EP2938443B1 - Procédé de tri et de classement des objets détectables par aimant eléctrique dans un courant en vrac - Google Patents

Procédé de tri et de classement des objets détectables par aimant eléctrique dans un courant en vrac Download PDF

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Publication number
EP2938443B1
EP2938443B1 EP13827001.2A EP13827001A EP2938443B1 EP 2938443 B1 EP2938443 B1 EP 2938443B1 EP 13827001 A EP13827001 A EP 13827001A EP 2938443 B1 EP2938443 B1 EP 2938443B1
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EP
European Patent Office
Prior art keywords
signal
bulk material
sensor
sinusoidal curves
sensor assembly
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EP13827001.2A
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German (de)
English (en)
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EP2938443A1 (fr
Inventor
Steven SCHOLZ
Alexander Braun
Oliver Gurok
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Devolute Forschungs- und Entwicklungsgesellschaft
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Devolute Forschungs- und Entwicklungsgesellschaft
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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
    • B07C5/344—Sorting according to other particular properties according to electric or electromagnetic properties

Definitions

  • the invention relates to a method for detecting and classifying electromagnetically detectable parts, in particular of items to be conveyed in a bulk material, with the steps: approximation of the sensor arrangement to the electromagnetically detectable part by carrying out a relative movement between the sensor arrangement and the electromagnetically detectable part, until this is in Sensor region of the sensor arrangement is located, wherein the sensor arrangement comprises at least one electromagnetic sensor, which has at least one excitation coil for emitting an electromagnetic excitation field and at least one detector coil; Impinging the excitation coil with a time-dependent excitation current; Measuring a time-dependent signal induced in the detector coil; Evaluate the signal to determine the electromagnetic properties of the electromagnetically detectable part.
  • the excitation current is generated by a superimposition of several sinusoidal waveforms of different frequencies.
  • the following steps are carried out: provision of a bulk material stream; Conveying the stream of bulk material along a sensor arrangement and through the sensor region of the sensor arrangement, the sensor arrangement having at least one electromagnetic sensor which has at least one exciter coil for emitting an electromagnetic exciter field and at least one detector coil; Impinging the excitation coil with a time-dependent excitation current; Measuring a time-varying signal current induced in the detector coil; Evaluating the signal current to determine the electromagnetic properties of a portion of the stream of bulk material located in the sensor region of the sensor assembly.
  • the excitation coil of a special sensor arrangement the In addition to the excitation coil has two mutually offset and oppositely wound coil wound detection coils, subjected to an alternating current and thus generates an electromagnetic excitation field.
  • the electrical signal induced by the exciter field in the detector coils is measured and evaluated.
  • Such a sensor arrangement can generally detect and classify electromagnetically detectable parts, e.g. be brought to the sensor arrangement, or to which the sensor arrangement is introduced.
  • the sensor arrangement is therefore not limited to use in a sorting device.
  • a generic sensor arrangement is in the US 5,654,638 disclosed in the form of a portable metal detector for locating metallic objects in the ground.
  • the object of the invention is to provide a method with which electromagnetically detectable parts, in particular items to be conveyed in a flow of bulk material, can be classified particularly easily and accurately.
  • classifying is understood to mean the determination of characteristic electromagnetic properties of, for example, a material to be conveyed in a bulk material flow, by means of which the product to be conveyed is subsequently assigned to a specific substance class.
  • metallic substances can be separated from non-metallic substances, or noble metals from base metals.
  • certain types of stainless steel can be separated from each other on the basis of the electromagnetic properties.
  • this classification leads to a decision that a conveyed material is to be discharged from the bulk material flow or not.
  • the method can detect a characteristic electromagnetic property of a material.
