic values are saved.
  • the material properties of the objects determined by means of NIR spectroscopy.
  • NIR spectroscopy In contrast to the previous image recognition focuses on Infrared radiation only with NIR spectroscopy a measuring point. To this measuring point to the different Places the conveyor belt where the objects are present A mirror device is used to transfer it in a targeted manner suggested which the infrared rays at the bring the desired sampling point.
  • Preferred in practice is the reverse, however, i.e.
  • the method according to the invention only a relatively small separation is required. Other complex preprocessing is not necessary.
  • the method according to the invention Identification and separation of several object fractions guaranteed in a single system. This facility can easily trained to recognize new objects by putting enough of these new objects in one Learning phase can be placed on the conveyor belt.
  • the method according to the invention is particularly advantageous and the inventive device for sorting Suitable for household waste.
  • the method according to the invention allows all objects to be visually located on 1 m 2 of a conveyor belt in a period of less than 50 ms.
  • the NIR measurement of an individual object typically takes 3 ms and the subsequent evaluation to identify the object typically takes 1 to 2 milliseconds. It is already possible to identify objects at belt speeds of up to 2 m / s when using common processor technologies and NIR spectrometer technologies.
  • the device shown in the figure consists of three Device complexes: one analysis complex 1 with one first separation complex, a second separation complex 2 and one third separation complex 3.
  • Each of these three complexes 1, 2 and 3 includes an endless belt conveyor 4, 5 and 6 with Conveyor belts 7, 8 and 9, all in the same Horizontal plane are arranged and under Interposition of blow-off nozzle strips together connect.
  • a Blow-off nozzle strip 11 is arranged.
  • Each of the Blow-off nozzle strips extend over the full width of the respective conveyor belt 7, 8 or 9, closes directly at their respective deflecting ends relatively narrow to ensure that on the by the Conveyor belts 7, 8 and 9 formed conveyor line promoted Goods easily through the blow nozzle bars 10, 11 can run away.
  • As in the figure by bold black Dots shown extend across the Blow-off nozzle strips 10, 11 a variety of Blow nozzle openings.
  • the through the belt conveyor or their conveyor belts The specified conveyor route is used with those assigned to it Aggregates, which are explained in more detail below, for example for sorting waste.
  • a computer 16 which is preferably remote from the Aggregates 12 to 14 is arranged and also in one Computer network can be integrated, as below listed.
  • the outputs of the color camera 12 and the NIR spectrometer 13 are with corresponding inputs of the Computer 16 connected.
  • the NIR sensor 14, too an integral part of the NIR spectrometer 13 can be used to transmit measured values with the NIR spectrometer connected.
  • the optical scanning head 15 consists of a (mirror) lens arrangement which is known per se and which, for example, driven by a motor, can be displaced such that a detection area 18 on the conveyor belt 7 is scanned point by point, the scanned measuring point being input into the NIR sensor.
  • a measuring point is designated by the reference number 19.
  • the optical scanning head 15 is designed such that the detection area 18 has a rectangular shape, extends over the full width of the conveyor belt 7 and has a given length in the direction of conveyance. Typically, the detection area 18 has an area of approximately 1 m 2 when a standard conveyor belt with a width of 100 cm is used.
  • the detection area 17 corresponds to Color camera 12 with respect to its shape and size the detection area 18; i.e. also the detection area 17 has a rectangular shape and extends over the full one Width of the conveyor belt 7. This distinguishes the Analysis complex 1 by two detection areas, one Detection area 17, in which the shape and / or Surface quality and position of objects on the Conveyor belt 7 are detected, and this one Downstream detection area Detection area 18 for detecting the Material properties of these objects.
  • the output data of the color camera 12 and the output data of the NIR spectrometer 13 are evaluated in the computer 16.
  • objects on the belt conveyor can thus be classified and recorded in terms of shape, size, color, texture and the like.
  • NIR spectroscopy enables a high spectral resolution of, for example, up to 256 (512) frequency channels with a width of approximately 2 to 4 nm at a single spatial measurement location. From this total information, material properties at the measuring location or at the object can be concluded. If the spatial resolution of the camera 12 is combined in the visible range with rapid control of the NIR measurement location over the respective detection range 17 to 18 of approximately 1 m 2 , an NIR measurement with spatial resolution can be simulated. This provides very reliable object localization and identification, without the need for complex object separation beforehand. This means that pre-separation is only necessary to the extent that the objects can be distinguished from one another in a top view.
  • a further color camera 22 is arranged similar to the color camera 12 of the analysis complex 1 with the computer 16 is connected and for detecting a Area 23 on the conveyor belt 8 is used.
  • the first separation complex 2 (as well as further downstream Separation complexes, e.g. the separation complex 3) its own Be assigned to the computer, which networks with the computer 16 is as mentioned above.
  • This coverage area 23 has the same shape size and relative position to the conveyor belt 8 as the detection areas 17 and 18 to the conveyor belt 7 of the first analysis complex.
  • the 16 processed acquisition data from the color camera 22 allow a recording of the remaining objects as well where appropriate, their change of position.
  • Objects are specifically targeted by means of the blow-off nozzle strip 11 Direction of an arrow 24 to a collecting device 25 and from there via a slide or a cross conveyor 25a carried out.
  • the second separation complex 3 is identical to the first Separation complex 2 constructed and therefore has another Color camera 26 on an area 27 on the conveyor belt 9 detected, the size and shape of those of corresponds to previous detection areas.
  • the Operation of the second separation complex 3 corresponds that of the operation of the above first separation complex with the difference that the Image reference data are used as reference data by the color camera 22 of the first separation complex were recorded, rather than the data from the color camera 12 of the Analysis complex were provided.
  • cameras 12, 22 and 26 are color cameras; much more can also use black and white cameras if necessary reach.

