JP6653511B2 - Libs型物体選別装置 - Google Patents
Libs型物体選別装置 Download PDFInfo
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- JP6653511B2 JP6653511B2 JP2018527527A JP2018527527A JP6653511B2 JP 6653511 B2 JP6653511 B2 JP 6653511B2 JP 2018527527 A JP2018527527 A JP 2018527527A JP 2018527527 A JP2018527527 A JP 2018527527A JP 6653511 B2 JP6653511 B2 JP 6653511B2
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- 238000002536 laser-induced breakdown spectroscopy Methods 0.000 title claims description 86
- 238000004458 analytical method Methods 0.000 claims description 47
- 238000005259 measurement Methods 0.000 claims description 25
- 230000001678 irradiating effect Effects 0.000 claims description 7
- 230000003287 optical effect Effects 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 4
- 239000000126 substance Substances 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000011144 upstream manufacturing Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 13
- 238000001228 spectrum Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 238000012545 processing Methods 0.000 description 8
- 230000000007 visual effect Effects 0.000 description 5
- 239000000284 extract Substances 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000004075 alteration Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 238000002372 labelling Methods 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000010183 spectrum analysis Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005281 excited state Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000005283 ground state Effects 0.000 description 1
- 230000005764 inhibitory process Effects 0.000 description 1
- 150000002500 ions Chemical class 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004451 qualitative analysis Methods 0.000 description 1
- 238000004445 quantitative analysis Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000004611 spectroscopical analysis Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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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
-
- 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
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/62—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light
- G01N21/71—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light thermally excited
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/62—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light
- G01N21/71—Systems in which the material investigated is excited whereby it emits light or causes a change in wavelength of the incident light thermally excited
- G01N21/718—Laser microanalysis, i.e. with formation of sample plasma
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N2021/845—Objects on a conveyor
- G01N2021/8455—Objects on a conveyor and using position detectors
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- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Analytical Chemistry (AREA)
- General Health & Medical Sciences (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Pathology (AREA)
- Biochemistry (AREA)
- Immunology (AREA)
- Engineering & Computer Science (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Investigating, Analyzing Materials By Fluorescence Or Luminescence (AREA)
- Sorting Of Articles (AREA)
Description
ここで、Omはレーザー照射距離に相当するカウント数(任意設定)を意味する。
ここで、OeはLIBS分析装置15内部での処理時間に相当するカウント数を意味する。
11 コンベヤ
11a コンベヤモーター
11b インクリメンタルエンコーダー
12 光電センサ
13 レーザー投光器
14 三次元画像カメラ
15 LIBS分析装置
16 パドル
17 制御装置
17c カウンタボード
17d D/Aコンバータボード
17e カメラ入力ボード
Claims (10)
- 選別対象物をコンベヤで搬送しながらLIBS分析し選別を行うLIBS型物体選別装置であって、
