EP3887069A1 - Procede de tri et de caracterisation de dechets, en particulier des emballages - Google Patents
Procede de tri et de caracterisation de dechets, en particulier des emballagesInfo
- Publication number
- EP3887069A1 EP3887069A1 EP19813446.2A EP19813446A EP3887069A1 EP 3887069 A1 EP3887069 A1 EP 3887069A1 EP 19813446 A EP19813446 A EP 19813446A EP 3887069 A1 EP3887069 A1 EP 3887069A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- light source
- objects
- waste
- characterization
- flow
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
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- 238000012512 characterization method Methods 0.000 claims description 62
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
-
- 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
- B07C5/3404—Sorting according to other particular properties according to properties of containers or receptacles, e.g. rigidity, leaks, fill-level
- B07C5/3408—Sorting according to other particular properties according to properties of containers or receptacles, e.g. rigidity, leaks, fill-level for bottles, jars or other glassware
-
- 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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0054—Sorting of waste or refuse
-
- 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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
Definitions
- waste and more particularly packaging in particular glass, metal, plastic, paper, cardboard packaging.
- a first type of technology used for automated sorting is based on optical sorting machines, which generally use light spectrometry to characterize the material of objects in a waste stream. According to this
- objects are irradiated by a light spectrum, generally in the infrared lengths, sometimes supplemented by analyzes
- the flow of objects is lit by white light, and the images are captured by a camera (active in visible light), images which are then analyzed using using algorithms to identify / characterize the objects of the flow.
- This low level of performance of the object recognition system is notably due to the fact that the analysis is currently performed only with white light and with a visible camera: there are therefore few contrasts and factors discriminating for identification.
- transparent objects are barely visible, overlapping objects can be misidentified (a transparent bottle above a colored bottle is generally considered to be a colored bottle for example) and nested objects are poorly identified (in particular, PET bottles
- the invention applies not only to the characterization and sorting of waste, but to the characterization and sorting of any object in general.
- an object of the invention relates primarily to a system of
- characterization of objects from a flow of objects to be sorted the flow of objects to be sorted being installed on a conveying device, comprising:
- An image acquisition device installed so as to be able to acquire at least one image of a portion of the flow of objects to be sorted, the image acquisition device visually covering an area called the identification area of the objects ;
- a first light source emitting in the visible spectrum, installed overhanging and illuminating said portion of flow of objects to be sorted of which said at least one image is acquired by the image acquisition member 8;
- a characterization device capable of characterizing the objects of said portion of the flow of objects to be sorted as a function of said at least one acquired image.
- second light source of a distinct nature from the first light source, allowing the appearance of additional visual information on said at least one acquired image.
- this additional visual information allows the addition of additional discriminating pixels in the acquired image to improve the characterization of objects in it. picture.
- second light source emits ultraviolet light allowing the appearance of fluorescence in the visible spectrum when an object of the object flow portion reacts to ultraviolet.
- said at least one second light source emits light in the visible spectrum, of distinct color and / or of intensity distinct from the first light source, and oriented so as to illuminate at an angle. separate lighting from the first light source objects in the object flow portion illuminated by the first light source.
- said at least one second light source is installed so as to define a main lighting axis forming an acute angle with a plane in which the device extends.
- the second light source forms an angle of 30 ° to 45 ° with the plane in which the device for conveying said flow of objects extends, which provides relatively low-angle lighting capable of illuminating. a large area of objects to be detected.
- the system further comprises an object sampling unit connected to the characterization member, the sampling unit being configured to sample objects according to predetermined characteristics, obtained through the characterization member .
- the sampling unit is a robotic gripping unit.
- the first light source is a white light source
- the second light source is chosen from an ultraviolet light source, a monochrome light source from the visible spectrum, or a mixture of these.
- Object detection is improved in the visible spectrum because:
- - monochrome (colored) light sources provide, in particular depending on the material and / or the opacity of the waste, certain colored reflections (at the angles and certain flat surfaces) and shaded areas, which improve discrimination in a waste stream. Indeed, the reflection zones as well as the shadow zones are different depending on the shape, the surface, the orientation of certain surfaces and angles, the composition of the waste.