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

Abstract

The invention relates to a method for identifying and sorting objects which are conveyed on a belt, especially for sorting waste. The nature of the material that the objects consist of is determined spectroscopically using an NIR measuring device (13) and the objects are sorted according to the result of the spectroscopy in that they are removed from the conveyor belt (7, 8, 9). According to the invention, the shape and/or the nature of the surfaces of the objects and the position of the objects on the conveyor belt (7, 8, 9) are determined (12) before the nature of the material that they consist of. The objects are then scanned by the measuring point (19) of the NIR measuring device (13) according to at least their position and removed from the conveyor belt (7, 8, 9). This guarantees a high identification and sorting rate and ensures that the system functions reliably.

Description

Die Erfindung betrifft ein Verfahren zum Identifizieren und Sortieren von bandgeförderten Objekten, insbesondere zur Müllsortierung, bei dem die Materialbeschaffenheit der Objekte mittels eines NIR-Meßgeräts spektroskopisch erfaßt wird und die Sortierung in Abhängigkeit des Spektroskopie-Ergebnisses durch Entfernen von Objekten vom Förderband erfolgt. Außerdem betrifft die Erfindung eine Vorrichtung zur Durchführung dieses Verfahrens.The invention relates to a method for identifying and Sorting belt-conveyed objects, especially for Waste sorting, where the material quality of the Objects detected spectroscopically using an NIR measuring device and the sorting depending on the spectroscopy result by removing objects from the conveyor belt he follows. The invention also relates to a device to carry out this procedure.

Bei einem derartigen bekannten Verfahren unter Nutzung der NIR-Spektroskopie zur Ermittlung der Materialbeschaffenheit von zu sortierenden Objekten war es bislang erforderlich, die Objekte durch das Förderband an einen stationären Meßpunkt zu überführen. Dies erfordert einen hohen Aufwand bei der Ausrichtung der zu identifizierenden Objekte.In such a known method using the NIR spectroscopy to determine the material properties of objects to be sorted was previously required the objects through the conveyor belt to a stationary Transfer measuring point. This requires a lot of effort in the alignment of the objects to be identified.

Bekannt ist ferner die Nutzung eines Förderbands mit einer maximalen Breite von 70 cm, um Material durch Verblasen auszusortieren, nachdem dieses auf seine Beschaffenheit untersucht wurde, wobei es darum geht, Kunststoffobjekte, nämlich Verbundstoffverpackungen, auszusortieren. Dieses Verfahren basiert auf einem rotierenden Spiegel, der einen Meßpunkt in halbkreisförmigen Bewegungen über das relativ schmale Förderband führt. An allen vom Meßpunkt überstrichenen Orten wird eine extrem schnelle NIR-Messung durchgeführt, mit über 1.000 Abtastungen pro Sekunde. Dies erfordert ein spezielles NIR-Meßgerät, das jeweils nur auf ein bestimmtes Objektmaterial reagiert. Für ein anderes Objektmaterial ist ein anderes NIR-Meßgerät erforderlich.It is also known to use a conveyor belt with a maximum width of 70 cm to blow material sort out after this on its nature was investigated, which involves plastic objects, namely to sort out composite packaging. This Process is based on a rotating mirror, which is a Measuring point in semicircular movements over the relative narrow conveyor belt leads. At all from the measuring point swept locations becomes an extremely fast NIR measurement performed with over 1,000 samples per second. This requires a special NIR measuring device, each one only a certain object material reacts. For another A different NIR measuring device is required for object material.

Ein weiteres Verfahren zum Identifizieren und Sortieren von bandgeförderten Objekten ist aus der DE 43 05 006 A1 bekannt. Die Erfassung der Materialbeschaffenheit der zu sortierenden Objekte erfolgt mittels eines Polarisationsinterferometers, und zur Wertung der durch dieses Interferometer gelieferten Daten dient eine Fast-Fourier-Analyse. Auch ein derartiges Gerät zur Ermittlung der Materialbeschaffenheit der zu identifizierenden und sortierenden Objekte hat einen im wesentlichen auf einen einzigen Meßpunkt begrenzten Erfassungsbereich und ist damit mit denselben Nachteilen behaftet wie zuvor erläutert; d.h., es ist eine relativ aufwendige Vorsortierung und Vereinzelung erforderlich, bevor die Objekte dem punktförmigen Meßort zugeführt werden. Außerdem ist ein derartiges Meßgerät kritisch in bezug auf den Abstand zum Meßobjekt. Another method of identifying and sorting belt-conveyed objects is from DE 43 05 006 A1 known. The detection of the material properties of the sorting objects is done using a Polarization interferometer, and to evaluate the through Data supplied by this interferometer is used for a Fast Fourier analysis. Such a device for determination the nature of the material to be identified and sorting objects has one essentially on one single measuring point and is limited with the same disadvantages as before explained; i.e. it is a relatively complex one Pre-sorting and separation before the Objects are fed to the point-like measuring location. Moreover is such a measuring instrument critical in relation to the Distance to the target.