前記コンベヤの進行方向をX、幅方向をY、高さ方向をZとすると、
断面計測用YZ鉛直面での前記選別対象物の断面形状を所定時間毎に繰り返し計測し前記選別対象物の前記コンベヤ上で上面視される上面の空間座標群を前記選別対象物上の基準原点を基準として取得する三次元形状計測手段と、
レーザー移動用YZ鉛直面内をY方向にレーザー光のビーム位置を移動させる幅方向移動手段、及び前記レーザー光のビーム焦点位置を前記レーザー移動用YZ鉛直面内でZ方向に移動させる高さ方向移動手段を含み、前記選別対象物に前記レーザー光を照射しながら化学組成分析を行うLIBS分析手段と、
前記化学組成分析された前記選別対象物のZ方向の搬送路を切り替える搬送路切替手段と、をこの順に前記X方向に沿って設け、更に、
前記空間座標から選択される分析点を含む分析用XZ鉛直面上にある前記上面の前記空間座標群を求め且つLIBS分析する分析区間を決定する演算手段と、
前記幅方向移動手段に前記分析用XZ鉛直面に前記ビーム位置を移動させ、前記コンベヤの移動量から前記分析用XZ鉛直面に前記分析区間が到達したことを検出すると、前記移動量に対応させつつ、前記高さ方向移動手段に前記分析区間に沿った前記空間座標に前記ビーム焦点位置を移動させて前記選別対象物に前記レーザー光を照射させる制御手段と、を含むことを特徴とするLIBS型物体選別装置。 - 前記三次元形状計測手段は、前記選別対象物の前記断面計測用YZ鉛直面の通過を検出してから前記空間座標群を取得するとともに、前記基準原点の前記レーザー移動用YZ鉛直面に到達するまでの前記コンベヤの基準移動量を求め、
前記制御手段は、前記基準移動量に基づいて前記ビーム位置及び前記ビーム焦点位置の移動をさせることを特徴とする請求項1記載のLIBS型物体選別装置。 - 前記基準原点は、前記選別対象物の前記断面計測用YZ鉛直面に最初に到達した位置であることを特徴とする請求項2記載のLIBS型物体選別装置。
- 前記三次元形状計測手段は、前記選別対象物の前記断面計測用YZ鉛直面での断面形状線を映し出すレーザー投光器を備えた三次元画像カメラを含むことを特徴とする請求項1乃至3のうちの1つに記載のLIBS型物体選別装置。
- 前記空間座標群は、前記コンベヤ上で上面視される前記上面の画像のピクセルに対応することを特徴とする請求項4記載のLIBS型物体選別装置。
- 前記コンベヤは駆動モーターの回転量に対応してパルス信号を出力するインクリメンタルエンコーダーを有し、前記制御手段は前記パルス信号に対応したカウンタ数と前記画像の前記ピクセルとを対応させて前記分析区間に沿って前記レーザー光を照射させることを特徴とする請求項5記載のLIBS型物体選別装置。
- 前記幅方向移動手段及び前記高さ方向移動手段は、前記レーザー光の光学系のミラー角度とレンズ焦点距離を制御することを特徴とする請求項6記載のLIBS型物体選別装置。
- 前記選別対象物は前記Y方向で互いの一部を並置させる複数個からなり、前記演算手段は前記選別対象物の各々について前記Y方向で並置しないように前記分析区間を決定することを特徴とする請求項3記載のLIBS型物体選別装置。
- 前記三次元形状計測手段の前記X方向の上流には、前記選別対象物の搬送を検知する搬送検知手段を有し、前記搬送検知手段は前記三次元形状計測手段の動作を開始させることを特徴とする請求項8記載のLIBS型物体選別装置。
- 前記搬送検知手段は光電センサを含むことを特徴とする請求項9記載のLIBS型物体選別装置。
Applications Claiming Priority (3)
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JP2016140913 | 2016-07-15 | ||
JP2016140913 | 2016-07-15 | ||
PCT/JP2017/024444 WO2018012346A1 (ja) | 2016-07-15 | 2017-07-04 | Libs型物体選別装置 |
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JPWO2018012346A1 JPWO2018012346A1 (ja) | 2019-02-14 |
JP6653511B2 true JP6653511B2 (ja) | 2020-02-26 |
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US (1) | US11077467B2 (ja) |
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WO (1) | WO2018012346A1 (ja) |
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JP2019049780A (ja) * | 2017-09-07 | 2019-03-28 | 富士通株式会社 | 教師データ作成プログラム、教師データ作成装置、及び教師データ作成方法 |
CN109794426A (zh) * | 2017-11-16 | 2019-05-24 | 钢铁研究总院 | 基于libs技术的全自动在线航空铝分类回收系统 |
CN112004634A (zh) * | 2018-02-01 | 2020-11-27 | 瑞典焕贝自动化有限公司 | 用于控制激光工具位置的方法和装置 |
CN110705561A (zh) * | 2018-07-09 | 2020-01-17 | 菜鸟智能物流控股有限公司 | 一种实现对象分拨分拣的方法及系统 |
US11912608B2 (en) | 2019-10-01 | 2024-02-27 | Owens-Brockway Glass Container Inc. | Glass manufacturing |
KR102293843B1 (ko) * | 2019-10-02 | 2021-08-25 | 광주과학기술원 | 레이저 유도플라즈마 분광법을 이용한 폐금속 자동선별 시스템 및 방법 |
KR102410896B1 (ko) * | 2019-10-30 | 2022-06-20 | 광주과학기술원 | 이미지 센서 기반 객체 분류 방법 및 장치 |
EP3882393A1 (en) * | 2020-03-17 | 2021-09-22 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Device and method for the analysis of textiles |
CN111617983B (zh) * | 2020-05-16 | 2022-10-11 | 安徽昭日农业科技有限公司 | 一种蔬菜分拣装置 |
CN114252581A (zh) * | 2020-09-25 | 2022-03-29 | 津海威视技术(天津)有限公司 | 矿石在线检测系统 |
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CN114226279B (zh) * | 2021-12-13 | 2023-12-22 | 欧冶云商股份有限公司 | 一种钢材废次材合金含量自动检测与分选装置 |
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US6545240B2 (en) | 1996-02-16 | 2003-04-08 | Huron Valley Steel Corporation | Metal scrap sorting system |
JP2000356512A (ja) * | 1999-06-14 | 2000-12-26 | Hitachi Ltd | 外観検査システムおよび外観検査方法 |
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US20190291141A1 (en) | 2019-09-26 |
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JPWO2018012346A1 (ja) | 2019-02-14 |
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