  • the excitation current is generated by a superposition of a plurality of sinusoidal waveforms of different frequencies, wherein the frequencies of the plurality of sinusoidal waveforms are respectively integer multiples of a common fundamental frequency.
  • the temporal course of the exciter current is thereby a superimposition of several sinusoidal courses of different frequencies. Accordingly, the exciting field generated and emitted by the at least one excitation coil also represents a superimposition of the multiple sinusoidal courses of different frequencies.
  • the invention is based on the recognition that the classification of e.g. contained in a bulk flow, responsive to the excitation field counselguter can be particularly easily done when the electromagnetic response is determined not only at a frequency but at several different frequencies. While this can be done by different exciter field shapes, such as e.g. by a Dirac pulse, a white noise, or a continuous tuning of the excitation frequency as a sweep or chirp signal, it has been found that an excitation field designed according to the invention can be handled particularly well both in the generation and in the evaluation.
  • the invention will be discussed below with reference to an application for the classification of conveyed goods and explained to allow the sorting of the conveyed goods by means of the classification.
  • the method is more generally usable, e.g. also in measuring instruments, e.g. Portable measuring devices that only serve to obtain measurement results without being integrated into a sorting system.
  • the excitation field (or the underlying exciting current) is preferably generated by the so-called direct digital synthesis (DDS).
  • DDS direct digital synthesis
  • values stored in a memory are read out in a fixed time sequence and converted by means of a digital-to-analog converter into an analog voltage signal, which is then fed to the exciter coils as an excitation current via an amplifier arrangement.
  • the value sequence is read again from the beginning.
  • the efficiency of the amplifier arrangement ie the ratio of the useful power to the power loss, not only depends on the quality of the amplifier arrangement, but also substantially on the waveform of the excitation current. The efficiency is higher, the lower the crest factor of the signal is (or the excitation current), wherein the crest factor is defined as the ratio of the peak value to the effective value of the waveform. This is essentially due to the fact that only the real parts of the complex signal curves contribute to the net output, while the power losses also contribute to the imaginary parts, which cancel each other out on a temporal average.
  • the crest factor of the overall signal can be reduced for the same power in the individual frequency components, thereby increasing the efficiency of the amplifier arrangement and reducing the thermal load on the sensor array.
  • the phase shift ⁇ of the individual sinusoidal profiles with respect to the course of the fundamental frequency corresponds to either 0 ° or 180 °.
  • This limitation of the possible phase shifts simplifies the optimization of the signal to achieve the lowest possible crest factor. At the same time this ensures that the start value of the total signal at startup is always zero, so that disturbing signal peaks when "switching on" can be avoided.
  • the phase shifts ⁇ of the individual sinusoidal curves are selected so that the resulting total signal has a crest factor of less than 3, preferably less than 2.5. At these crest factors, the efficiency of the amplifier arrangement is sufficiently high to avoid an undesirably high heat load on the sensor arrangement.
  • the product (90 ° x (S (n-1)) gives either + 90 ° or -90 °, since the Rudin-Shapiro series is composed only of the numbers 1 and -1.
  • the number of superimposed frequencies ie the individual sinusoidal curves of different frequencies, which are summed up to form the excitation signal, can in principle be chosen freely. If according to a further preferred embodiment of the invention, the number of superimposed frequencies is an integer power of 2, the result is a maximum crest factor of 2, which allows a very favorable efficiency of the amplifier arrangement.
  • the common fundamental frequency of the frequency components between 100 Hz and 10 kHz, preferably at 1 kHz. This frequency range, with reasonable switching and computational effort, provides good results in the detection and classification of the conveyed material parts of the bulk material that respond to electromagnetic fields
  • the number of superposed frequencies is 64.
  • the individual frequency components are separated from one another in a frequency analysis, and the amplitude and / or phase position are determined for these frequency components.
