JPH07275802A - Method for selecting crushed scrap and device therefor - Google Patents

Abstract

PURPOSE:To improve the collecting accuracy for crushed scraps containing a material to be collected by judging whether a collection is suitable or not from the ratio of whether the scraps are of the same color as that of the material inputted preliminarily or from the ratio of the resembling color occupying a reference area. CONSTITUTION:Crushed scraps 1 are fed into a part feeder 3a and arranged while being moved around the periphery of a bowl 3c and fed in a row through a straight transfer line 3d. At that time, the scraps 1 are sensed by a position sensor 15 and their surfaces are photographed by an image pickup device 4, and an image is turned into an electric digital signal and inputted into a color phase recognition device. An image signal is turned into binary and a specified signal only is extracted and put on an effective screen. Then the arrangement ratio of a reference color section of image to the reference area is computed and whether the area ratio is beyond the lower limit or not of a discrimination examination set preliminarily is judged, and in the case it is YES, a first jet nozzle 22a is actuated to blow off the crushed scraps 1 toward a first chute 24 and recovered therefrom.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sorting method and apparatus for sorting crushed scraps obtained by crushing metal parts of automobiles, trains and other vehicles, electric appliances and other scrap products with a shredder for each type of metal.

[0002]

2. Description of the Related Art Metal parts of vehicles such as automobiles and trains, home electric appliances and various other products are made of aluminum, stainless steel, copper, zinc and various other materials. When these products exceed their useful lives and are amortized as scrap, it is desirable to separate and collect the materials of these metal parts according to their types in order to reduce industrial waste, promote recycling movements, and protect the environment. Is.

Therefore, conventionally, as a method of recovering raw materials from these scraps, the scraps are finely crushed with a shredder, relatively large members are manually selected, and various materials having different specific gravities are entered with fine members having a particle diameter of 35 mm or less. For the mixed ones, for example, only the lightest aluminum is selected by heavy liquid, iron that is attracted to the magnet is magnetically selected, and subsequently stainless steel members are selected by eddy current selection, and the last remaining mix. It has been said that the worker again separates and collects metal into copper and zinc or brass, and collects these as recycled materials.

In this case, since the final step of separating copper from brass or zinc relies on human labor, there is a problem in that the efficiency is low and the cost is very high and the productivity of selection is reduced. Therefore, research has been conducted on automating the sorting process of copper, zinc, and brass, which depended on this manpower, and as one of the methods, the following sorting method was proposed.

In this sorting method, the red color of copper and the gray color of lead and zinc are received by a color vision, and then the colors of this image are R (red), G (green) and B (blue). Disassemble into three primary colors, digitize the shades and identify by the CPU, instantly detect this subtle color difference (50 ms or less), receive compressed air from the air nozzle upon receiving the signal, and drop the copper. In the case of zinc, in the case of zinc, compressed air is passed without being jetted, so that copper and zinc are automatically separated.

However, in this method, no matter what proportion of the material to be selected is contained in the crushed scrap (in other words, even if the content of the material to be selected is small), it is simply input. If a color that is present is detected, it is determined that it contains the material to be selected, and the crushed scrap is picked up, and as a result, the content of the material to be selected contained in the crushed scrap that is picked up decreases. there were.

[0007]

The problems to be solved by the present invention are as follows.
By selecting the crushed scrap according to the area ratio of the material to be selected with respect to the reference area, the content of the material to be selected in the crushed scrap that has been picked up can be kept above a predetermined ratio.

[0008]

According to a first aspect of the present invention, there is provided a crushing scrap selecting method, wherein "crushing scraps (1) composed of one or a plurality of materials are conveyed at intervals. , The standard color of the material to be selected (1a), and crushed scrap
The ratio of the area of the reference color portion selectively collected from the surface color of (1) to the reference area is input to the hue recognition device (2) in advance, and the reference area ratio in the case of sampling is conveyed. Of the surface colors of the crushed scrap (1) that came back, only the previously input reference color is selectively taken out, and the area ratio of the area of the selectively taken out reference color to the standard area is calculated. However, it is judged whether the crushed scrap (1) detected by comparing with a predetermined reference area ratio should be collected, and the crushed scrap (1) is selected according to the judgment. ' To do.