- the method further comprises a step of characterization by infrared, comprising:
- step f a step of detecting the reflected infrared spectrum of the irradiated flux of step f), using an infrared sensor
- step h) a step of analyzing the infrared spectrum of step g) to characterize the waste of said stream, in particular according to their material.
- NIR Near Infra-Red
- step b) an automated waste sorting step based on the characterization of step a), according to predetermined parameters, such as the material, color and / or transparency of the waste.
- step b) is carried out using a robotic sampling unit.
- the sorting method makes it possible to obtain streams of sorted waste with a purity and / or a quality higher than that obtained with conventional characterization methods and systems. using a single light source.
- the method of the invention is easy to implement, in particular on sorting units or commercial detection arches: the modifications to be made are minimal (simple addition of complementary light sources, and possibly adjustment of the image bank).
- Another object of the invention relates to a sorting assembly comprising:
- said conveyor comprising an object characterization zone and an object picking zone
- characterization member positioned around or above said object characterization zone.
- the sorting assembly is in particular suitable for implementing the method described above.
- two light sources whose spectrum of wavelength emitted is not entirely identical.
- two light sources of different nature are a white light source and a UV light source, or a white light source and a monochrome light source.
- an “ultraviolet (UV) light source” is a light source emitting light in the wavelengths between 10 and 400 nm.
- a UV source can emit in all or part of the ultraviolet spectrum.
- a “white light source” is a light source emitting light in the wavelengths between 400 and 700 nm, possibly between 400 nm and 670 nm.
- a white light source emits in the entire visible spectrum, unlike monochrome light.
- a “monochrome light source” is a light source emitting in only part of the visible light spectrum (i.e. on only part of the white light spectrum).
- a blue monochrome source can emit in wavelengths between 470 and 485 nm
- a red monochrome source can emit in wavelengths between 610 and 650 nm
- a green monochrome source can emit in wavelengths between 500 and 555 nm.
- an “infrared light source (IR)” is a light source emitting light in the wavelengths between 700 nm and 350 pm.
- An IR source can emit in all or part of the IR spectrum.
- the IR light source is a near infrared source, that is to say emitting light in the wavelengths between 700 nm and 2.5 pm, preferably between 1 and 2.5 pm.
- an illumination "concomitantly" by at least 2 light sources means a common illumination and at the same time at least part of the waste stream, so as to obtain a superposition of the light spectra of the two light sources on this waste stream.
- a "waste stream" means a
- This may for example be waste from a selective sorting of household waste, i.e. including
- paper, cardboard, plastic and / or metal packaging for example, it can be a mixture of PET bottles, HDPE bottles, aluminum or steel cans or boxes, films made of plastic, or mixtures of paper and cardboard, such as newspapers, magazines, office papers, cardboard boxes or cardboard boxes, etc.).
- it is a set of “single material” waste, that is to say waste comprising predominantly (that is to say more than 60% by number, preferably more than 70% by volume, more preferably more than 85% by volume or even more than 95% by volume) of the same material.
- it is plastic waste, or a mixture of paper and cardboard waste.
- Plastic waste includes different types of plastic: we have
- characterization of waste means the determination of a certain number of parameters associated with the waste, in particular its material, color and / or transparency. This step is a prerequisite for sorting, which makes it possible to obtain batches of waste that is uniform in material, color and / or transparency, which is necessary for recycling.
- the transparent PET obtained by recycling transparent PET will be of better quality if the "purity" and homogeneity of the waste used for recycling is greater.
- characterization of waste is understood in the broad sense comprising both the characterization of the materials making up the waste, as explained above, and the identification of the waste, for example by recognizing their shape.
- the percentages by number are calculated relative to the total number of objects considered, in particular relative to the total number of waste to be characterized respectively to be sorted.
- the waste stream comprises plastic waste, in particular transparent or opaque plastic.
- the waste stream comprises waste paper and / or cardboard.
- the waste stream consists of waste paper and / or cardboard, especially of different color.