  • the evaluation of the induced signal comprises a fast Fourier transformation (FFT).
  • FFT fast Fourier transformation
  • the sampling rate of the analog-to-digital converter is an integer multiple of the output rate of the digital-to-analog converter and the number of output values is selected to a total power of 2, the computational resolution of the fast Fourier Transformation are particularly well exploited
  • FIG. 1 is a plant 10 for sorting of bulk material 15, 15 ', 15 “, 16, 16', 16” shown, which is transported in the form of a bulk material flow 13 on a first conveyor belt 12 in a conveying direction.
  • the first conveyor belt 12 is deflected around a roller 27.
  • the bulk material falls 15, 15 ', 15 “, 16, 16', 16” from the first conveyor belt 12 and falls under the influence of its inertia on a second conveyor belt 42, which the bulk material 16, 16 ', 16 " ab responsiblet.
  • the bulk material consists of different materials 15, 15 ', 15 "and 16, 16', 16", which are to be sorted out in the sorting plant.
  • a tuyere 24 is arranged, which is supplied controlled by a valve 26 from a compressed air source 34, and upon opening of the valve 26 a falling bulk material part 15 'deflects so that it over a separating vertex 36 away on a third conveyor belt 40 is deflected, which dissipates the bulk material 15 "separately.
  • the bulk material stream 13 is preferably supplied as an isolated, single-layer stream. This can be done by conventional means such as joggers, slides, cascades or the like, which are not shown. In the case of fibrous bulk material, additional separating agents such as combed rollers or the like may be used. to be required.
  • the control of the valve 26 is effected by a controller 20, which receives signals from a sensor assembly 14 which is arranged in the region of the first conveyor belt 12, below the conveyor belt and in the conveying direction in front of the guide roller 27.
  • a speedometer 29 is additionally provided on the roller 27, for example a protractor.
  • a drive signal for the valve 26 is generated when the sensor assembly 14 detects the presence of a
  • This signal takes into account a certain delay time to take into account the transit time of the bulk material part 15 'from the sensor area via the deflection roller 27 to before the tuyere 24.
  • the duration of the delay depends on the speed of the conveyor belt 12 and possibly also on the nature of the bulk material 15' , So, for example, for light bulk goods 15 'wait a higher delay than heavy bulk goods.
  • the sensor arrangement 14 is used to detect and distinguish the different materials that make up the bulk material and is in FIG. 2 shown schematically.
  • an excitation coil 102 is arranged, which generates an electromagnetic alternating field when exposed to a time-dependent excitation current via terminals 112.
  • a detector coil 104 is arranged, which is surrounded by the excitation coil 102.
  • the alternating electromagnetic field generated by the exciting coil 102 induces in the Detector coil 104, an electrical signal that can be tapped via terminals 114, for example as a signal voltage or as a signal stream.
  • the generation of the excitation current for the application of the exciter coil 102 and the evaluation of the signal of the detector coil 104 is effected by a circuit arrangement 106, which communicates the result of the evaluation to the controller 20.
  • a suitable sensor arrangement is for example in the EP 1 940 546 B1 to which and the contents of which are hereby incorporated by reference.
  • a plurality of transverse to the conveying direction of the bulk material arranged side by side sensor arrangements may be provided.
  • a value memory 201 successive values of a waveform of the excitation current are stored and are sequentially read by a processor 202 and passed to a digital-to-analog converter 203, which outputs a voltage proportional to the respective value.
  • This voltage is converted by an amplifier arrangement 204 into a current which is supplied via the terminals 112 as exciting current of the exciter coil 102.
  • This method of signal generation is also referred to as Direct Digital Synthesis (DDS).
  • DDS Direct Digital Synthesis
  • the electrical signal induced in the detector coil 104 is in turn fed via the terminals 114 to a measuring amplifier 205, which converts the signal into a voltage and is supplied to an analog-to-digital converter 206. This converts the voltage into a digital signal, which is evaluated by the processor 202.
