EP2335837B1 - Device and method for separating heavy boulders with unwanted compositions - Google Patents
Device and method for separating heavy boulders with unwanted compositions Download PDFInfo
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- EP2335837B1 EP2335837B1 EP10015430.1A EP10015430A EP2335837B1 EP 2335837 B1 EP2335837 B1 EP 2335837B1 EP 10015430 A EP10015430 A EP 10015430A EP 2335837 B1 EP2335837 B1 EP 2335837B1
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- conveyor belt
- detection
- detection device
- lump
- lumps
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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
- 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
- B07C5/3427—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain by changing or intensifying the optical properties prior to scanning, e.g. by inducing fluorescence under UV or x-radiation, subjecting the material to a chemical reaction
-
- 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
- B07C5/04—Sorting according to size
- B07C5/10—Sorting according to size measured by light-responsive means
Definitions
- the invention relates to a method and an apparatus for separating heavy, accumulating with undesirable compositions chunks of changing composition, for example, from shredded material, in which also electric motors and the like were shredded, according to the preamble of the main claim.
- Devices for separating bulk materials with small, comparatively homogeneous, particles are from a large number of patents, for example also from the patent EP 1 253 981 the applicant known.
- the sorting material to be separated now differs in that comparatively large, far more than a kilo heavy, so mainly occurring with a density such as metals chunks are to be examined in their composition, either because they are lumps of unknown consistency , or have been brought into a lump form by humans - for example, when a motor vehicle was shredded, with materials of very different consistency clump together - and are also of the outer shape in a very large variance range.
- Shredded material can vary from small electric motor parts, such as wire spools to metal strips, to starter motors damaged only slightly in the housing.
- the invention is therefore based on the object, large mass flows, relatively large particles whose size can vary greatly, from less than a coin to significantly larger than bottles, the dimensions of which may also be elongated in particular, and then exceed the dimensions of bottles on a fast conveyor belt (with typical 3m / s) in the shortest time (typically 20ms measuring time) to recognize correctly. Problems with low count rates due to the short measuring time, a relative movement of the chunks on the fast conveyor belt, inclined surfaces of the chunks and possibly also existing topographies of the chunks with overhanging areas of a (previous) enclosure have to be mastered.
- the device of the invention has been designed.
- the method according to the invention can be carried out particularly advantageously with this device.
- the device for separating heavy, with undesirable compositions accumulating chunks of scrap-like, uneven conveyed with a arranged on a conveyor detection device which - after interposition of a provided with a powerful computer control - a subsequent separating device can provide the information on which of various possible transport routes the respective chunks are to be routed.
- the detection device consists in addition to fluorescence sensors, which can easily recognize different fluorescence characteristics of different materials, in particular different metals, in particular optical and / or electromagnetic sensors, which are arranged optically above, electromagnetically below the conveyor belt in a suitable number to a ten times better location Resolution as the above the conveyor belt provided, first detectors that respond to X-ray fluorescence radiation to achieve.
- an X-ray tube is provided in a "sensor box" shielding the detectors and irradiates the area of the conveyor belt which is surveyed by the detection sensors with X-radiation for triggering X-ray fluorescence.
- the X-ray fluorescence sensors which are comparatively less spatially sensitive due to their physical properties, are now arranged side by side in a row, so that they can detect small particles lying on the conveyor belt substantially without overlapping.
- the x-ray fluorescence sensors must be arranged as close as possible to the conveyor belt, but on the other hand sufficient free space must be left for at least the largest chunks to be expected, this means that the top of already medium chunks is only half as far from the detectors so that they are then detected by a detector only at about half their upper surface.
- the aperture angle determined by the aperture of the detectors so that at least objects half the ⁇ ffnugsweite, eg 10 cm large objects are still fully covered with their entire surface of the juxtaposed detectors.
- the spatial resolution (50-100 mm) obtained by these detectors is not sufficient to cause an ejection.
- an electromagnetic detection by sensors arranged below the conveyor belt which results in a ten times better resolution (for example 3 mm) is preferred.
- two rows of sensors with offset from one another can be provided and the sensor response of a sensor can be increased by taking into account the response of its neighboring sensor in the spatial resolution.
- the values determined by the X-ray fluorescence detectors are assigned to each particle passing through the detection area, and then due to the conversion of the X-ray fluorescence radiation to the illuminated area of the particle, the result of the X-ray fluorescence measurement is weighted accordingly.
- the in the Fig. 1 shown eight detectors 10 are spaced from each other only a little more than their dimensions, for example 75 mm. Of the conveyor belt 12, for example, they are 270 mm, that is, a multiple of removed, so that objects that are, for example, 10 cm high, are still detected by the narrow-opening detection angles in their entirety. However, if a twice as large article were conveyed through beneath the detectors, it would be readily apparent that only one-third of the reduced area of the article is still being examined.
- the X-ray tube 16 to recognize. This is designed with, for example, 35 KeV and a maximum of 1 KW power to generate enough signal, but on the other hand not to get into power ranges in which the shielding problem makes the sensor device too heavy.
- Lead plates are provided to detect the X-ray radiation to the side due to the thick black lines near the Abstrahlf kauers the X-ray tube.
- Another lead plate again shields the detectors 10 from the X-ray tube 16, so that they only detect the X-ray fluorescence radiation light reflected by the examination material.
- the signal result can be enhanced.
- the device for separating heavy, with undesirable compositions accumulating chunks of scrap-like, non-uniform conveyed with a arranged on a conveyor belt detection device which is a Broken to different transport channels conductive separating device is arranged, essential to the invention by a detection device a plurality of transversely to the conveyor belt transport direction above the conveyor belt at a distance greater than the expected height of the chunks arranged X-ray fluorescence detectors shown, each narrow in the direction of arrangement, in the Further location-resolving electromagnetic sensors are provided below the conveyor belts for detecting the contours and / or mass of the chunks, wherein an X-ray tube arranged above the detectors exposes the chunks in the area of the detection sectors to X-ray radiation, and the detection direction the detectors is inclined in each case to the vertical, so that the emission direction X-ray radiation is inclined starting from the X-ray tube, so that between the at gives directions an upwardly open angle in the range of 5 - 38 °.
- Another advantage is that an angle of 15-20 ° is provided symmetrically to the perpendicular between the detection direction of the detectors and the emission direction of the X-ray radiation from the X-ray tube.
- a common, stable, dustproof and airtight, electrically shielded housing will receive the detectors and the X-ray tube, with a vertical partition wall between them with X-ray absorbing material for the direct entry of X-radiation prevents the detectors.