- the waste stream is supplied on a support, which can be light in color or dark in color. It should be noted that the color of the support may not be uniform over time and space. Indeed, the support is generally a conveyor belt. The color of the support can be chosen so as to optimize the contrast effects during the illumination of step b).
- the first light source being a white light source
- the second light source being chosen from an ultraviolet light source, a monochrome light source, or a mixture of these.
- the illumination of step b) is preferably continuous for the two light sources, so that the waste stream is illuminated by a light with a homogeneous spectrum over time.
- the second light source comprises a source of
- the second light source can consist of an ultraviolet light source.
- the UV light source may emit in all or part of the UV spectrum, depending on the parameters to be determined, in particular in terms of the shape, material, opacity, thickness and / or color of the objects to be characterize.
- the second light source includes a monochrome light source, such as a blue, green, yellow or red monochrome source, or a mixture thereof, provided that their combination does not form white light.
- the second light source includes a blue or red monochrome source.
- the second light source comprises an ultraviolet light source in combination with at least one monochrome light, in particular a red, green, blue or yellow monochrome light.
- the second light source can consist of an ultraviolet light source in combination with a monochrome light, such as a blue or red monochrome light.
- an ultraviolet light source in combination with at least two monochrome light sources, in particular a red, green, blue or yellow monochrome light source, preferably a red monochrome light source and a green monochrome light source.
- Synthetic objects such as plastic bottles and flasks, plastic films, other plastic objects, synthetic fabrics, etc.
- Objects composed of organic materials such as wood, paper, cardboard, cotton, .
- Metallic materials such as cans, aluminum trays, cans, aluminum foil, etc.
- Step c) is usual for a person skilled in the art.
- step c) means an image at an instant T. It may
- Step d) is carried out in particular by computer. It may include a sub-step for comparing an image part with an image bank, associating images with characterization parameters such as color, opacity, thickness, material, etc. Step d) may also include an automated learning sub-step (“deep learning”), in particular using so-called artificial intelligence algorithms. According to a variant of the invention, step d) also includes an analysis of the rate of coverage of the support (in particular thanks to the strengthening of the contrasts and of the contours, in particular for transparent objects).
- Such a step typically includes:
- infrared in particular a light source in the near infrared (NIR)
- step e detecting the reflected infrared spectrum of the irradiated flux from step e), using an infrared sensor
- step f) analyze the infrared spectrum of step f) to characterize the waste of said stream, in particular according to their material.
- the first light source being a white light source
- the second light source being chosen from an ultraviolet light source, a monochrome light source, or a mixture of these.
- the light sources are continuous sources.
- the second light source is an ultraviolet light source (5) optionally in combination with a monochrome light source (6, 7).
- the second light source consists of an ultraviolet light source.
- the UV light source may emit in all or part of the UV spectrum, depending on the parameters to be determined, in particular in terms of material, opacity, thickness and / or color.
- the second light source comprises a monochrome light source (6,7), such as a blue, green, young or red monochrome source, or a mixture thereof, provided that their combination does not form white light.
- the second light source includes a blue or red monochrome light source.
- the second light source comprises a source of ultraviolet light in combination with at least two monochrome light sources, in particular a monochrome light source red, green, blue or yellow, preferably a source of red monochrome light and a green monochrome light source.
- the first light source is parallel to the waste stream (i.e. the light rays are orthogonal to the waste stream), and the second light source is parallel to the waste stream.
- the axis of the light beam of the first light source is orthogonal to the waste stream.
- the first light source is parallel to the waste stream, and the second light source forms an incident angle with the waste stream (ie the light rays form an incident angle with the waste stream) .
- the incident angle optimizes the contrasts and the characterization. For example, the incident angle of the light rays with the waste stream will then be around 30 or 60 degrees.
- the visible light sensor may be any sensor suitable for such a
- the image captured by the sensor means an image at an instant T. It may change over time (in particular because the waste stream is in motion).
- Step a) can be carried out according to any variant or embodiment
- step b) is carried out using a robotic sampling unit.
- the method according to the invention achieves sorting performance
- the method of the invention allows advantageously to achieve sorting performance greater than 90% by number, and preferably greater than 95% by number.