Ein Verfahren nach dem Oberbegriff von Anspruch 1 und eine Vorrichtung nach dem Oberbegriff von Anspruch 5 sind aus der WO 94/25186 bekannt. Das bildgebende System wird dort nur benutzt, um Positionsinformation über Stellen der zu sortierenden Objekte zu finden, an denen eine ungestörte Bestimmung der Stoffsorte möglich ist, wo der Meßfleck also nicht durch Etiketten, Metallprägungen oder ähnliches auf den zu messenden Objekten verfälscht wird. Die zu untersuchenden Objekte müssen dazu ganz speziell an das NIR-Meßgerät herangeführt werden, insbesondere müssen sie auf ein Förderband so aufgelegt werden, daß sie sich nicht berühren. Wegen dieser hohen Anforderung an Vereinzelung an bestimmten Positionen auf der Förderstrecke ergeben sich erhöhte mechanische Anforderungen und ein geringer Durchsatz.A method according to the preamble of claim 1 and an apparatus according to the preamble of claim 5 are known from WO 94/25186. The imaging system is only used there to find position information about locations of the objects to be sorted, where an undisturbed determination of the type of substance is possible, where the measuring spot is not falsified by labels, metal embossing or the like on the objects to be measured becomes. The objects to be examined must be very special be introduced to the NIR measuring device, in particular they must be on a conveyor belt be imposed so that they do not touch. Because of this high requirement for separation mechanical positions are increased at certain positions on the conveyor line Requirements and low throughput.

Angesichts dieses Standes der Technik liegt der Erfindung die Aufgabe zugrunde, ein Verfahren zum Identifizieren und Sortieren von bandgeförderten Objekten zu schaffen, mit dem ohne großen mechanischen Aufwand die sortenreine Trennung verschiedener Gegenstände bei hoher Massenförderung gelingt. Außerdem soll eine Vorrichtung zur Durchführung dieses Verfahrens bereitgestellt werden.In view of this prior art, the object of the invention is a method to identify and sort belt-conveyed objects with the without great mechanical effort to separate the different items high mass funding succeed. In addition, a device for performing this Procedure are provided.

Diese Aufgabe wird durch ein Verfahren nach Anspruch 1 und eine Vorrichtung nach Anspruch 5 gelöst.This object is achieved by a method according to claim 1 and an apparatus according to claim 5 solved.

Es beseitigt das erfindungsgemäße Verfahren den Nachteil des Standes der Technik bezüglich einer aufwendigen Vorsortierung und Vereinzelung durch Bereitstellen eines relativ großflächigen, differenziert anfahrbaren Erfassungsbereichs durch auf die Objekte zielende abtastende Bewegung des Meßpunktes des NIR-Meßgeräts über dem objekttragenden Förderband. Erreicht wird eine derartige Abtastbewegung bevorzugt durch eine Abtasteinrichtung in Gestalt einer Spiegelanordung zum gezielten Richten des Meßpunktes des NIR-Meßgeräts auf die Objekte.The method according to the invention eliminates the disadvantage of the prior art complex pre-sorting and separation by providing a relatively large differentiated approachable detection area through scanning aimed at the objects Movement of the measuring point of the NIR measuring device over the object-carrying conveyor belt. Such a scanning movement is preferably achieved in the form of a scanning device a mirror arrangement for targeted alignment of the measuring point of the NIR measuring device the objects.

Im Gegensatz zu dem vorstehend erläuterten Stand der Technik auf Grundlage eines speziellen NIR-Meßgeräts kann beim erfindungsgemäßen Verfahren das NIR-Meßgerät unterschiedliche Objektmaterialien gleichzeitig identifizieren. Dies erfordert zwar grundsätzlich längere Belichtungszeiten bzw. Abtastzeiten wie bei der NIR-Abtastung gemäß dem Stand der Technik. Dies wird jedoch dadurch wettgemacht, daß nicht an allen Orten des Förderkanals gemessen werden muß, sondern lediglich dort, wo die erfindungsgemäß der NIR-Messung vorgeschaltete Bildverarbeitung ein Objekt lokalisiert hat. In contrast to the prior art explained above based on a special In the method according to the invention, the NIR measuring device can differentiate the NIR measuring device Identify object materials at the same time. This generally requires longer ones Exposure times or scanning times as in the NIR scanning according to the prior art. However, this is made up for by the fact that measurements are not taken at all locations on the delivery channel must, but only where the upstream of the NIR measurement according to the invention Image processing has localized an object.