- the sensors for mass detection are in a preferred embodiment electromagnetic sensors, the detection coils are arranged below the conveyor belt.
- An alternative embodiment uses optical sensors as outline-recognizing sensors, which are arranged above the conveyor belt.
- a contour-recognizing sensor can serve a camera that provides a flat high-resolution image of more than 800x600 pixels from then in time with the observation (eg at 3 m / s tape speed in the 1 KHz clock or every 1 ms) a contour line recorded and is further evaluated.
- the information thus acquired is referred to in the literature as 3D information.
- the particle can be assigned to a mass (e.g., assigned to a mass class) that allows one to deduce from the level of fluorescence radiation the content of an undesired composition in the chunk. In this way, small chunks with a high undesirable content of large chunks with a comparatively low percentage content can be distinguished.
- a mass e.g., assigned to a mass class
- the method for separating chunks of the decision logic allow detected mass and / or dimension profiles to be predefined classes of objects (cf. Fig. 6 ), whose material properties have been previously known for individual classes or from previous ones Determined fluorescence measurements averaged, for outputting the separating device driving signal.
- the second detection device comprises a laser 40, in any case a bright, line-like light source, which illuminates an illumination line across the conveyor belt onto the conveyed material, which in turn is detected two-dimensionally as a contour line with a camera.
- the second detection device 42 may comprise the laser (s) projecting substantially perpendicularly to the chunk and the camera receiving the illumination image with a viewing direction substantially in the direction of the conveyor belt, or viewing the camera substantially perpendicular to the chunk and the laser a beam direction slightly inclined to the direction of the conveyor belt generating an illumination image in the camera field of view.
- the second detection device irradiate the laser or lasers approximately at 45 ° to the vertical and the conveying direction on the chunks and the camera with a viewing direction at the same angle to the transport direction of the conveyor belt, wherein the angle to the conveyor belt approximately transversely to a Detection line are arranged transversely to the conveyor belt, so for example, that the second detection device or the laser approximately 45 ° Angle radiates and an angle of 90 ° between observation and Aufstrahlraum lies.
- the second detection device is designed in the form of spatially resolving, electromagnetic sensors (not shown) below the conveyor belt 12 for detecting the contours and / or mass of the chunks.
- the first detection device should be provided at an angle deviating from the vertical angle of 8-19 ° symmetrically to the likewise inclined beam direction of the X-ray tube in order to limit overhanging effects (shadowing) and inclined surfaces of Brocken as far as possible in their deterioration of the measurement result. It is also advantageous for reasons of correct triangulation to choose a small angle, since otherwise the X-rays fluorescence before or after the optimal observation position - depending on the deviation of the height of the Brocken from a mediocrity (see. Fig. 2 ).
- angles of the first and second detection devices are the same, ie, approximately all selected at 15 ° in order to obtain congruent information.
- a range of 8 - 19 ° to the vertical seems suitable.
Description
Die Erfindung betrifft ein Verfahren und eine Vorrichtung zur Abtrennung von schweren, mit unerwünschten Zusammensetzungen anfallenden Brocken wechselnder Zusammensetzung beispielsweise aus Schreddergut, bei dem auch Elektromotoren und dergleichen geschreddert wurden, nach dem Oberbegriff des Hauptanspruches.The invention relates to a method and an apparatus for separating heavy, accumulating with undesirable compositions chunks of changing composition, for example, from shredded material, in which also electric motors and the like were shredded, according to the preamble of the main claim.
Vorrichtungen zur Trennung von Schüttgütern mit kleinen in sich vergleichsweise homogenen Partikeln sind aus einer Vielzahl von Patenten, beispielsweise auch aus dem Patent
Eine weitere Vorrichtung zur Trennung von Schuttgütern mit Röntgenfluoreszenz ist aus
Rein optische Verfahren sind zudem für die Erkennung der wechselnden metallischen Komponenten der Zusammensetzung, also sowohl der jeweiligen Legierung und/oder der jeweiligen Anteile bei aus mehreren verschiedenen Metallen bestehenden Brocken nicht ausreichend. Insbesondere können Farben durch Rost oder Staub nicht aussagekräftig sein, und aufgrund verschiedener Auftreffwinkel der Beleuchtung kann es zu Abschattungen kommen, die das Bild des Gegenstands für eine computergestützte Auswertung zu stark verändern.Moreover, purely optical methods are not sufficient for the detection of the changing metallic components of the composition, that is to say the respective alloy and / or the respective components in the case of chunks consisting of a plurality of different metals. In particular, colors due to rust or dust may not be meaningful, and due to different angles of incidence of the illumination, shadowing may occur which will over-vary the image of the subject for computer-aided evaluation.
Für die Stahlproduktion ist es andererseits von essentieller Wichtigkeit, dass z.B. recycelter Stahl oder auch Roherz nicht mit Edelmetallen und insbesondere nicht mit Kupfer verunreinigt wird. Eine sichere Sortenreinheit zu erreichen, kann daher die Wiederverwendbarkeit des Recyclats erst ermöglichen. Ohne derartige gute Sortierung wäre das Schreddermaterial auch nicht marktgängig, da nach einem Einschmelzen erst aufwendig die Kupferverunreinigungen entfernt werden müssten.For steel production, on the other hand, it is of essential importance that e.g. recycled steel or raw ore is not contaminated with precious metals and especially not with copper. To achieve a safe variety purity, therefore, the reusability of the recyclate allow only. Without such good sorting the shredder material would not be marketable, as after a melt only consuming the copper impurities would have to be removed.
Mit den bisher bekannten Methoden kann nun zwar z.B. festgestellt werden, wo Kupfer vorhanden ist, jedoch kann für eine richtige Entscheidung, ob deshalb der gesamte Brocken ausgeworfen werden muss, oder nicht, bisher nur unzureichend abgeschätzt werden, wie viel unerwünschte Zusammensetzung, beispielsweise Kupferbeimengung, im Brocken vorhanden sind.With the hitherto known methods it is now possible, e.g. can be determined where copper is present, however, for a correct decision as to whether or not the entire chunk must be ejected, it can not yet be sufficiently estimated how much unwanted composition, for example copper admixture, will be present in the chunk.