  • the arrangement of the coils 102,104 acts as a transformer, so that the time course of the excitation current and the induced signal are the same. Only when the field generated by the exciter coil 102 is influenced by a bulk material part 15, 15 ', 15 ", 16, 16', 16", a significant deviation of the temporal courses of exciter current and induced signal results, both in a phase shift and can exist in an amplitude change. These are evaluated by the processor 202 for the detection and classification of the bulk material parts of the bulk material.
  • the values of the signal curve may preferably be stored in an FPGA and this directly drive the analog-to-digital converter.
  • a processor in the strict sense is then not needed.
  • the preprocessing and first evaluation of the digital signal from the analog-to-digital converter ie the FFT and other calculations
  • a detector coil 104 (or a detector coil pair)
  • two or more detector coils or detector coil pairs may be provided in order to increase the resolution capability.
  • a corresponding sensor arrangement is in the EP1 940 546B1 to which and their content in this regard is expressly referred.
  • the temporal course of the excitation current corresponds to a superimposition of sinusoidal curves of different frequencies, wherein the frequencies respectively correspond to integer multiples of a common fundamental frequency.
  • electromagnetic fields of these frequencies are simultaneously generated, the influence of which can be evaluated by the bulk material separated from each other and so.
  • Statements about conductivity, size, humidity etc. of the bulk material allow.
  • FFT fast Fourier transform
  • FIG. 4 An exemplary course of the exciter current according to an embodiment of the invention is shown in FIG FIG. 4 shown.
  • the time is plotted on the abscissa and the output voltage of the digital-to-analog converter 203 in volts is plotted on the ordinate.
  • the number of frequency components should also correspond to an entire power of 2, in the present example 64 sinusoidal signals of different frequency were superimposed. This results in a fundamental frequency of 1 kHz frequency components of 1 kHz, 2 kHz, 3 kHz ... to 64 kHz, which can be easily processed with simple electronics.
  • the sampling of the induced signal can, for example, be carried out at an easily manageable sampling frequency of approximately 1 MHz. This corresponds to a 16-fold oversampling of the highest frequency component, so that disturbing aliasing effects are almost impossible.
  • phase position for all superimposed frequency components relative to one another is selected to be either 0 ° or 180 °.
  • This phase position brings another advantage in the FFT analysis. As a rule, this works with a cosine function and as a result delivers phases of approximately + 90 ° or -90 °, depending on the respective phase shift of the induced signal relative to the exciting current. In these phases, unavoidable rounding errors of the FFT analysis may, on average, cancel out, while e.g.
  • the calculated phases may be e.g. subsequently be offset back to the original phases 0 ° or 180 ° by an offset.
  • the temporal course of the excitation current has a low crest factor (crest factor).
  • crest factor crest factor
  • reactive currents are reduced, which contribute only to the power loss, but not to the signal power.
  • a large signal energy can be transported at a relatively low maximum value of the signal. It has been found that the crest factor should be below 3, preferably below 2.5.
  • amplitudes and phase angles of the individual frequency components can be varied.
  • a surprisingly good crest factor of 2 is achieved in the illustrated example by determining the phases of the frequency components based on the Rudin-Shapiro series and the number of frequency components is a power of 2.
  • the Rudin-Shapiro series is a series of the numbers +1 and -1, where the nth value S (n) of the series is determined by how many times the bit sequence 11 occurs in the binary representation of the number n.
  • the first values of the Rudin Shapiro series are: n binary representation S (n) 0 0 +1 1 1 +1 2 10 +1 3 11 -1 4 100 +1 5 101 +1 6 110 -1 7 111 +1 8th 1000 +1 9 1001 +1
  • the resulting amplitude and phase spectrum of the excitation current is in the two diagrams of Fig. 5 shown.
  • the frequencies of the sinusoidal oscillations that build up the excitation signal are given in kHz, while along the ordinate of the lower diagram, the respective phase position is shown in degrees [°] (+ 90 ° or -90 °).
  • the diagram already shows the phase angles that result when using a cosine-based FFT analysis, ie either -90 ° or + 90 °.
  • the amplitudes of the individual frequency components are plotted in mV. The amplitudes are chosen in the illustrated example so that all 64 sine signals of the 64 different frequencies occur in the excitation signal with the same signal amplitude.