Gemäß der Erfindung ist der NIR-Spektralanalyse eine Bildanalyse, bevorzugt eine Farbbildanalyse zur Lokalisierung vorgeschaltet, einschließlich gegebenenfalls einer Form- und einer Größenbestimmung der zu identifizierenden Objekte. Die mittels Bildanalyse gewonnene Information dient zur Bewegungssteuerung der dem NIR-Meßgerät vorgeschalteten Abtasteinrichtung; d.h., es folgt gezielt ausschließlich eine Abtastung der zu identifizierenden Objekte unter Aussparung von nicht mit Objekten besetzten Stellen des Förderbands. Dadurch wird der Abtastvorgang rational durchgeführt. Außerdem erbringt die Bildanalyse Information über Form, Größe, Farbe und beispielsweise Textur, was eine bessere Selektierung gewährleistet.According to the invention, the NIR spectral analysis is a Image analysis, preferably a color image analysis for Localization upstream, including where appropriate a shape and a size determination of the identifying objects. By means of image analysis Information obtained is used to control the movement of the NIR measuring device upstream scanning device; i.e. it only a specific scan follows identifying objects with the exception of not using Objects occupied by the conveyor belt. This will the scanning process is carried out rationally. Also renders the image analysis information about shape, size, color and for example texture, which is a better selection guaranteed.

Nach erstmaliger Aussonderung einer Objekt-Fraktion können mit einer erneuten (Farb)Bildanalyse auf Grundlage einer weiteren Kamera stromab von der Trennstelle die auf dem Förderband verbliebenen Objekte bezüglich ihrer gegebenenfalls veränderten Lage wiedererkannt werden, und zwar ohne erneute NIR-Spektroskopie, wenn die Daten dieser Kamera mit den bereits erfaßten NIR-Daten abgleichend verknüpft werden. Das heißt, die bereits gewonnenen und gespeicherten NIR-Werte können bei jedem weiteren Trennschritt genutzt werden. After an object fraction has been sorted out for the first time with a new (color) image analysis based on a another camera downstream from the separation point on the Conveyor belt remaining objects regarding their any changed situation can be recognized, and without renewed NIR spectroscopy if the data of this Matching the camera with the NIR data already acquired be linked. That is, the ones already won and stored NIR values can be saved with each additional Separation step can be used.

Dem erfindungsgemäßen Verfahren liegt demnach mit anderen Worten folgendes Prinzip zugrunde:Accordingly, the method according to the invention lies with others Words based on the following principle:

Zunächst findet eine Objekt(beispielsweise Müll)erkennung auf einer größeren Fläche mit Hilfe eines Farbbildes statt. Dabei können Lage, Form, Kontur, Größe, Farbe und Textur erkannt und entsprechende Kennwerte gespeichert werden. Daraufhin wird die Materialbeschaffenheit der Objekte mittels NIR-Spektroskopie ermittelt. Im Gegensatz zu der vorausgehenden Bilderkennung konzentriert sich die Infrarot-Bestrahlung bei der NIR-Spektroskopie nur auf einen Meßpunkt. Um diesen Meßpunkt an die unterschiedlichen Stellen des Förderbands, wo die Objekte vorhanden sind, gezielt zu überführen, wird eine Spiegeleinrichtung vorgeschlagen, welche die Infrarot-Strahlen an den gewünschten Abtastpunkt bringen. In der Praxis bevorzugt ist jedoch die umgekehrte Vorgehensweise, d.h., Ausleuchtung des gesamten Erfassungsbereichs und Steuern der Meßoptik derart, daß lediglich reflektierte Infrarotstrahlen von gewünschten Meßpunkten auf dem jeweiligen Objekt detektiert werden. Gesteuert wird dieses Spiegelsystem mit Hilfe zuvor gewonnener Information aus der Bilderkennung. Die aus der (Farb)Bilderkennung und Infrarot-Bestrahlung gewonnenen Daten werden zusammengeführt und liefern Signale zur Steuerung einer Vorrichtung zum gezielten Austragen von Objekten, beispielsweise in Gestalt einer Verblasdüsenanordnung.First, an object (e.g. garbage) is found on a larger area with the help of a color image. The location, shape, contour, size, color and texture can be used recognized and corresponding characteristic values are saved. Then the material properties of the objects determined by means of NIR spectroscopy. In contrast to the previous image recognition focuses on Infrared radiation only with NIR spectroscopy a measuring point. To this measuring point to the different Places the conveyor belt where the objects are present A mirror device is used to transfer it in a targeted manner suggested which the infrared rays at the bring the desired sampling point. Preferred in practice is the reverse, however, i.e. Illumination of the entire detection area and taxes the measuring optics such that only reflected Infrared rays from desired measuring points on the respective object can be detected. This is controlled Mirror system with the help of previously obtained information the image recognition. The from the (color) image recognition and Data obtained from infrared radiation merged and deliver signals to control one Device for the targeted discharge of objects, for example in the form of a blow-off nozzle arrangement.

Wie bereits erwähnt, ist für das erfindungsgemäße Verfahren nur eine relativ geringe Vereinzelung erforderlich. Sonstige aufwendige Vorverarbeitungen sind nicht nötig. Außerdem wird durch das erfindungsgemäße Verfahren eine Identifikation und Trennung von mehreren Objekt-Fraktionen in einer einzigen Anlage gewährleistet. Diese Anlage kann problemlos auf die Erkennung neuer Objekte trainiert werden, indem genügend viele dieser neuen Objekte in einer Lernphase auf dem Förderband plaziert werden.As already mentioned, is for the method according to the invention only a relatively small separation is required. Other complex preprocessing is not necessary. In addition, the method according to the invention Identification and separation of several object fractions guaranteed in a single system. This facility can easily trained to recognize new objects by putting enough of these new objects in one Learning phase can be placed on the conveyor belt.