Der Erfindung liegt daher die Aufgabe zugrunde, große Masseströme, vergleichsweise großer Partikel, deren Größe stark variieren kann, von kleiner als einer Münze bis deutlich grösser als Flaschen, deren Abmessungen insbesondere auch länglich gestreckt sein können, und dann die Abmessungen von Flaschen übersteigen, auf einem schnellen Förderband (mit typisch 3m/s) in kürzester Zeit (typisch 20ms Messzeit) richtig zu erkennen. Dabei sind Probleme mit geringen Count-Raten aufgrund der kurzen Messzeit, eine Relativbewegung der Brocken auf dem schnellen Förderband, geneigte Oberflächen der Brocken und ggf. auch bestehende Topographien der Brocken mit überhängenden Bereichen einer (vormaligen) Umhüllung zu bewältigen).The invention is therefore based on the object, large mass flows, relatively large particles whose size can vary greatly, from less than a coin to significantly larger than bottles, the dimensions of which may also be elongated in particular, and then exceed the dimensions of bottles on a fast conveyor belt (with typical 3m / s) in the shortest time (typically 20ms measuring time) to recognize correctly. Problems with low count rates due to the short measuring time, a relative movement of the chunks on the fast conveyor belt, inclined surfaces of the chunks and possibly also existing topographies of the chunks with overhanging areas of a (previous) enclosure have to be mastered.
Um eine derartige Abschätzung zu ermöglichen, wurde die Vorrichtung der Erfindung ausgelegt. Das erfindungsgemäße Verfahren lässt sich mit dieser Vorrichtung besonders vorteilhaft durchführen.To allow such an estimate, the device of the invention has been designed. The method according to the invention can be carried out particularly advantageously with this device.
Im Folgenden wird die Vorrichtung zur Abtrennung von schweren, mit unerwünschten Zusammensetzungen anfallenden Brocken aus schrottartigen, ungleichmäßigem Fördergut mit einer an einem Förderband angeordneten Detektionseinrichtung näher beschrieben, die - nach Zwischenschaltung einer mit einem leistungsfähigen Computer versehenen Steuerung - einer nachfolgen Separiereinrichtung die Information liefern kann, auf welchen von verschiedenen möglichen Transportwegen der jeweilige Brocken zu leiten ist.In the following, the device for separating heavy, with undesirable compositions accumulating chunks of scrap-like, uneven conveyed with a arranged on a conveyor detection device is described which - after interposition of a provided with a powerful computer control - a subsequent separating device can provide the information on which of various possible transport routes the respective chunks are to be routed.
Die Detektionseinrichtung besteht dabei neben Fluoreszenzsensoren, die verschiedene Fluoreszenzcharakteristik unterschiedlicher Materialien, insbesondere unterschiedlicher Metalle gut erkennen können, insbesondere aus optischen und/oder elektromagnetischen Sensoren, die optisch oberhalb, elektromagnetisch unterhalb des Förderbandes in einer geeigneten Anzahl angeordnet sind, um eine zehnfach bessere Orts-Auflösung als die oberhalb des Förderbandes vorgesehenen, ersten Detektoren, die auf Röntgenfluoreszenzstrahlung ansprechen, zu erzielen.The detection device consists in addition to fluorescence sensors, which can easily recognize different fluorescence characteristics of different materials, in particular different metals, in particular optical and / or electromagnetic sensors, which are arranged optically above, electromagnetically below the conveyor belt in a suitable number to a ten times better location Resolution as the above the conveyor belt provided, first detectors that respond to X-ray fluorescence radiation to achieve.
Dies ermöglicht, wenige Fluoreszenzdetektoren mit akzeptablen Count-Raten (typisch > 100 pro 20ms) einzusetzen, weniger als man an Auflösung für das Separieren benötigt, und hat zudem den Vorteil, dass keine aufwendigen mit hoher Trennschärfe versehenen Detektoren benötigt werden, die insbesondere deswegen aufwendig sind, weil sie einen größeren Abstand von dem Förderband wahren müssen, um die zu untersuchenden Brocken auf eine Förderband hindurch zu lassen. Auch lassen sich so Röntgenquellen mit handelsüblicher Leistung (z.B. 35 keV) einsetzen, die noch ohne allzu großen Aufwand abgeschirmt werden kann.This makes it possible to use a few fluorescence detectors with acceptable count rates (typically> 100 per 20 ms), less than is needed for resolution for the separation, and also has the advantage that no expensive high-definition detectors are required, which is particularly costly are because they must maintain a greater distance from the conveyor belt to let the chunks to be examined on a conveyor belt. It is also possible to use x-ray sources with commercially available power (for example 35 keV), which can still be shielded without too much effort.
Zur Bestrahlung des Betrachtungsfensters auf dem Förderband mit Röntgenstrahlung wird in einer, die Detektoren abschirmenden "Sensorbox", eine Röntgenröhre vorgesehen, die den Bereich des Förderbandes, der von den Erfassungssensoren begutachtet wird, mit Röntgenstrahlung zur Auslösung von Röntgenfluoreszenz bestrahlt.To irradiate the viewing window on the conveyor belt with X-radiation, an X-ray tube is provided in a "sensor box" shielding the detectors and irradiates the area of the conveyor belt which is surveyed by the detection sensors with X-radiation for triggering X-ray fluorescence.
Die Röntgenfluoreszenzsensoren, die aufgrund ihrer physikalischen Eigenschaften vergleichsweise wenig ortssensitiv sind, werden nun in einer Reihe nebeneinander angeordnet, so dass sie kleine auf dem Förderband liegende Partikel im Wesentlichen ohne Überlappung erfassen können.The X-ray fluorescence sensors, which are comparatively less spatially sensitive due to their physical properties, are now arranged side by side in a row, so that they can detect small particles lying on the conveyor belt substantially without overlapping.
Da die Röntgenfluoreszenzsensoren so dicht wie möglich an das Förderband herangerückt angeordnet werden müssen, jedoch anderseits wenigstens für die größten zu erwartenden Brocken genügend Freiraum zu belassen sein wird, bedeutet dies, dass die Oberseite von bereits mittelgroßen Brocken nur halb so weit von den Detektoren entfernt ist, so dass diese dann lediglich dann mit ungefähr ihrer halben Oberseite von einem Detektor jeweils erfasst werden.Since the x-ray fluorescence sensors must be arranged as close as possible to the conveyor belt, but on the other hand sufficient free space must be left for at least the largest chunks to be expected, this means that the top of already medium chunks is only half as far from the detectors so that they are then detected by a detector only at about half their upper surface.