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  • Geophysics And Detection Of Objects (AREA)

Claims (9)

  1. Procédé de tri et de classement d'objets détectables électromagnétiquement au moyen d'un agencement de détecteurs (14) opérant avec les étapes suivantes : rapprochement de l'agencement de détecteurs (14) de l'objet détectable électromagnétiquement jusqu'à ce que celui-ci se trouve dans la zone de détection de l'agencement de détecteurs (14), cet agencement présentant au moins un détecteur électromagnétique, lequel présente au moins une bobine d'excitation (102) pour l'émission d'un champ d'excitation électromagnétique et au moins une bobine de détection (104) ;
    application à la bobine d'excitation (102) d'un courant d'excitation dépendant du temps ; mesure d'un signal dépendant du temps induit dans la bobine de détection (104) ; évaluation du signal pour déterminer les caractéristiques électromagnétiques de l'objet détectable électromagnétiquement, le courant d'excitation étant généré par la superposition de plusieurs profils sinusoïdaux de différentes fréquences, caractérisé en ce que les profils sinusoïdaux des différentes fréquences sont déphasés les uns par rapport aux autres, le déphasage ϕ de chacun des profils sinusoïdaux par rapport au profil sinusoïdal de la fréquence de base étant soit de 0° soit de 180°.
  2. Procédé selon la revendication 1 de tri et de classement de matières transportées détectables électromagnétiquement dans des matières en vrac, un courant (13) de matières en vrac (15, 15', 15", 16, 16', 16") étant tenu à disposition et le courant (13) de matières en vrac étant conduit le long de l'agencement de détecteurs (14), le signal étant évalué pour déterminer les caractéristiques électromagnétiques d'une section du courant (13) de matières en vrac qui se trouve dans la zone de détection de l'agencement de détecteurs (14).
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que les déphasages ϕ des différents profils sinusoïdaux sont choisis de façon telle que le signal total résultant présente un facteur de crête inférieur à 3 et de préférence inférieur à 2,5.
  4. Procédé selon l'une des revendications 1 à 3, caractérisé en ce que les déphasages ϕ des différents profils sinusoïdaux sont déterminés selon la formule ϕn = 90°+ (90° x S(n-1)), n étant le quotient de la fréquence respective et de la fréquence de base et S(n) étant la n-ième valeur d'une suite de Rudin-Shapiro.
  5. Procédé selon l'une des revendications précédentes, caractérisé en ce que l'évaluation du courant de signaux comporte une transformation de Fourier rapide ou une variante « pruned FFT ».
  6. Procédé selon l'une des revendications précédentes, caractérisé en ce que le nombre de profils sinusoïdaux superposés est une puissance entière de 2.
  7. Procédé selon la revendication 6, caractérisé en ce que le nombre de profils sinusoïdaux superposés est de 64.
  8. Procédé selon l'une des revendications précédentes, caractérisé en ce que la fréquence de base commune des profils sinusoïdaux superposés est comprise entre 100 Hz et 10 kHz, de préférence d'environ 1 kHz.
  9. Procédé selon l'une des revendications précédentes, caractérisé en ce que les fréquences des différents profils sinusoïdaux sont respectivement des multiples entiers d'une fréquence de base commune.
EP13827001.2A 2012-12-28 2013-12-27 Procédé de tri et de classement des objets détectables par aimant eléctrique dans un courant en vrac Not-in-force EP2938443B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012025209 2012-12-28
PCT/EP2013/003920 WO2014102011A1 (fr) 2012-12-28 2013-12-27 Procédé de détection et de classification des éléments électromagnétiquement détectables, notamment des éléments à transporter d'une matière en vrac

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EP2938443A1 EP2938443A1 (fr) 2015-11-04
EP2938443B1 true EP2938443B1 (fr) 2017-11-15

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Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5654638A (en) * 1995-12-21 1997-08-05 White's Electronics, Inc. Plural Frequency method and system for identifying metal objects in a background environment

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3443043B2 (ja) * 1998-12-08 2003-09-02 三菱重工業株式会社 電池分別方法及びその装置
US7674994B1 (en) * 2004-10-21 2010-03-09 Valerio Thomas A Method and apparatus for sorting metal
DE102005048757A1 (de) * 2005-10-10 2007-04-19 Oliver Gurok Sensorvorrichtung zum Erkennen elektromagnetisch detektierbarer Fördergutteile und Sortiervorrichtung mit einer solchen Sensorvorrichtung
AT504527B1 (de) * 2007-02-23 2008-06-15 Evk Di Kerschhaggl Gmbh Verfahren und vorrichtung zum unterscheiden von ein elektromagnetisches wechselfeld beeinflussenden objekten, insbesondere metallobjekten

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5654638A (en) * 1995-12-21 1997-08-05 White's Electronics, Inc. Plural Frequency method and system for identifying metal objects in a background environment

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EP2938443A1 (fr) 2015-11-04

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