JPH081100A - Color sorter for bottles - Google Patents
Color sorter for bottlesInfo
- Publication number
- JPH081100A JPH081100A JP16586694A JP16586694A JPH081100A JP H081100 A JPH081100 A JP H081100A JP 16586694 A JP16586694 A JP 16586694A JP 16586694 A JP16586694 A JP 16586694A JP H081100 A JPH081100 A JP H081100A
- Authority
- JP
- Japan
- Prior art keywords
- bottle
- color
- image pickup
- camera
- detector
- 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
Landscapes
- Sorting Of Articles (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は都市ごみのなかで、特に
リサイクル資源の対象となっているガラス廃びんの選別
方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for selecting a waste glass bottle, which is a target for recycling resources, of municipal solid waste.
【０００２】[0002]
【従来の技術及びその問題点】現在、都市ごみの各ごみ
処理のなかでリサイクルの対象として特に廃びんが選別
されているが、例えば各色毎に分け、選別してこれらは
破砕してカレットとし新しい同色のびんを製造するのに
使用したり、あるいはあるびんについてはそのままメー
カーに供給するようにしているが、これらはすべて作業
者の肉眼によるか、あるいは不完全な色検知装置にたよ
らねばならなかった。2. Description of the Related Art At present, waste bottles are particularly selected for recycling in each of the municipal waste treatments. For example, the waste bottles are sorted according to each color, sorted, and crushed into cullet. It is used to make new bottles of the same color, or some bottles are supplied to the manufacturer as-is, all of which must be visible to the operator or rely on an incomplete color detection device. There wasn't.
【０００３】[0003]
【発明が解決しようとする問題点】本発明は上述の問題
に鑑みてなされ、自動的に精度よく廃びんを色選別して
効率よくリサイクルの資源として使用し得る廃びんの選
別装置に関する。DISCLOSURE OF THE INVENTION The present invention has been made in view of the above problems, and relates to a waste bottle sorting apparatus which can automatically and accurately perform color sorting of waste bottles and can be efficiently used as a resource for recycling.
【０００４】[0004]
【問題点を解決するための手段】以上の目的は、びんを
所定の搬送路に沿って搬送する搬送機と、該搬送機の側
方に配設されたびん検出器と、該びん検出器の下流側に
配設されたカラー撮像カメラとを備え、前記びん検出器
の前方を搬送されるびんの先端部を該びん検出器が検出
してから所定時間後に前記カラー撮像カメラのシャッタ
ーを切り、前記びん検出器の出力とにより、前記びんの
長さが前記カラー撮像カメラの視野の長さを越えると検
知したときにはこの越えた長さに応じて所定のタイミン
グで複数回のシャッターを切るようにしたことを特徴と
するびんの色選別装置、によって達成される。[Means for Solving the Problems] The above object is to provide a carrier for carrying a bottle along a predetermined carrier path, a bottle detector disposed on the side of the carrier, and the bottle detector. A color image pickup camera disposed on the downstream side of the color image pickup camera, and the shutter of the color image pickup camera is released after a predetermined time has passed since the bottle detector detected the front end of the bottle conveyed in front of the bottle detector. When it is detected from the output of the bottle detector that the length of the bottle exceeds the length of the field of view of the color imaging camera, the shutter is released a plurality of times at a predetermined timing according to the length. The present invention is achieved by a bottle color selecting device, characterized in that
【０００５】[0005]
【作用】搬送機により所定の搬送路に沿って搬送される
びんは、びん検出器によりその先端部が検出されると、
例えば速度検出手段によりカラー撮像カメラの視野に入
るまでの時間が演算され、小びんであればその全体がひ
とつの視野に納まり、そのカラー撮像カメラの縦ｍ×横
ｎの画素数に応じた精度で公知のようにＲ信号、Ｂ信号
及びＧ信号をその色に応じて発生し、これをコンピュー
タで演算してその色を判別する。又、中びんあるいは大
びんでびん検出器及び速度検出器によりその長さが中び
んまたは大びんであると検知すると、上述のようにして
このびんの先端部からある長さ部分がカラー撮像カメラ
の視野に入るとシャッターが切られ、又、コンピュータ
がこのときのびんが視野の長さより大であるという指令
を与えてカラー撮像カメラのシャッターを所定のタイミ
ングで再び切る。これにより例えばその全体が２回のシ
ャッターでその全体が撮像され、そのカラー撮像カメラ
の画素数に応じた精度でそのびんの色を正確に判別する
ことができる。When the bottle detector detects the tip of the bottle conveyed by the conveyor along a predetermined conveying path,
For example, the speed detecting means calculates the time required to enter the visual field of the color imaging camera, and if it is a small bottle, the whole is contained in one visual field, and with an accuracy according to the number of vertical m × horizontal n pixels of the color imaging camera. As is well known, an R signal, a B signal and a G signal are generated according to their colors, and the colors are discriminated by calculating them by a computer. Further, when the length of the medium bottle or the large bottle is detected by the bottle detector and the speed detector as the medium bottle or the large bottle, the portion from the tip of the bottle to the color image pickup camera is detected as described above. The shutter is released when entering the field of view, and the computer gives a command that the bottle at this time is larger than the length of the field of view, and the shutter of the color image pickup camera is again released at a predetermined timing. Thereby, for example, the whole is imaged by the shutter twice, and the color of the bottle can be accurately discriminated with accuracy according to the number of pixels of the color imaging camera.