Es wird daher in einer bevorzugten Ausführung vorgeschlagen, den durch Blenden bestimmten Öffnungswinkel der Detektoren so zu wählen, dass wenigstens Objekte der halben Öffnugsweite, z.B. 10 cm große Objekte noch voll mit ihrer gesamten Fläche von den nebeneinander angeordneten Detektoren erfasst werden. Die durch diese Detektoren gewonnene Ortsauflösung (50 - 100 mm) ist jedoch nicht ausreichend, um eine Ausschleusung zu bewirken. Insbesondere kann nicht entschieden werden, ob ein kleines Objekt mit starker Verunreinigung vorliegt oder ein großes Objekt mit schwacher Verunreinigung.It is therefore proposed in a preferred embodiment to select the aperture angle determined by the aperture of the detectors so that at least objects half the Öffnugsweite, eg 10 cm large objects are still fully covered with their entire surface of the juxtaposed detectors. However, the spatial resolution (50-100 mm) obtained by these detectors is not sufficient to cause an ejection. In particular, it can not be decided whether there is a small object of high pollution or a large object of low pollution.
Es ist daher notwendig, die Partikel durch eine vorangehende oder nachgeschaltete Beobachtung, entweder elektromagnetisch oder auch optisch visuell in ihrer Größe zu bestimmen.It is therefore necessary to determine the size of the particles by a preceding or downstream observation, either electromagnetically or visually.
Bevorzugt wird dabei eine elektromagnetische Erfassung durch unterhalb des Förderbandes angeordnete Sensoren, die eine zehnfach bessere Auflösung (z.B. 3 mm) ergeben. Dazu können zwei Reihen von Sensoren mit Versatz zueinander vorgesehen werden und es kann die Sensorantwort eines Sensors durch Berücksichtigung der Antwort seines Nachbarsensors in der Ortsauflösung gesteigert werden.In this case, an electromagnetic detection by sensors arranged below the conveyor belt, which results in a ten times better resolution (for example 3 mm), is preferred. For this purpose, two rows of sensors with offset from one another can be provided and the sensor response of a sensor can be increased by taking into account the response of its neighboring sensor in the spatial resolution.
Nachdem die Sensorsignale an eine Recheneinheit weitergeleitet wurde, werden die von den Röntgenfluoreszenzdetektoren ermittelten Werte jedem Partikel, das den Erfassungsbereich passiert, zugeordnet und dann aufgrund der Umrechnung der Röntgenfluoreszenzstrahlung auf die beleuchtete Fläche des Partikels das Ergebnis der Röntgenfluoreszenzmessung entsprechend gewichtet.After the sensor signals have been forwarded to an arithmetic unit, the values determined by the X-ray fluorescence detectors are assigned to each particle passing through the detection area, and then due to the conversion of the X-ray fluorescence radiation to the illuminated area of the particle, the result of the X-ray fluorescence measurement is weighted accordingly.
Lediglich dieses gewichtete Ergebnis wird, nachdem auf die Gesamtmasse des Partikels nochmals umgerechnet wurde, dann als Kriterium für eine Ausschleusung in einen Nebenstrom oder einen Weitertransport als noch nicht auszusortierendes Material gewertet.Only this weighted result, after having recalculated to the total mass of the particle, is then evaluated as a criterion for discharging into a sidestream or onward transport as yet to be sorted out material.
Da die auszusortierenden Brocken sehr schwer sind, kann unter Umständen neben einer mit den jetzt üblichen schnell auslösenden und mit Hochdruck (10 bar) arbeitenden Luftdüsen auch eine Ausseparierung mittels Klappen oder dergleichen realisiert werden. Die Ortsauflösung der Düsen ist der der Sensoren vergleichbar (3-7 mm Abstand).Since the auszuschortierenden chunks are very difficult, under certain circumstances, in addition to a now with the usual fast-triggering and high-pressure (10 bar) working air nozzles also a Ausseparierung be realized by means of flaps or the like. The spatial resolution of the nozzles is comparable to that of the sensors (3-7 mm distance).
Für den Fall, dass Luftdüsen Verwendung finden, wird vorgeschlagen diese jedenfalls mit einem geringen Luftstrom Dauer-zu-betreiben, um zu verhindern, dass die bei Schreddermaterial vorherrschenden staubigen Verhältnisse dazu führen, dass Luftdüsen sich dicht setzen.In the event that air nozzles are used, it is proposed, in any event, with a low air flow duration-to-operate, to prevent the In dusty conditions prevailing at shredder material cause air nozzles to settle tight.
Weitere Vorteile und Merkmale der Erfindung begeben sich aus nachfolgender Beschreibung eines bevorzugten Ausführungsbeispiels anhand der beigefügten Zeichnung. Dabei zeigt:
- Fig. 1
- eine schematische Darstellung der Zeile von Röntgenfluoreszenz-Detektoren in Richtung der Fortbewegung der auszusortierenden Brocken. Deutlich ist der Überlapp einzelner Detektoren auf der Oberfläche des Förderbandes zu erkennen, der sich bereits in 10 cm Höhe auf Null reduziert hat,
- Fig. 2
- einen Schnitt durch die Anordnung der Röntgenröhre und der Röntgenfluoreszenz-Detektoren, wobei die Transportrichtung der Gegenstände mit einem Pfeil eingezeichnet ist,
- Fig. 3
- eine schematische Darstellung eines im Lichtschnittverfahren erzeugten Höhenprofils,
- Fig.4
- die schematische Darstellung einer bevorzugten Laser-Kamera Konfiguration,
- Fig. 5 und Fig. 6
- einige beispielhafte Objekte und
- Fig. 7
- eine Gegenüberstellung von fünf Objekten unterschiedlicher Klassen jeweils als Photo, als Bild eines 3D-Scanners und nach Auswertung der Ebenheit (des Höhenprofils).
- Fig. 1
- a schematic representation of the line of X-ray fluorescence detectors in the direction of locomotion of the chunks to be sorted. Significantly, the overlap of individual detectors on the surface of the conveyor belt can be seen, which has already reduced to a height of 10 cm to zero,
- Fig. 2
- a section through the arrangement of the X-ray tube and the X-ray fluorescence detectors, wherein the transport direction of the objects is indicated by an arrow,
- Fig. 3
- a schematic representation of a height profile generated in the light section method,
- Figure 4
- the schematic representation of a preferred laser camera configuration,
- Fig. 5 and Fig. 6
- some exemplary objects and
- Fig. 7
- a comparison of five objects of different classes each as a photo, as an image of a 3D scanner and after evaluation of the flatness (of the height profile).