According to this, the ratio of the material (1a) to be sorted contained in the crushed scrap (1) is counted in proportion to the reference area. Therefore, when the content of material (1a) is low, the material should be selected based on the standard area.
It is determined that the area of the color corresponding to (1a) is small, the content of the material (1a) is small, and if it is less than the discrimination tolerance, it is determined that the pickup should not be performed. On the contrary, if the area ratio is equal to or larger than the discrimination tolerance, the crushed scrap (1) to be picked up is judged and picked up. As a result, the crushed scraps (1) that are selected are only those that contain the material (1a) at a certain ratio or more, and the accuracy of selecting the selected crushed scraps (1) is improved.

A crushed scrap sorting apparatus according to a second aspect of the present invention is a crushed scrap (1) which conveys crushed scraps composed of one or a plurality of raw materials at intervals. ) Imaging device (4)
And the reference color of the material to be selected and the ratio of the area of the reference color part selectively collected from the color of the surface of the crushed scrap to the reference area, the reference area ratio for sampling is entered in advance. Of the colors of the surface of the transported and crushed scrap collected via the image pickup device, only the previously input reference color is selectively taken out, and occupies the standard area of the area of the selectively taken out reference color. Calculate the area ratio,
A hue recognition device (2) for judging whether or not the crushed scrap detected by comparing with a predetermined reference area ratio should be collected, and a selection means for selecting crushed scrap according to the judgment of the hue recognition device ( It is characterized in that it is composed of 5) and, by which the above method can be carried out.

[0011]

The present invention will be described below with reference to the illustrated embodiments. The sorting device (A) includes a frame (6), a hue recognition device (2), a transport device (3), an imaging device (4), and a sorting means (5). The crushed scrap (1) is applied to the sorting device (A) according to the present invention. This crushed scrap (1) is generally formed as follows. Shred automobiles, trains, home appliances and other scrap products with a shredder. Of the crushing members, the large ones are manually selected. Subsequently, the material that has been manually sorted is removed by heavy liquid sorting, magnetic sorting, eddy current sorting, etc., such as aluminum, iron, and stainless steel, which have low specific gravities.
The last thing left is the crushed scrap applied here
(1) {= mixed metal}, which is mainly composed of copper and zinc or brass. Its average particle size is generally 3
It is 5 mm or less.

As described above, the crushed scrap (1) is mainly composed of copper, brass, zinc, other materials alone or the above materials mixed with each other, and the ratio thereof is not constant. Further, in order to improve the sorting accuracy, it is necessary to wash the surface of the sorting apparatus (A) according to the present invention in advance and to remove some dirt on the surface thereof before being applied. In addition, since the heavy liquid is contacted with the heavy liquid after the heavy liquid sorting step to remove some dirt, the cleaning operation can be omitted.

(3) is a conveying device, and in this embodiment, it comprises a parts feeder (3a) and a belt conveyor (3b). The parts feeder (3a) generates vibration in the rotating direction by the action of an electromagnet, and moves the crushed scrap (1) stored in the upper bowl (3c) while aligning it along its transport path, The crushed scrap (1) is supplied to the belt conveyor (3b) through the linear transfer path (3d) connected to the spiral transfer path (1).

The belt conveyor (3b) applies tension to the endless belt (7) suspended between the pulleys (8), drive wheels (9) for driving the endless belt (7), and endless belt (7). It is composed of a tension roller (10) and a drive motor (11). Reference numeral (12) is a bed, which is a plate-like member that supports the lower surface of the endless belt (7).

(4) is an image pickup device, which is attached to a gate-shaped support frame (13) installed on the frame (6) so as to straddle the endless belt (7), and is conveyed on the endless belt (7). The crushed scrap (1) is captured, and the image is converted into an electric signal and input to the hue recognition device (2).
Something like a CD camera is commonly used. Reference numeral (14) is an illuminating device for illuminating the imaging target area of the imaging device (4).