Besonders vorteilhaft sind das erfindungsgemäße Verfahren und die erfindungsgemäße Vorrichtung zur Sortierung von Hausmüll geeignet. Es kommen jedoch auch Einsatzbereiche außerhalb der Müllverarbeitung in Betracht, bei denen es um die Identifizierung und Sortierung von bandgeförderten Objekten zu anderen Zwecken geht.The method according to the invention is particularly advantageous and the inventive device for sorting Suitable for household waste. However, there are also areas of application outside waste processing, which is about the identification and sorting of conveyor belts Objects for other purposes.

Nach bisherigen Erfahrungen gestattet das erfindungsgemäße Verfahren eine visuelle Lokalisierung sämtlicher Objekte auf 1 m2 eines Förderbands in einem Zeitraum von weniger als 50 ms. Für die NIR-Messung eines einzelnen Objekts sind typischerweise 3 ms erforderlich und die anschließende Auswertung zur Identifizierung des Objekts benötigt typischerweise 1 bis 2 Millisekunden. Erreichbar ist damit bereits heute bei Benutzung gängiger Prozessor-Technologien und NIR-Spektrometer-Technologien eine Identifizierung von Objekten bei Bandgeschwindigkeiten von bis zu 2 m/s,Based on previous experience, the method according to the invention allows all objects to be visually located on 1 m 2 of a conveyor belt in a period of less than 50 ms. The NIR measurement of an individual object typically takes 3 ms and the subsequent evaluation to identify the object typically takes 1 to 2 milliseconds. It is already possible to identify objects at belt speeds of up to 2 m / s when using common processor technologies and NIR spectrometer technologies.

Nachfolgend wird die Erfindung anhand der Zeichnung näher erläutert; die einzige Figur zeigt eine Ausführungsform der erfindungsgemäßen Vorrichtung zum Identifizieren und Sortieren von bandgeförderten Objekten.The invention will be described in more detail below with the aid of the drawing explained; the only figure shows an embodiment of the device according to the invention for identifying and Sorting belt-conveyed objects.

Die in der Figur gezeigte Vorrichtung besteht aus drei Vorrichtungskomplexen: einem Analysekomplex 1 mit einem ersten Trennkomplex, einem zweiten Trennkomplex 2 und einem dritten Trennkomplex 3. Jeder dieser drei Komplexe 1, 2 und 3 umfaßt einen Endlos-Bandförderer 4, 5 und 6 mit Förderbändern 7, 8 bzw. 9, die sämtliche in derselben Horizontalebene angeordnet sind und sich unter Zwischenschaltung von Verblasdüsenleisten aneinander anschließen. Insbesondere ist zwischen dem stromabwärtigen Ende des Bandförderers 4 und dem stromaufwärtigen Ende des Bandförderers 5 eine Verblasdüsenleiste 10 angeordnet, während zwischen dem stromabwärtigen Ende des Bandförderers 5 und dem stromaufwärtigen Ende des Bandförderers 6 eine Verblasdüsenleiste 11 angeordnet ist. Jede der Verblasdüsenleisten erstreckt sich über die volle Breite des jeweiligen Förderbands 7, 8 bzw. 9, schließt sich unmittelbar an deren entsprechenden Umlenkenden an und ist relativ schmal, um zu gewährleisten, daß auf der durch die Förderbänder 7, 8 und 9 gebildeten Förderstrecke geförderte Güter problemlos über die Verblasdüsenleisten 10, 11 hinweglaufen können. Wie in der Figur durch fette schwarze Punkte gezeigt, erstrecken sich quer über die Verblasdüsenleisten 10, 11 eine Vielzahl von Blasdüsenöffnungen.The device shown in the figure consists of three Device complexes: one analysis complex 1 with one first separation complex, a second separation complex 2 and one third separation complex 3. Each of these three complexes 1, 2 and 3 includes an endless belt conveyor 4, 5 and 6 with Conveyor belts 7, 8 and 9, all in the same Horizontal plane are arranged and under Interposition of blow-off nozzle strips together connect. In particular, is between the downstream End of the belt conveyor 4 and the upstream end of the Belt conveyor 5 arranged a blow nozzle bar 10, while between the downstream end of the belt conveyor 5 and the upstream end of the belt conveyor 6 a Blow-off nozzle strip 11 is arranged. Each of the Blow-off nozzle strips extend over the full width of the respective conveyor belt 7, 8 or 9, closes directly at their respective deflecting ends relatively narrow to ensure that on the by the Conveyor belts 7, 8 and 9 formed conveyor line promoted Goods easily through the blow nozzle bars 10, 11 can run away. As in the figure by bold black Dots shown extend across the Blow-off nozzle strips 10, 11 a variety of Blow nozzle openings.

Die durch die Bandförderer bzw. deren Förderbänder festgelegte Förderstrecke dient mit den ihnen zugeordneten Aggregaten, die im folgenden näher erläutert sind, beispielsweise zur Müllsortierung.The through the belt conveyor or their conveyor belts The specified conveyor route is used with those assigned to it Aggregates, which are explained in more detail below, for example for sorting waste.