Die in der
In Längsrichtung der Transportrichtung des Förderbandes würden Bereiche des Gegenstandes nicht mehr von den Röntgenfluoreszenzsensoren erfasst werden. Dies gilt es zu berücksichtigen, wenn mit einer zweiten (nicht dargestellten) Reihe von elektromagnetischen oder optischen Sensoren zunächst die Umrisse des Objektes bestimmt werden. Anhand der Umrisse lässt sich grob auch die Höhe des Objektes abschätzen, sie wird selten größer als der Umriss sein, aber Objekte in größerem Umriss werden eine größere Höhe annehmen.In the longitudinal direction of the transport direction of the conveyor belt areas of the article would no longer be detected by the X-ray fluorescence sensors. This is to be taken into consideration if the outlines of the object are first determined with a second row (not shown) of electromagnetic or optical sensors. Based on the outline, the height of the object can roughly be estimated, it will rarely be larger than the outline, but objects in a larger outline will assume a greater height.
Andererseits wird durch ein Klassifikations-Algorithmus schnell festgestellt werden können, dass quadratische Objekte oder dergleichen als einfache Blechstücke sehr flach sein können. Durch geeignete Wahl von Objektklassen lassen sich Zweifelsfälle unter Umständen auf jeden Fall aussortieren, um eine erfolgreiche Sortierung nicht durch versehentliche Beigabe von beispielsweise Kupfer zu verschlechtern.On the other hand, it can be quickly established by a classification algorithm that square objects or the like can be very flat as simple sheet pieces. By a suitable choice of object classes, doubt cases can be sorted out in any case, in order not to worsen a successful sorting by accidentally adding, for example, copper.
Oberhalb der Detektoren ist in der
Eine weitere Bleiplatte schirmt die Detektoren 10 nochmals gegenüber der Röntgenröhre 16 ab, so dass sie lediglich das von dem Untersuchungsmaterial reflektierte Röntgenfluoreszenzstrahlungslicht erfassen. Durch eine leichte Schrägstellung der Detektorenreihe gegenüber der Röntgenröhre 16 und beider gegenüber der senkrechten, lässt sich das Signalergebnis noch verstärken.Another lead plate again shields the
Die hierbei auftretende Geometrie wird beispielhaft durch Strahlenfächerbündel in der
Damit ist die Vorrichtung zur Trennung von schweren, mit unerwünschten Zusammensetzungen anfallenden Brocken aus schrottartigem, ungleichmäßigen Fördergut mit einer an einem Förderband angeordneten Detektionseinrichtung, der eine die Brocken auf unterschiedliche Transportwege leitende Separiereinrichtung nachgeordnet ist, erfindungswesentlich durch eine Detektionseinrichtung eine Mehrzahl von quer zur Förderband-Transportrichtung oberhalb des Förderbandes in einem Abstand größer als die zu erwartende Höhe der Brocken angeordnete Röntgenfluoreszenz-Detektoren dargestellt, die jeweils schmale in Anordnungsrichtung begrenzte, sich im Bereich des Förderbands im wesentlichen nicht überlappende Erfassungssektoren besitzen, weitere ortsauflösende elektromagnetische Sensoren unterhalb der Förderbands zur Erfassung der Umrisse und/oder Masse der Brocken vorgesehen sind, wobei eine oberhalb der Detektoren angeordnete Röntgenröhre die Brocken im Bereich der Erfassungssektoren mit Röntgenstrahlung beaufschlagt, und die Erfassungsrichtung der Detektoren jeweils gegen die Senkrechte geneigt ist, so dass die Abstrahlrichtung Röntgenstrahlung ausgehend von der Röntgenröhre geneigt ist, so dass sich zwischen den beiden Richtungen ein nach oben geöffneter Winkel im Bereich von 5 - 38° ergibt.Thus, the device for separating heavy, with undesirable compositions accumulating chunks of scrap-like, non-uniform conveyed with a arranged on a conveyor belt detection device, which is a Broken to different transport channels conductive separating device is arranged, essential to the invention by a detection device a plurality of transversely to the conveyor belt transport direction above the conveyor belt at a distance greater than the expected height of the chunks arranged X-ray fluorescence detectors shown, each narrow in the direction of arrangement, in the Further location-resolving electromagnetic sensors are provided below the conveyor belts for detecting the contours and / or mass of the chunks, wherein an X-ray tube arranged above the detectors exposes the chunks in the area of the detection sectors to X-ray radiation, and the detection direction the detectors is inclined in each case to the vertical, so that the emission direction X-ray radiation is inclined starting from the X-ray tube, so that between the at gives directions an upwardly open angle in the range of 5 - 38 °.
Weiterer von Vorteil ist, dass ein Winkel von 15-20° symmetrisch zur Senkrechten zwischen der Erfassungsrichtung der Detektoren und der Abstrahlrichtung der Röntgenstrahlung ausgehend von der Röntgenröhre vorgesehen ist.Another advantage is that an angle of 15-20 ° is provided symmetrically to the perpendicular between the detection direction of the detectors and the emission direction of the X-ray radiation from the X-ray tube.
Zudem wird in der durch Staub und unerwünschte Einflüsse vielfältiger Art gekennzeichneten Umgebung eines Shredders ein gemeinsames, stabiles, staub- und luftdichtes, elektrisch abgeschirmtes Gehäuses die Detektoren und die Röntgenröhre aufnehmen, wobei eine vertikale Trennwand zwischen diesen mit röntgenabsorbierendem Material den direkten Eintritt von Röntgenstrahlung auf die Detektoren verhindert.In addition, in the environment of a shredder characterized by dust and undesired influences of various kinds, a common, stable, dustproof and airtight, electrically shielded housing will receive the detectors and the X-ray tube, with a vertical partition wall between them with X-ray absorbing material for the direct entry of X-radiation prevents the detectors.
Die Sensoren für die Masse-Erkennung sind in einer bevorzugten Ausführung elektromagnetische Sensoren, deren Erfassungsspulen unterhalb des Förderbands angeordnet sind.The sensors for mass detection are in a preferred embodiment electromagnetic sensors, the detection coils are arranged below the conveyor belt.
Eine alternative Ausführung nutzt als umrisserkennende Sensoren optische Sensoren, die oberhalb des Förderbands angeordnet sind. Zum Beispiel kann als umrisserkennender Sensor eine Kamera dienen, die ein flächiges hochaufgelöstes Bild vom mehr als 800x600 Pixeln liefert, aus der dann im Takt der Beobachtung (z.B. bei 3 m/s Bandgeschwindigkeit im 1 KHz-Takt bzw. alle 1 ms) eine Höhenlinie erfasst und weiter ausgewertet wird. Die so erfasste Information wird in der Fachliteratur als 3D-Information bezeichnet.An alternative embodiment uses optical sensors as outline-recognizing sensors, which are arranged above the conveyor belt. For example, as a contour-recognizing sensor can serve a camera that provides a flat high-resolution image of more than 800x600 pixels from then in time with the observation (eg at 3 m / s tape speed in the 1 KHz clock or every 1 ms) a contour line recorded and is further evaluated. The information thus acquired is referred to in the literature as 3D information.