A pair of position sensors (15) are installed on both sides of the endless belt (7) so as to traverse just above the endless belt (7) in accordance with the shooting area of the image pickup device (4), so that crushed scrap
The passing time of the imaging area in (1) is detected. Position sensor (1
The timer (T) is activated by detecting 5). The shutter speed, the focus adjustment, or the aperture of the image pickup device (4) are appropriately selected according to the installation condition of the image pickup device (4), the brightness of the photographing portion, and the conveyance speed of the endless belt (7). Further, since the color of the crushed scrap (1) changes subtly depending on the lighting of the shooting area, the irradiation direction of light, and other shooting environment, it is possible to adjust so that the color of the selected material can be accurately captured.

The hue recognition device (2) has a built-in function of selecting the crushed scrap (1) photographed through the image pickup device (4), and a monitor TV (16) is installed. An effective screen (17) is displayed on the monitor TV (16), and a setting display section (17a) is provided below the effective screen (17).
, The setting display (17a) has a channel display (18),
There is an area display section (19), a saturation (brightness) display section (20) and a tolerance display section (21).

In the hue recognition device (2), the reference color of the material (1a) to be selected among the crushed scraps (1) photographed through the imaging device (4) (the reference color is set in advance in the hue recognition device (2)). If copper is used, red is selected, if brass is used, yellow is selected.) The area ratio to the reference area is calculated, and the area ratio is displayed on the area display section (19). Has become. The saturation (brightness) display section (20) is a section that displays the saturation and brightness of the captured image, and the tolerance display section (21) is a section that displays the output range (the target material (1a The area ratio corresponding to the content of () is displayed in a bar line in this section (21) .If the content is below the set tolerance, it is judged that the content is too small to be picked up. It is judged that it should be.). The saturation display and the brightness display can be switched by pressing a shift key (not shown).

On the monitor TV (16), the image taken by the image pickup device (4) is transferred. This effective screen (17) can be switched between a color image and a black and white image, a raw image and a binary image. In the binarized image, the portion of the color to be extracted appears on the effective screen as it is, and all other colors are displayed in gray. The standard area is
As shown in FIGS. 5 and 6, it means the area to be extracted from the image from the image pickup device (4) displayed on the effective screen (17),
You can select any range. As a result, when the reference area is decreased, the color area of the material (1a) to be extracted is increased (FIG. 6), and conversely, when the reference area is increased, the color area of the material (1a) to be extracted is decreased. (Fig. 5). Therefore, by appropriately selecting the reference area and tolerance settings, the target material (1
The most preferable content rate of a) can be selected.

In the hue recognition device (2), among the crushed scraps (1), if the crushed scraps (1) are to be selected from the crushed scraps (1), the material composed of only copper or the material having many copper components is selected. Select a color (red) that is close to the unique color of, and input it to the hue recognition device (2). This allows the imaging device
The image taken in (4) is binarized, and only the red color part is selectively extracted and displayed on the effective screen (17). All other parts are gray. When it is desired to extract brass after copper, yellow is selected and stored in the hue recognition device (2). As a result, the hue recognition device (2) first detects red and then yellow. Of course, the reverse is also possible. The selectable material (1a) is not limited to this, and if the materials mixed in the crushed scrap (1) each have a unique color and can be distinguished from each other, the color that matches each unique color should be used. By selecting and inputting them to the hue recognition device (2), the colors of each member can be selectively extracted one after another. The color selection method will be described later.

If the portion to be extracted is not clearly displayed on the effective screen, or if the background is also extracted, the saturation is adjusted so that an appropriate position image can be output on the effective screen (17). . Further, the area of the effective screen (17) can be freely scaled as described above. Active screen (17)
When the area of is defined, this becomes the reference area, and the monitor TV
It is displayed as an effective screen (17) on the entire surface of (16).