- machine learning techniques provide sorting performance of up to 99% in number.
- sorting performance means the
- the waste characterization device is positioned around said waste characterization zone (2).
- the waste is supplied on the conveyor belt.
- This serves as a support for the waste during the waste sorting step.
- the color of the support can be chosen so as to optimize the contrast effects when implementing the methods of the invention.
- the color of the conveyor belt may not be uniform over time and space.
- the sorting device further comprises a waste sampling unit connected to the
- the sampling unit being configured to sample waste according to predetermined characteristics, obtained through the waste characterization device.
- the sampling unit is a robotic gripping unit. It can be any sorting robot known to a person skilled in the art suitable for such use.
- the device further comprises a device for characterizing waste by infrared, such as an arc for characterizing by infrared.
- a device for characterizing waste by infrared typically comprises:
- a zone for identifying waste in a stream comprising at least one infrared light source for illuminating the waste, - an infrared sensor, said sensor being positioned so as to at least partially capture the image of the illuminated waste in the identification zone, and said sensor being connected to a suitable infrared spectral analysis unit to characterize waste, in particular according to its material, on the basis of the spectrum picked up by the infrared sensor.
- FIG. 1 represents an exemplary embodiment of
- It is a conveyor 1 equipped with a robot and an analysis system with a zone 2 for identifying objects and a zone 3 for gripping the robot.
- FIG. 2 shows in more detail the analysis system of FIG. 1. It comprises zones 4 of white light emission, zones 5 of UV light emission (for example a spot or a ramp) and / or zones 6, 7 for emitting monochrome lights, identical or different, and a zone 8 for detecting visible light (for example a camera).
- FIG. 3 Transparent plastic packaging on a dark surface: a.
- FIG. 5 Opaque plastic / aluminum packaging on a dark surface: a. visible light only - b. visible light + UV - c. UV only.
- FIG. 7 Paper / cardboard on a dark surface: a. visible light only - b. visible light + UV - c. UV only.
- an assembly for sorting objects for example for sorting waste, comprises a conveyor, such as a belt conveyor 1, driving in motion a flow of objects to be sorted, a system for characterizing the flow of objects and a sorting member for sorting the objects in a sorting zone 3 according to their characterization.
- the characterization system comprises an image acquisition member 8, a characterization member for characterizing the objects to be sorted as a function of at least one acquired image and at least two light sources 4, 5, 6, 7 as described below.
- the flow of objects to be sorted is composed of a plurality of objects of various
- the objects to be recycled can in particular include objects made of
- PET polyethylene terephthalate
- the image acquisition device 8 is adapted to capture one or more images of a predefined area 2 on the belt conveyor 1. Thus the image acquisition device 8 acquires, for a moment given, an image of the portion of object flow passing in the field of vision of the image acquisition member 8, here called object identification zone.
- the image acquisition member 8 is a camera capturing images in the visible spectrum, but the invention is however not limited to a single type of camera, and can furthermore use a camera or any other device suitable for capturing images.
- the visible spectrum corresponds to a wavelength range in a vacuum from 380nm to 780nm
- the camera used by the invention is not limited to this defined range, and the camera can in particular capture images going beyond this wavelength range, for example by also capturing ultraviolet light between 200nm and 380nm, this is called a hyper-spectral camera; or conversely going below this wavelength range as long as the camera is adapted to capture exploitable images of the objects to be treated as a function of the lighting conditions described below.
- the objective of the camera is to acquire an image of the portion of object flow allowing to characterize the objects visible in the image.
- characterization is meant the fact of defining the shape, the material or even the type of the object visible in the image.
- the image acquisition body 8 transmits the acquired images to the image acquisition body 8
- the characterization unit which detects, characterizes the objects and determines, object by object, the sorting to be carried out. Then the characterization unit commands the sorting unit to execute the sorting according to the detection carried out.
- identification 2 corresponding substantially to the field of vision of the camera.