Hierbei wird vorgeschlagen, einen Laser strichförmig das Förderband beleuchten zu lassen, so dass sich ein heller Linienschnitt ergibt.In this case, it is proposed to let a laser illuminate the conveyor belt in a line, so that a bright line cut results.
Das Verfahren zur Trennung von schweren, mit unerwünschten Zusammensetzungen anfallenden Brocken aus schrottartigem, ungleichmäßigen Fördergut mit einer an einem Förderband angeordneten Detektionseinrichtung, der eine die Brocken auf unterschiedliche Transportwege leitende Separiereinrichtung nachgeordnet ist, wird dann die ersten Detektionseinrichtungen in schmalen in Anordnungsrichtung begrenzten, sich im Bereich des Förderbands im wesentlichen nicht überlappenden Erfassungssektoren eine Gesamtschau des jeweiligen Detektionsfensters vornehmen, in dem Detektionsfenster quer zum Förderband durch ortsauflösende elektromagnetische Sensorsignale und/oder laseroptisch erzeugten Höhenlinien Umrisse und/oder Masse der Brocken erfassen, wenigstens zu jedem Detektionszeitpunkt der Fluoreszenz ein Höhen- und/oder Masseprofil der Detektionszeile vorliegen haben, wobei anhand der Höhen-/Abmessungs- und/oder Masseprofile jeweilige Brockenabmessungen in Förderrichtung in der Entscheidungslogik definiert werden, die dazu dienen, entsprechend der Abmessungen aufgefangene Detektorsignale einzelner Fluoreszenzdetektoren einem Brocken zuzuordnen, zur Erzeugung eines die Separiereinrichtung ansteuernden Signal in der Entscheidungslogik.The method for separating heavy, with undesirable compositions accumulating chunks of scrap-like, non-uniform conveyed with a arranged on a conveyor detection device, which is a chunk on different transport paths separating device downstream, then the first detection devices in narrow in the direction of arrangement, limited in Area of the conveyor belt substantially non-overlapping detection sectors make an overall view of the respective detection window, capture in the detection window transversely to the conveyor belt by spatially resolving electromagnetic sensor signals and / or laser-optically generated contour lines contours and / or mass of the chunks, at least at each detection time of fluorescence a height and / or mass profile of the detection line have been present, wherein based on the height / dimensional and / or mass profiles respective chunk dimensions in the conveying direction in the decision ngslogik be defined, which serve to match according to the dimensions collected detector signals of individual fluorescence detectors a chunk, for generating a separating device driving signal in the decision logic.
Durch Kenntnis des Umrisses kann das Teilchen einer Masse zugeordnet werden (z.B. einer Massenklasse zugeordnet werden), die es ermöglicht, aus der Höhe der Fluoreszenzstrahlung auf den Gehalt einer unerwünschten Zusammensetzung in dem Brocken zu schließen. Auf diese Weise lassen sich also kleine Brocken mit einem hohen unerwünschten Gehalt von großen Brocken mit vergleichsweise niedrigem prozentualen Gehalt unterscheiden.By knowing the outline, the particle can be assigned to a mass (e.g., assigned to a mass class) that allows one to deduce from the level of fluorescence radiation the content of an undesired composition in the chunk. In this way, small chunks with a high undesirable content of large chunks with a comparatively low percentage content can be distinguished.
Dabei kann, um so bestimmte häufig wiederkehrende Bestandteile (in Schreddergut, z.B. Lichtmaschinen) zuverlässig abzutrennen das Verfahren zur Abtrennung von Brocken der Entscheidungslogik erlauben erfasste Masse- und/oder Abmessungsprofile vordefinierten Klassen von Objekten (vgl.
Die Vorrichtung zur Abtrennung von schweren, mit unerwünschten Zusammensetzungen und stark variierender Größe und Form anfallenden Brocken eines Förderguts mit wenigstens zwei an einem Förderband 12 angeordneten Detektionseinrichtungen, denen eine die Brocken auf unterschiedliche Transportwege leitende Separiereinrichtung in Förderrichtung nachgeordnet ist, besitzt also wenigstens eine erste Detektionseinrichtung eine Mehrzahl von quer zur Förderband-Transportrichtung oberhalb des Förderbandes in einem Abstand größer als die zu erwartende Höhe der Brocken angeordnete Röntgenfluoreszenz-Detektoren 10 aufweist, und wenigstens eine zweite Detektionseinrichtung 42 zur Erfassung der Abmessungen und/oder Masse eines jeden Brockens vorgesehen ist, wobei eine oberhalb der Detektoren angeordnete Röntgenröhre 16 die Brocken im Bereich der Detektion mit Röntgenstrahlung beaufschlagt, und eine rechnergestützte Entscheidungslogik aufgrund der Ergebnisse der von den beiden Detektionseinrichtungen gelieferten Informationen über den Transportweg jedes Brockens ein Signal ausgibt, dass die Separiereinrichtung ansteuert.The apparatus for separating heavy, with undesirable compositions and greatly varying size and shape accumulating chunks of a conveyed with at least two arranged on a
Die zweite Detektionseinrichtung umfasst einen Laser 40, jedenfalls eine helle, strichförmig aufstrahlende Lichtquelle, die eine Beleuchtungszeile quer über das Förderband auf das Fördergut aufstrahlt, die wiederum als Höhenlinie mit einer Kamera zweidimensional erfasst wird. Die zweite Detektionseinrichtung 42 kann den oder die Laser im wesentlichen senkrecht auf den Brocken aufstrahlend und die Kamera mit einer Blickrichtung im wesentlichen in Richtung des Förderbands das Beleuchtungsbild aufnehmend, umfassen oder den oder die Kamera im wesentlichen senkrecht auf den Brocken blickend und den oder Laser mit einer Strahlrichtung leicht geneigt zur Richtung des Förderbands ein Beleuchtungsbild im Kamera Blickfeld erzeugend.The second detection device comprises a
Vorgeschlagen wird jedoch, dass die zweite Detektionseinrichtung den oder die Laser annähernd im 45° Winkel zur Senkrechten und der Förderrichtung auf den Brocken aufstrahlend und die Kamera mit einer Blickrichtung im gleichen Winkel zur Transportrichtung des Förderbands umfasst, wobei die Winkel zum Förderband annähernd quer zur einer Detektionszeile quer zum Förderband eingerichtet sind, also z.B., dass die die zweite Detektionseinrichtung den oder die Laser annähernd im 45° Winkel aufstrahlt und ein Winkel von 90° zwischen Beobachtung und Aufstrahlrichtung liegt.However, it is proposed that the second detection device irradiate the laser or lasers approximately at 45 ° to the vertical and the conveying direction on the chunks and the camera with a viewing direction at the same angle to the transport direction of the conveyor belt, wherein the angle to the conveyor belt approximately transversely to a Detection line are arranged transversely to the conveyor belt, so for example, that the second detection device or the laser approximately 45 ° Angle radiates and an angle of 90 ° between observation and Aufstrahlrichtung lies.