Zur Identifizierung der auf der Förderstrecke geförderten Güter umfaßt der Analysekomplex 1 oberhalb des Bandförderers 4 dieses Komplexes eine Farbkamera 12, ein NIR-Spektrometer 13 mit einem NIR-Sensor 14 und einen optischen Abtastkopf 15. Zur Steuerung dieser Aggregate dient ein Rechner 16, der bevorzugt entfernt von den Aggregaten 12 bis 14 angeordnet ist und auch in ein Rechnernetz integriert sein kann, wie nachfolgend aufgeführt. Die Ausgänge der Farbkamera 12 und des NIR-Spektrometers 13 sind mit entsprechenden Eingängen des Rechners 16 verbunden. Der NIR-Sensor 14, der ebenfalls einen integralen Bestandteil des NIR-Spektrometers 13 bilden kann, ist zur Übertragung von Meßwerten mit dem NIR-Spektrometer verbunden.To identify the conveyed on the conveyor line Goods comprises the analysis complex 1 above the Belt conveyor 4 of this complex, a color camera 12 NIR spectrometer 13 with an NIR sensor 14 and one optical scanning head 15. To control these units serves a computer 16, which is preferably remote from the Aggregates 12 to 14 is arranged and also in one Computer network can be integrated, as below listed. The outputs of the color camera 12 and the NIR spectrometer 13 are with corresponding inputs of the Computer 16 connected. The NIR sensor 14, too an integral part of the NIR spectrometer 13 can be used to transmit measured values with the NIR spectrometer connected.

Der optische Abtastkopf 15 besteht aus einer an sich bekannten (Spiegel-)Linsenanordnung, die, beispielsweise motorisch angetrieben, derart verlagerbar ist, daß ein Erfassungsbereich 18 auf dem Förderband 7 punktweise abgetastet wird, wobei der abgetastete Meßpunkt in den NIR-Sensor eingegeben wird. In der Figur ist beispielsweise ein Meßpunkt mit der Bezugsziffer 19 bezeichnet. Der optische Abtastkopf 15 ist so ausgelegt, daß der Erfassungsbereich 18 Rechteckform hat, sich über die volle Breite des Förderbands 7 erstreckt und in Förderrichtung eine gegebene Länge aufweist. Typischerweise hat der Erfassungsbereich 18 einen Flächeninhalt von etwa 1 m2, wenn ein Standard-Förderband einer Breite von 100 cm zum Einsatz gelangt.The optical scanning head 15 consists of a (mirror) lens arrangement which is known per se and which, for example, driven by a motor, can be displaced such that a detection area 18 on the conveyor belt 7 is scanned point by point, the scanned measuring point being input into the NIR sensor. In the figure, for example, a measuring point is designated by the reference number 19. The optical scanning head 15 is designed such that the detection area 18 has a rectangular shape, extends over the full width of the conveyor belt 7 and has a given length in the direction of conveyance. Typically, the detection area 18 has an area of approximately 1 m 2 when a standard conveyor belt with a width of 100 cm is used.

Um die mit Hilfe des NIR-Spektrometers 13 mittels des Abtastkopfs 15 gewonnenen Meßwerte problemlos und aussagekräftig mit Meßwerten der Farbkamera 12 korrelieren zu können, entspricht der Erfassungsbereich 17 der Farbkamera 12 bezüglich seiner Form und Größe demjenigen des Erfassungsbereichs 18; d.h., auch der Erfassungsbereich 17 hat Rechteckform und erstreckt sich über die volle Breite des Förderbands 7. Damit zeichnet sich der Analysekomplex 1 durch zwei Erfassungsbereiche aus, einem Erfassungsbereich 17, in welchem die Gestalt und/oder Oberflächenbeschaffenheit und Lage von Objekten auf dem Förderband 7 erfaßt werden, und einem diesem Erfassungsbereich stromabwärts nachgeordneten Erfassungsbereich 18 zur Erfassung der Materialbeschaffenheit eben dieser Objekte.To the with the help of the NIR spectrometer 13 by means of Readhead 15 easily obtained measurements Correlate meaningfully with measured values of the color camera 12 to be able to, the detection area 17 corresponds to Color camera 12 with respect to its shape and size the detection area 18; i.e. also the detection area 17 has a rectangular shape and extends over the full one Width of the conveyor belt 7. This distinguishes the Analysis complex 1 by two detection areas, one Detection area 17, in which the shape and / or Surface quality and position of objects on the Conveyor belt 7 are detected, and this one Downstream detection area Detection area 18 for detecting the Material properties of these objects.