- the characterization member in practice, it is common for the characterization member to include a characterization arch passing over the object conveyor. The camera can then be installed under the arch or at a distance from the arch, so that the identification zone 2 is defined as the zone extending under the characterization arch.
- This first light source 4 is not necessarily made of a
- the first light source 4 is generally adapted to provide uniform lighting over the area
- a plurality of identical lights can be arranged forming the first light source 4.
- This first light source 4 is in the first embodiment of the invention a set of white lights 4 distributed overhanging the acquisition area.
- this first light source 4 is not necessarily
- this first light source 4 is in particular to define a relatively uniform lighting capable of allowing a sharp and contrasted acquisition of the objects of the portion of object flow in the field of vision of the camera while reducing the appearance of visual artifacts that can affect the analysis of acquired images, such as shadows or reflections induced by lighting.
- a second light source 5, 6, 7 is added.
- This second light source 5, 6, 7 is selected according to the materials which it is desired to identify in particular in the portion of object flow analyzed.
- This second light source 5, 6, 7 can be obtained by a light having a color distinct from the main light.
- EXAMPLE 1 Irradiation with combination of visible and UV lights on transparent plastic packaging type waste
- Light-colored support 2cm panel in extruded polyurethane
- White light set of 4 LED lamps placed at the 4 corners of the panels, of type GU10, 5W, 400lumens, warm white 2700-3000K over 1 10 °;
- Image sensor Panasonic Lumix type camera, DMC-PZ 100, automatic mode in MP4.
- Waste type transparent plastic packaging is randomly placed on a dark support ( Figure 3) or on a clear support (pink, Figure 4).
- the waste is illuminated with white light only ( Figures 3a and 4a), a combination of UV light and white light ( Figures 3b and 4b), or with UV light only ( Figures 3c and 4c).
- the transparent PET has a white haze by fluorescence, the more marked it is thick;
- the fluorescence of transparent plastics is more visible on a dark, non-reflective background.
- Example 2 The same equipment as in Example 1 is used for the implementation of Example 2.
- Waste of the opaque plastic packaging type is disposed of.
- Example 3 The same equipment as in Example 1 is used for the implementation of Example 3.
- Waste of the paper and cardboard packaging type is disposed of.
- UV ultraviolet in addition to visible light 4 for image recognition, makes it possible to provide additional discriminating characteristics for visual and induced recognition an increase in reconnaissance performance in certain sorting scenarios.
- the ultraviolet lighting 5 of the objects makes it possible to add, by
- the invention is not however limited to a second light source
- the second light source 6, 7 comprises a monochrome light of the visible spectrum, of a color different from white, for example green or red.
- the second light source is not limited to a single point of emission.
- the second light source consists of two light sources 6, 7, with identical optical characteristics, but opposite to each other with respect to the flow of objects, or in other words each on one side of the area of identification 2. This second light source 6, 7 is then diffused at an angle differing from the main emission angle of the first light source 4.
- the main emission axis is understood to mean the axis forming the center of the light beam emitted by the light source 6, 7.
- the objective of the particular arrangement of this second light source 6, 7 is to allow the appearance of reflections on the objects, and in particular to color the edges of the objects, so as to bring out the acquired images. borders of objects in the color of the second light source 6, 7.
- the borders of the objects in the identification zone will reflect the color red, this color being able to vary with the color of the material concerned, which facilitates the characterization of the objects relatively considerably. of the acquired image.
- light source 6, 7 could be of a color similar to the first light source but of a distinct emission intensity, for example with a significantly higher lighting intensity, so that the borders of the objects will be over-lit.
- a characterization system comprising a main light source 4, a second light source 6, 7 in the visible spectrum, for example of a color distinct from the main light source 4 and a third light source 5 emitting ultraviolet light such as described above, this making it possible to combine the advantages described above.
- a second light source 5, 6, 7 and possibly an additional light source for example a source of ultraviolet and a light source of the visible spectrum, for example red or green, with lighting by infrared, or near infrared.
- an additional light source for example a source of ultraviolet and a light source of the visible spectrum, for example red or green, with lighting by infrared, or near infrared.