In einer weiteren Ausführung ist die zweite Detektionseinrichtung in Form ortsauflösender, elektromagnetischer Sensoren (nicht dargestellt) unterhalb der Förderbands 12 zur Erfassung der Umrisse und/oder Masse der Brocken ausgebildet.In a further embodiment, the second detection device is designed in the form of spatially resolving, electromagnetic sensors (not shown) below the
Die erste Detektionseinrichtung sollte in einem von der Senkrechten gering abweichenden Winkel von 8 - 19° symmetrisch zu der ebenfalls geneigten Strahlrichtung der Röntgenröhre vorgesehen sein, um Überhangeffekte (Abschattungen) und schräge Oberflächen der Brocken soweit wie möglich in ihrer Verschlechterung des Messergebnisses zu begrenzen. Es ist auch aus Gründen der korrekten Triangulation vorteilhaft, einen kleinen Winkel zu wählen, da ansonsten die Röntgenstrahlen die Fluoreszenz vor oder hinter der optimalen Beobachtungsposition - je nach Abweichung der Höhe des Brockens von einem Mittelmaß (vgl.
Besonders vorteilhaft werden die Winkel der ersten und zweiten Detektionseinrichtungen gleich, also etwa alle mit 15° gewählt, um deckungsgleiche Information zu erhalten. Ein Bereich von 8 - 19° jeweils zur Senkrechten erscheint geeignet.Particularly advantageously, the angles of the first and second detection devices are the same, ie, approximately all selected at 15 ° in order to obtain congruent information. A range of 8 - 19 ° to the vertical seems suitable.
Claims (11)
- Apparatus for separating heavy lumps of a conveyed material which occur with undesired constituents and greatly varying size and shape, having- a detection device (10,16;40,42) arranged at a conveyor belt (12),- a separating device arranged downstream in the conveying direction and guiding the lumps onto different transport paths,- an X-ray tube (16) arranged above detectors and subjecting the lumps to X-rays in the detection area, and- a detection device having a plurality of X-ray fluorescence detectors (10),characterised in that- the plurality of X-ray fluorescence detectors (10) of the first detection device are arranged transversely to the transporting direction of the conveyor belt,- the X-ray fluorescence detectors (10) are arranged above the conveyor belt (12) at a distance greater than the expected height of the lumps, the X-ray fluorescence detectors each having narrow detection sectors limited in the arrangement direction and substantially not overlapping in the area of the conveyor belt (12),- at least one second detection device for acquiring the measurements of each lump is provided, and- computer-aided decision logic, on the basis of the results of the information delivered by the two detection devices regarding outline and amount of fluorescence over the transport path of each lump, outputs a signal that drives the separating device.
- Apparatus according to Claim 1, characterised in that the second detection device comprises spatially-resolving, electromagnetic sensors below the conveyor belt (12) for acquiring the measurements and mass of lumps of ore or shredded material heavier than one kilo.
- Apparatus according to Claim 1 or 2, characterised in that the second detection device comprises a laser (40) which radiates an illuminating line onto the conveyed material transversely over the conveyor belt, which line is two-dimensionally detected by a camera (42).
- Apparatus according to Claim 3, characterised in that the laser or lasers (40) of the second detection device radiate substantially perpendicularly onto a lump, and the camera (42) has a viewing direction which is substantially in the direction of the conveyor belt and picks up the illuminated image.
- Apparatus according to Claim 3, characterised in that the second detection device has the camera (42) looking substantially perpendicularly at a lump, and has the laser or lasers (40) with a radiating direction slightly inclined with respect to the direction of the conveyor belt and generating a 3D illuminated image in the camera field of view.
- Apparatus according to Claim 3, characterised in that the second detection device comprises the laser or lasers (40) radiating onto a lump approximately at a 45° angle to the perpendicular and the conveying direction, and the camera (42) with a viewing direction at the same angle to the transporting direction of the conveyor belt, the angles to the conveyor belt being oriented approximately transversely to a detection line transverse to the conveyor belt.
- Apparatus according to Claim 3, characterised in that the second detection device radiates onto the laser or lasers approximately at a 45° angle, and an angle of 90° lies between the observing and radiating direction.
- Apparatus according to Claim 1 - 2, characterised in that the first detection device is provided at an angle, deviating slightly from the perpendicular, of 8 - 19° symmetrically to the likewise inclined radiating direction of the X-ray tube, and the second detection device has the same angle of 8 - 19° to the perpendicular, i.e. an angle of between 16 and 38° is present between the observing and radiating direction, so that the same radiating and detecting geometry is present.
- Method for separating heavy lumps of a conveyed material which occur with undesired constituents and greatly varying size and shape, having- a detection at a conveyor belt (12),- a separation arranged downstream in the conveying direction and guiding the lumps onto different transport paths,- an irradiation of the lumps with X-rays in the detection area,- wherein a detection device has a plurality of X-ray fluorescence detectors (10),characterised in that- the detection takes place simultaneously in a plurality of X-ray fluorescence detectors (10) of the first detection device transversely to the transporting direction of the conveyor belt, the first detection devices taking an overall view of a respective partial detection window in narrow detection sectors limited in the arrangement direction and substantially not overlapping in the area of the conveyor belt,- at least one second detection device acquires dimensions of each lump, outlines of the lumps being detected in the entire detection window in its extent transversely over the conveyor belt by spatially-resolving, electromagnetic sensor signals and/or laser-optically generated contour lines,- computer-aided decision logic, on the basis of the results of the information delivered by the two detection devices regarding outline and amount of fluorescence over the transport path of each lump, outputs a signal that drives the separating device,- a height profile of the detection line being present at least at each detection instant of the fluorescence, respective lump dimensions in the conveying direction being defined in the decision logic on the basis of the height/dimension profiles, which dimensions serve to assign the picked-up detector signals of individual fluorescence detectors to a lump according to the dimensions, for the purpose of generating a signal, driving the separating device, for each lump in the decision logic.