Im Rechner 16 erfolgt eine Auswertung der Ausgangsdaten der Farbkamera 12 und der Ausgangsdaten des NIR-Spektrometers 13. Durch Anwenden eines Bildanalyseverfahrens können Objekte auf dem Bandförderer damit hinsichtlich Form, Größe, Buntheit, Textur und ähnlichem klassifiziert und lagemäßig erfaßt werden. Durch die NIR-Spektroskopie ist eine hohe spektrale Auflösung von z.B. bis zu 256 (512) Frequenzkanälen einer Breite von etwa 2 bis 4 nm an einem einzigen räumlichen Meßort möglich. Aus diesen Gesamtinformationen kann auf Materialeigenschaften am Meßort bzw. am Objekt geschlossen werden. Kombiniert man die räumliche Auflösung der Kamera 12 im sichtbaren Bereich mit einer schnellen Steuerung des NIR-Meßortes über den jeweiligen Erfassungsbereich 17 bis 18 von etwa 1 m2 kann eine NIR-Messung mit räumlicher Auflösung simuliert werden. Dies erbringt eine sehr sichere Objektlokalisierung und - identifizierung, ohne daß vorab eine aufwendige Objektvereinzelung erforderlich wäre. Das heißt, eine Vorvereinzelung ist allenfalls insoweit erforderlich, als die Objekte in Draufsicht voneinander unterscheidbar sind.The output data of the color camera 12 and the output data of the NIR spectrometer 13 are evaluated in the computer 16. Using an image analysis method, objects on the belt conveyor can thus be classified and recorded in terms of shape, size, color, texture and the like. NIR spectroscopy enables a high spectral resolution of, for example, up to 256 (512) frequency channels with a width of approximately 2 to 4 nm at a single spatial measurement location. From this total information, material properties at the measuring location or at the object can be concluded. If the spatial resolution of the camera 12 is combined in the visible range with rapid control of the NIR measurement location over the respective detection range 17 to 18 of approximately 1 m 2 , an NIR measurement with spatial resolution can be simulated. This provides very reliable object localization and identification, without the need for complex object separation beforehand. This means that pre-separation is only necessary to the extent that the objects can be distinguished from one another in a top view.

Nachdem Objekte im Analysekomplex 1 lokalisiert und identifiziert wurden, erreichen sie nach Verlassen des Förderbands 7 die Verblasdüsenleiste 10 und werden durch die dort austretenden Luftstrahlen in Richtung des Pfeils 20 in eine Auffangvorrichtung 21 verblasen, über der Förderstrecke angeordnet ist, und die verblasenen Objekte werden aus der Auffangvorrichtung 21 etwa über eine Rutsche oder einem Querförderer 21a ausgetragen.After locating objects in analysis complex 1 and identified, they reach after leaving the Conveyor belt 7, the bleed nozzle bar 10 and through the air jets emerging there in the direction of the arrow 20 blow into a collecting device 21, over which Conveyor line is arranged, and the blown objects are from the collecting device 21 about a slide or carried out a cross conveyor 21a.

Die verbliebenen Objekte gelangen daraufhin auf das Förderband 8 des ersten Trennkomplexes 2. über dem Förderband 8 ist eine weitere Farbkamera 22 angeordnet, die ähnlich wie die Farbkamera 12 des Analysekomplexes 1 mit dem Rechner 16 verbunden ist und zur Erfassung eines Bereichs 23 auf dem Förderband 8 dient. Alternativ kann dem ersten Trennkomplex 2 (ebenso wie weiteren stromabwärtigen Trennkomplexen, wie z.B. dem Trennkomplex 3) ein eigener Rechner zugeordnet sein, der mit dem Rechner 16 vernetzt ist, wie vorstehend angesprochen. Dieser Erfassungsbereich 23 hat dieselbe Formgröße und Relativlage zu dem Förderband 8 wie die Erfassungsbereiche 17 und 18 zu dem Förderband 7 des ersten Analysekomplexes. Die im Rechner 16 verarbeiteten Erfassungsdaten von der Farbkamera 22 erlauben eine Erfassung der verbliebenen Objekte sowie gegebenenfalls deren Lageänderung. Durch Abgleichen dieser Daten mit den im Analysekomplex 1 gewonnenen Daten im Rechner 16 wird gewährleistet, daß die im Analysekomplex 1 erfolgte Bildanalyse automatisch "nachgehalten" wird, ohne daß eine erneute NIR-Spektroskopie erforderlich ist; vielmehr können die vorher gewonnenen und im Rechner 16 gespeicherten NIR-Werte genutzt und für einen weiteren Trennschritt herangezogen werden, der stromabwärts vom ersten Trennkomplex erfolgt, und zwar durch die Verblasdüsenleiste 11 zwischen dem Bandförderer 5 und dem Bandförderer 6. The remaining objects then reach the Conveyor belt 8 of the first separation complex 2nd over the Conveyor belt 8, a further color camera 22 is arranged similar to the color camera 12 of the analysis complex 1 with the computer 16 is connected and for detecting a Area 23 on the conveyor belt 8 is used. Alternatively, the first separation complex 2 (as well as further downstream Separation complexes, e.g. the separation complex 3) its own Be assigned to the computer, which networks with the computer 16 is as mentioned above. This coverage area 23 has the same shape size and relative position to the conveyor belt 8 as the detection areas 17 and 18 to the conveyor belt 7 of the first analysis complex. The 16 processed acquisition data from the color camera 22 allow a recording of the remaining objects as well where appropriate, their change of position. By matching this Data with the data obtained in analysis complex 1 in Computer 16 ensures that the analysis complex 1 image analysis is automatically "tracked" without that renewed NIR spectroscopy is required; rather, those previously obtained and stored in the computer 16 stored NIR values used and for another Separation step are used, the downstream of the first separation complex takes place, namely by the Blow-off nozzle strip 11 between the belt conveyor 5 and the Belt conveyor 6.

Mittels der Verblasdüsenleiste 11 werden gezielt Objekte in Richtung eines Pfeils 24 zu einer Auffangvorrichtung 25 und von dort über eine Rutsche bzw. einen Querförderer 25a ausgetragen.Objects are specifically targeted by means of the blow-off nozzle strip 11 Direction of an arrow 24 to a collecting device 25 and from there via a slide or a cross conveyor 25a carried out.