- the characterization technique by infrared, or near infrared is well known to the person skilled in the art, and this technique of characterization of the materials can be combined with the detection means described in the present invention.
- the invention also relates to a method for characterizing the objects of a flow of objects, comprising in particular a step of supplying a flow of objects to be sorted, such as a waste flow.
- One proceeds to a step of illuminating an identification zone 2 through which at least a portion of the object flow passes at a given time.
- the illumination is implemented by placing a first light source 4 and a second light source 5, 6, 7 having a nature distinct from the first light source 4.
- visible spectrum for example red or green or any other visible color, to characterize the objects in particular by improving the contours of these objects.
- the illumination step makes it possible to improve the result obtained in the characterization step.
- the sorting unit is ordered to sort the detected objects, in accordance with the usual practice in the field of sorting.
- the characterization of the objects can thus be freely adapted for:
- This recognition step can be implemented by conventional image recognition methods or machine learning methods, such as neural networks.
- convolutional neural networks are particularly effective in achieving a
Landscapes
- Sorting Of Articles (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
Description
Claims
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FR1871883 | 2018-11-27 | ||
PCT/EP2019/082636 WO2020109335A1 (fr) | 2018-11-27 | 2019-11-26 | Procede de tri et de caracterisation de dechets, en particulier des emballages |
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EP3887069A1 true EP3887069A1 (fr) | 2021-10-06 |
EP3887069B1 EP3887069B1 (fr) | 2024-06-05 |
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EP19813446.2A Active EP3887069B1 (fr) | 2018-11-27 | 2019-11-26 | Systeme et procede de tri et de caracterisation de dechets, en particulier des emballages |
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US (1) | US20220023917A1 (fr) |
EP (1) | EP3887069B1 (fr) |
AU (1) | AU2019386256A1 (fr) |
WO (1) | WO2020109335A1 (fr) |
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FR3095273B1 (fr) * | 2019-04-19 | 2021-05-07 | Saint Gobain Isover | Système de détection automatisé de matériaux de type vitrocéramique |
EP3957454A1 (fr) * | 2020-08-20 | 2022-02-23 | Covestro Deutschland AG | Procede et systeme de separation de dechets de polymeres |
CN112044808A (zh) * | 2020-08-24 | 2020-12-08 | 华侨大学 | 一种生活垃圾识别系统 |
ES2931515B2 (es) * | 2021-06-22 | 2024-05-08 | Iris Tech Solutions S L | Monitorizacion de pelicula multicapa |
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US6191859B1 (en) * | 1996-10-28 | 2001-02-20 | Sortex Limited | Optical systems for use in sorting apparatus |
US6610953B1 (en) * | 1998-03-23 | 2003-08-26 | University Of Arkansas | Item defect detection apparatus and method |
AU2011375401B2 (en) | 2011-08-19 | 2015-12-24 | Industries Machinex Inc. | Apparatus and method for inspecting matter and use thereof for sorting recyclable matter |
WO2013145873A1 (fr) * | 2012-03-27 | 2013-10-03 | 株式会社サタケ | Machine de tri de granulés de type optique |
AU2014343597B2 (en) * | 2013-11-04 | 2019-09-12 | Tomra Sorting Nv | Inspection apparatus |
FR3063542A1 (fr) * | 2017-03-01 | 2018-09-07 | Maf Agrobotic | Procede et dispositif d'analyse optique de fruits ou legumes et dispositif de tri automatique |
WO2018200866A1 (fr) * | 2017-04-26 | 2018-11-01 | UHV Technologies, Inc. | Tri de matériaux à l'aide d'un système de vision |
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2019
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- 2019-11-26 WO PCT/EP2019/082636 patent/WO2020109335A1/fr unknown
- 2019-11-26 EP EP19813446.2A patent/EP3887069B1/fr active Active
- 2019-11-26 US US17/297,631 patent/US20220023917A1/en active Pending
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AU2019386256A1 (en) | 2021-06-24 |
US20220023917A1 (en) | 2022-01-27 |
EP3887069B1 (fr) | 2024-06-05 |
WO2020109335A1 (fr) | 2020-06-04 |
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