- Method for separating lumps according to Claim 9, characterised in that the masses of the lumps are acquired in the entire detection window in its extent transversely over the conveyor belt by spatially-resolving electromagnetic sensor signals, respective lump dimensions in the conveying direction being defined in the decision logic on the basis of the height/dimension and mass profiles, which dimensions serve to assign picked-up detector signals of individual fluorescence detectors to a lump according to the dimensions, for the purpose of generating the signal driving the separating device.
- Method for separating lumps according to Claim 10, characterised in that the decision logic assigns acquired mass and dimension profiles to predefined classes of objects, the material properties of which are adopted as previously known in individual classes or are determined by averaging from previous fluorescence measurements, for the propose of outputting the signal driving the separating device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PL10015430T PL2335837T3 (en) | 2009-12-08 | 2010-12-08 | Device and method for separating heavy boulders with unwanted compositions |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102009057119A DE102009057119A1 (en) | 2009-12-08 | 2009-12-08 | Apparatus and method for the separation of heavy, with undesirable compositions accumulating chunks |
Publications (2)
| Publication Number | Publication Date |
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| EP2335837A1 EP2335837A1 (en) | 2011-06-22 |
| EP2335837B1 true EP2335837B1 (en) | 2013-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| EP10015430.1A Revoked EP2335837B1 (en) | 2009-12-08 | 2010-12-08 | Device and method for separating heavy boulders with unwanted compositions |
Country Status (4)
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| DE (1) | DE102009057119A1 (en) |
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| DE102012203333A1 (en) * | 2012-03-02 | 2013-09-05 | Sicon Gmbh | Process and plant for processing metal-containing scrap |
| DE202015100383U1 (en) | 2014-02-12 | 2015-02-09 | Imro Maschinenbau Gmbh | Device for the separation of particles with selected material properties from a material flow |
| AT15295U1 (en) | 2015-03-09 | 2017-05-15 | Binder + Co Ag | Sorting out mineral-containing objects or plastic objects |
| DE102016114465B4 (en) * | 2016-08-04 | 2022-12-01 | Hydro Aluminium Recycling Deutschland Gmbh | Apparatus and method for alloy analysis of metal scrap fragments |
| DE102018210019B4 (en) * | 2018-06-20 | 2020-04-02 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Device and method for recognizing and / or evaluating products or products |
| DE102019100961A1 (en) * | 2019-01-15 | 2020-07-16 | Ossberger Gmbh + Co Kg | Evaluation method for a cleaning state of a workpiece and a device for carrying out the method |
| CN109821766A (en) * | 2019-03-05 | 2019-05-31 | 天津美腾科技有限公司 | TDS intelligence dry-dressing machine dijection source discrimination and system |
| DE102019109053A1 (en) * | 2019-04-05 | 2020-10-08 | Rwe Power Ag | Method and device for determining chemical element contents and bond forms in a material |
| CN113484129B (en) * | 2021-06-09 | 2022-06-07 | 山东大学 | Material hardness detection device based on multi-sensor fusion |
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| US5184732A (en) * | 1985-12-20 | 1993-02-09 | Gersan Establishment | Shape sorting |
| DE3990033T1 (en) | 1988-01-12 | 1990-11-22 | Johan Forssblad | METHOD AND DEVICE FOR SCANING AN OBJECT |
| GB9103552D0 (en) | 1991-02-20 | 1991-04-10 | Gersan Ets | Classifying or sorting |
| US6096991A (en) | 1994-09-13 | 2000-08-01 | Maurilastic Ltd. | Method of and apparatus for sorting a particulate material |
| WO1997005969A1 (en) * | 1995-08-09 | 1997-02-20 | Alcan International Limited | Method of sorting pieces of material |
| JP3860316B2 (en) * | 1997-12-24 | 2006-12-20 | 東芝マイクロエレクトロニクス株式会社 | Stabilized oscillation circuit |
| DE19840200A1 (en) * | 1998-09-03 | 2000-03-09 | Wacker Chemie Gmbh | Classifier |
| US6266390B1 (en) * | 1998-09-21 | 2001-07-24 | Spectramet, Llc | High speed materials sorting using x-ray fluorescence |
| EP1076222A1 (en) * | 1999-08-10 | 2001-02-14 | Corus Aluminium Walzprodukte GmbH | X-ray fluorescence measurement of aluminium sheet thickness |
| DE10003562A1 (en) | 2000-01-27 | 2001-08-16 | Commodas Gmbh | Device and method for sorting out metallic fractions from a bulk material flow |
| ATE443857T1 (en) | 2002-11-01 | 2009-10-15 | Huron Valley Steel Corp | SCANNING DEVICE FOR USE IN A METAL SCRAP SORTING APPARATUS |
| AT501020B8 (en) * | 2004-10-18 | 2007-02-15 | M A M I Modern Allround Man In | SORTING DEVICE AND SORTING METHOD FOR PIECE GOODS |
| US7339660B1 (en) | 2006-11-29 | 2008-03-04 | Satake Usa, Inc. | Illumination device for product examination |
| ES2323618B1 (en) | 2007-03-05 | 2010-04-27 | Picvisa Machine Vision Systems S.L. | MACHINE WITH ARTIFICIAL VISION FOR THE AUTOMATIC SEPARATION OF RECYCLABLE PLASTICS BY COMPOSITION AND COLORS, WITH MULTIESPECTRAL VISION. |
| US7842896B1 (en) | 2007-04-25 | 2010-11-30 | Key Technology, Inc. | Apparatus and method for sorting articles |
| US20100017020A1 (en) | 2008-07-16 | 2010-01-21 | Bradley Hubbard-Nelson | Sorting system |
| WO2010028446A1 (en) | 2008-09-11 | 2010-03-18 | Technological Resources Pty. Limited | Sorting mined material |
| DE102010022455A1 (en) | 2010-06-02 | 2011-12-08 | Optosort Gmbh | Method and apparatus for recognizing an object containing a target mineral |
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- 2009-12-08 DE DE102009057119A patent/DE102009057119A1/en not_active Withdrawn
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- 2010-12-08 EP EP10015430.1A patent/EP2335837B1/en not_active Revoked
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| EP2335837A1 (en) | 2011-06-22 |
| PL2335837T3 (en) | 2013-11-29 |
| ES2427398T3 (en) | 2013-10-30 |
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