The tolerance display section (21) is for setting the upper and lower limits of the amount of the material (1a) to be selected contained in the crushed scrap (1). In the present invention, the lower limit is set. Is an important factor. Area display of the area display part (19) (= area ratio proportional to the content of the target material (1a) with respect to the reference area)
If the value does not reach the lower limit set in the tolerance display section (21), it means that the amount of material (1a) to be selected contained in the crushed scrap (1) is 0 or very small. The crushed scrap (1) is not selected by the sorting means (5) described later. In order to improve the sorting accuracy of the sorting device (A), the setting of the tolerance display section (21) and the setting of the standard area have a great meaning.

Reference numeral (5) is a sorting means installed downstream of the image pickup device (4). In this embodiment, it is composed of an injection nozzle (22) and a solenoid valve (23), and the solenoid valve (23) recognizes hue. It is controlled by the device (2). Further, the sorting apparatus of this embodiment (A)
In the crushed scrap (1), copper is selected first and brass is selected second, so that two sets of selecting means (5) are installed. (Of course, one kind may be used, or three or more kinds may be used if selection is possible.)

(24) is the first chute, which is the first injection nozzle (2
The crushed scrap (1), which is installed according to 2a) and was ejected and blown off by the operation of the first injection nozzle (22a).
Is designed to be stored. Second shot (25) is first
The crushed scrap (1), which is disposed adjacent to the downstream side of the chute (24) and is installed corresponding to the second injection nozzle (22b), operates the second injection nozzle (22b) and blows away the crushed scrap (1). It is like this. (26) is an endless belt on the third chute
Installed downstream of (7), to accommodate the crushed scrap (1) discharged from the endless belt (7) when the first injection nozzle (22a) and the second injection nozzle (22b) do not operate. Has become.

Next, the operation of the present invention will be described. First, the hue recognition device (2) is set prior to the crushed scrap (1) selection work. Turn on the power of the hue recognition device (2) and set the mounting position, shutter speed, focus stop, white balance, etc. of the imaging device (4) so that the crushed scrap (1) is clearly displayed by the imaging device (4). ,
Next, the image area within the range necessary for color extraction is set in the video taken out by the image pickup device (4). This area becomes the reference area. Next, a channel is selected, the extracted color is selected and input to the hue recognition device (2). If you want to extract copper, select red, which is close to the color unique to copper,
To extract brass, select a yellow color close to the unique color of brass and input it to the hue recognition device (2). Then, the brightness and saturation are corrected, and the color to be extracted is set so as to be accurately displayed on the monitor TV (16) as a binarized image. Next, the discriminant tolerance is set, and the output range (upper limit / lower limit) for the area of the extracted portion is set. here,
Area of extracted portion = reference area, output range = 2
It is the area of the color extracted by binarization. Finally, the actual crushed scrap (1) is photographed by the image pickup device (4) to confirm whether or not it is stably output. As a result of the confirmation, if there is no problem in continuous operation, switch to automatic operation and perform automatic operation.

Next, the automatic sorting operation of the crushed scrap (1) will be described. The crushed scrap (1) with an average particle size of 35 mm or less is put into the parts feeder (3a), and the parts feeder (3a) is operated to align the balls (3c) while orbiting them, and through the linear transfer path (3d). Supply the endless belt (7) in a line.

The crushed scrap (1) supplied onto the endless belt (7) is conveyed in one direction at a certain interval (that is, toward the image pickup device (4)) and is transferred to the image pickup device (4). The position sensor (15) senses the position just below, and the surface of the crushed scrap (1) is imaged by the imaging device (4) at the same time as the position sensor (15) senses. Then, this image is input to the hue recognition device (2) as a digital signalized electric signal.

The hue recognizing device (2) binarizes the input image signal and extracts only a designated signal (for example, a red signal when selecting copper) which has been input to the hue recognizing device (2) in advance. It is output to the valid screen (17) as a binarized screen. Here, the ratio of the area of the reference color portion of the image to the preset reference area in the hue recognition device (2) is calculated, and whether or not the area proportion exceeds the preset lower limit of the discrimination examination. When the area ratio exceeds the lower limit of the discrimination examination, it is determined that the crushed scrap (1) to be inspected contains more than the standard amount of the material (1a) to be selected as the recovery target. Judge, the first injection nozzle (22
a) is activated and the crushed scrap (1) is removed from the first chute (24)
It is designed to be blown away toward and collected.