Der zweite Trennkomplex 3 ist identisch zu dem ersten Trennkomplex 2 aufgebaut und weist demnach eine weitere Farbkamera 26 auf, die einen Bereich 27 auf dem Förderband 9 erfaßt, dessen Größe und Form denjenigen der vorausgehenden Erfassungsbereiche entspricht. Die Arbeitsweise des zweiten Trennkomplexes 3 entspricht derjenigen der Arbeitsweise des vorstehend erläuterten ersten Trennkomplexes mit dem Unterschied, daß die Bildbezugsdaten als Bezugsdaten verwendet werden, die von der Farbkamera 22 des ersten Trennkomplexes erfaßt wurden, anstatt die Daten, die von der Farbkamera 12 des Analysekomplexes bereitgestellt wurden.The second separation complex 3 is identical to the first Separation complex 2 constructed and therefore has another Color camera 26 on an area 27 on the conveyor belt 9 detected, the size and shape of those of corresponds to previous detection areas. The Operation of the second separation complex 3 corresponds that of the operation of the above first separation complex with the difference that the Image reference data are used as reference data by the color camera 22 of the first separation complex were recorded, rather than the data from the color camera 12 of the Analysis complex were provided.

Die vorstehend erläuterte erfindungsgemäße Vorrichtung ist nicht auf die dargestellte Anlage mit lediglich drei Trennkomplexen beschränkt. Vielmehr können den jeweiligen Erfordernissen entsprechend auch mehr Trennkomplexe oder lediglich ein einziger Trennkomplex zum Einsatz gelangen.The device according to the invention explained above is not on the system shown with only three Separation complexes limited. Rather, each can According to requirements also more separation complexes or only a single separation complex can be used.

Es ist auch nicht zwingend erforderlich, daß es sich bei den Kameras 12, 22 und 26 um Farbkameras handelt; vielmehr können gegebenenfalls auch Schwarzweiß-Kameras zum Einsatz gelangen.It is also not mandatory that it is cameras 12, 22 and 26 are color cameras; much more can also use black and white cameras if necessary reach.

Claims (8)

  1. A method of identifying and sorting objects conveyed on a belt, particularly for sorting rubbish, wherein the nature of the material in the object is spectroscopically detected by an NIR measuring device (13) and sorting in dependence on the spectroscopy result is effected by removing objects from the conveyor belt (7, 8, 9),
    characterised in that the conveyor belt (7, 8, 9) is scanned over a predetermined region (17) across its entire width in order to locate each object in the said region (17) in accordance with the shape of the object and its position on the conveyor belt (7, 8, 9), in that the nature of the surface is detected exclusively at the site of the located object, leaving out unoccupied parts of the conveyor belt (7, 8, 9), wherein different object materials are simultaneously identified by the NIR measuring device (13), and wherein the objects are scanned by the measuring point (19) of the NIR measuring device (13) in dependence on at least their previously detected position and are removed from the conveyor belt (7, 8, 9).
  2. A method according to claim 1, characterised in that the position of the objects whose material nature was detected (12) and stored is re-detected (22, 23) at least once more after a first object-removal operation.
  3. A method according to claim 1 or 2,
    characterised in that the size of the objects is detected in addition to their position.
  4. A method according to claim 1 or 2,
    characterised in that the data obtained during detection of the position, shape and surface nature and/or size are supplied to an image processor (16) and the processed data are linked to data about the nature of the material.
  5. A device for identifying and sorting objects conveyed on a belt, comprising an NIR measuring device (13) disposed at a first detection region (18) above a conveyor belt (7) and followed by at least one separating place (10) for removing objects from the conveyor belt (7), characterised in that a device (12) for optical detection of the objects is disposed upstream of the first detection region (18) in a second detection region (17) across the entire width of the conveyor belt (7), in that an image-processing or recognition device (16) which processes measurement signals from the device (12) for optical detection of objects is provided in order to detect the position and shape of the objects on the conveyor belt (7) in order to link data relating to the position and shape of the objects with the measurements by the NIR device (13), and in that the NIR device (13), which is capable of simultaneously identifying different object materials, is associated with a device (15) for scanning and moving its measuring point (19) over the objects on the conveyor belt (7) only at the place where an object is located.
  6. A device according to claim 5, characterised in that the scanning device (15) comprises a mirror arrangement for guiding the measuring point of the NIR device (13) over the detection region (18).
  7. A device according to claim 5 or 6,
    characterised in that the separating place (10) is followed by at least one additional separating place (11) downstream of a third detection place (23) in which another device (22) for optical detection of objects is disposed, and in that the results of detection thereby are compared with the position data for the objects.
  8. A device according to any of claims 5 to 7,
    characterised in that the device or devices (12, 22, 26) for optical detection of objects is or are cameras.
EP98961191A 1997-11-22 1998-11-13 Method and device for identifying and sorting objects conveyed on a belt Expired - Lifetime EP1030740B1 (en)

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DE19751862A DE19751862C2 (en) 1997-11-22 1997-11-22 Method and device for identifying and sorting belt-conveyed objects
PCT/EP1998/007267 WO1999026734A1 (en) 1997-11-22 1998-11-13 Method and device for identifying and sorting objects conveyed on a belt

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