The operation timing of the first injection nozzle (22a) is set by the timer (T). Similarly, if the crushed scrap (1) is a material rich in brass, the red color will not be extracted and the yellow color will be extracted. When the yellow color is extracted and the area ratio with respect to the reference area is equal to or higher than the lower limit of the discrimination examination, the second injection nozzle (22b) is input to the hue recognition device (2) so that the imaging device ( After passing 4), crushed scrap (1) immediately before the second injection nozzle (22b)
The electromagnetic valve (23b) is operated in accordance with the passage timing of the crushed scrap (1) to blow the crushed scrap (1) toward the second chute (25) to separate the crushed scrap (1).

Crushed scrap that neither red nor yellow is extracted
(1), or even if red or yellow is extracted, the crushed scrap (1) that does not reach the lower limit of discrimination examination does not contain the material to be selected (1a), or its content is the standard It is judged that the position does not reach, and it passes through as it is and is thrown into the third shoot (26). As a result, the crushed scrap (1) will be collected separately for each material.

In this embodiment, the sorting device (A) which collects copper and brass and other materials separately is described, but of course, the present invention is not limited to this, and a digital signal taken by the image pickup device (4) is used. When the converted electric signal is binarized by separating it into a unique color for each material, it is possible to separate other materials, or naturally it is also possible to separate two or more kinds. Not to mention the matter. Further, although the jet nozzle (22) is used as the selecting means (5) in the present embodiment, the present invention is not limited to this, and it is also possible to use a swing arm (27) as shown in FIG. 7, for example.

[0032]

As described above, according to the present invention, the color of the material to be selected among the crushed scraps is stored in advance, and only the color of the material having the same or similar color to that color is extracted. Since it is determined whether or not to collect the material by the area ratio of the reference area of the color that is the same as or similar to the color of the material that is input in advance, crushed scrap that contains the material to be collected at a certain ratio or more. There is an advantage that only the selective sampling can be performed and the sampling accuracy can be improved.

[Brief description of drawings]

FIG. 1 is a plan view of a sorting device according to the present invention.

FIG. 2 is a front sectional view of FIG.

FIG. 3 is a flowchart of a sorting method of the present invention.

FIG. 4 is a flowchart showing a setting procedure of the hue recognition device used in the present invention.

FIG. 5 is a front view showing a relationship between an effective screen and an area display according to the present invention.

FIG. 6 is another front view showing the relationship between the effective screen and the area display in the present invention.

FIG. 7 is a plan view of another embodiment of the selection means of the present invention.

[Explanation of symbols]

 (1)… crushed scrap (2)… hue recognition device

Claims (2)

[Claims] 1. A crushed scrap composed of one or a plurality of materials is conveyed at intervals and the reference color selected selectively from the reference color of the material to be selected and the surface color of the crushed scrap. The ratio of the area of the color portion to the reference area is input to the hue recognition device in advance, and the reference area ratio for sampling is input in advance in the color of the surface of the crushed scrap that has been conveyed. Only the reference color is selectively taken out, the area ratio of the area of the selectively taken out reference color to the standard area is calculated, and the detected crushed scrap is collected by comparing with the predetermined reference area ratio. A method for selecting crushed scrap, which comprises judging whether or not it should be done and selecting crushed scrap according to the judgment. 2. A transport device for transporting crushed scraps composed of one or a plurality of materials at intervals, an imaging device for collecting the surface color of the crushed scraps, and a reference color of the material to be selected. , The ratio of the area of the reference color portion selectively sampled from the surface color of the crushed scrap to the reference area, the reference area ratio in the case of sampling is input in advance, and the sample collected via the imaging device is conveyed. Of the colors of the surface of the crushed scrap, only the previously input reference color is selectively taken out, the area ratio of the area of the selectively taken out reference color to the standard area is calculated, and the area is determined in advance. Hue recognition device that judges whether the detected crushed scrap is to be collected by comparing with the reference area ratio, and sorting that selects crushed scrap according to the judgment of the hue recognition device A crushed scrap sorting device characterized by being configured with means.