【０００６】又、第２の発明によれば、同様にびん検出
手段と例えば速度検出手段とによりびんの長さを検知
し、これによりカラー撮像カメラの視野におけるウイン
ドウの大きさを変えるようにしているので、このカメラ
の画素数で小びんも中びんも（ある場合には大びんも）
同じ精度で色を判別することができる。According to the second aspect of the invention, similarly, the length of the bottle is detected by the bottle detecting means and the speed detecting means, and the size of the window in the field of view of the color image pickup camera is changed. Therefore, both small bottles and medium bottles (and large bottles, if any) are displayed with the number of pixels of this camera.
Colors can be distinguished with the same accuracy.
【０００７】[0007]
【実施例】以下、本発明の実施例によるびんの色選別装
置について説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A bottle color selecting apparatus according to an embodiment of the present invention will be described below.
【０００８】図１及び図２において本実施例の色選別装
置は全体として１で示され、ベルトコンベヤ２において
はベルト５が駆動ローラ３と従動ローラ４とに巻装され
ており、従動ローラ４に同心的にパルスエンコーダＥが
取り付けられている。In FIG. 1 and FIG. 2, the color selecting apparatus of this embodiment is indicated by 1 as a whole, and in the belt conveyor 2, the belt 5 is wound around the driving roller 3 and the driven roller 4, and the driven roller 4 is used. A pulse encoder E is concentrically attached to.
【０００９】ベルトコンベヤ２の上流側端部にはベルト
５の両側で対向して発光素子６と受光素子７とが配設さ
れており、これによりびんの検出装置が構成される。ベ
ルトコンベヤ２の従動ローラ４にパルスエンコーダＥが
取り付けられているのであるが、そのパルス出力がコン
ピュータ１０に供給される。他方、上述の受光素子７の
受光信号が供給され、これによりベルトコンベヤ２のベ
ルト５の走行速度、すなわちこの上で搬送されるびんの
搬送距離、すなわちその長さを検出するように構成され
ている。発光素子６及び受光素子７からなるびん検出装
置から下流側に所定距離おいてベルトを挟んで相対向し
て光源８及びカラー撮像カメラ９が配設されており、こ
のカラー撮像カメラ９の撮像信号がコンピュータ１０に
供給される。上述したようにびん検出装置（６、７）及
びパルスエンコーダＥによりカラー撮像カメラ９の前方
を通過するびんの長さが検出されるが、この長さに応じ
てコンピュータ１０がカラー撮像カメラ９に所定のタイ
ミングで何回シャッターを切るか、指令するように構成
されている。撮像カメラがＣＣＤ（ＣｈａｒｇｅＣｏｕ
ｐｌｅｄ Ｄｅｖｉｃｅ）素子で成るものであれば、１
画面の全画素を１回走査することが１回のシャッターと
なる。A light emitting element 6 and a light receiving element 7 are arranged on both sides of the belt 5 at the upstream end of the belt conveyor 2 so as to face each other. The pulse encoder E is attached to the driven roller 4 of the belt conveyor 2, and its pulse output is supplied to the computer 10. On the other hand, the light receiving signal of the above-mentioned light receiving element 7 is supplied, so that the traveling speed of the belt 5 of the belt conveyor 2, that is, the conveying distance of the bottle conveyed on this, that is, its length, is detected. There is. A light source 8 and a color image pickup camera 9 are arranged facing each other across a belt at a predetermined distance from a bottle detection device including a light emitting element 6 and a light receiving element 7, and an image pickup signal of the color image pickup camera 9 is provided. Are supplied to the computer 10. As described above, the bottle detection device (6, 7) and the pulse encoder E detect the length of the bottle passing in front of the color imaging camera 9. The computer 10 controls the color imaging camera 9 according to this length. It is configured to instruct how many times the shutter should be released at a predetermined timing. The image pickup camera is a CCD (ChargeCou).
1 if the device consists of a pled device)
Scanning all the pixels of the screen once makes one shutter.
【００１０】カラー撮像カメラ９の下流側にはベルト５
を挟んで、かつ相対向してダイバータ１１、１２、１３
及び収容ケース１４、１５、１６が配設され、ベルトコ
ンベヤ２の排出端の直下方には収容ケース１７が配設さ
れているが、これらにはそれぞれ所定の色のびんｍ1 、
ｍ2 、ｍ3 及び選別すべきいづれの色にも属さなかった
びん、無色透明のびんｍ4 を収容するようにしている。
ダイバータ１１〜１３は各々駆動軸１１ａ〜１３ａの回
動で実線と一点鎖線で示す位置をとる。A belt 5 is provided downstream of the color image pickup camera 9.
The diverters 11, 12, and 13 are sandwiched between and facing each other.
And storage cases 14, 15 and 16 and a storage case 17 is disposed immediately below the discharge end of the belt conveyor 2. These have a predetermined color bottle m 1 , respectively.
It is intended to accommodate m 2 , m 3 and a bottle that does not belong to any of the colors to be selected and a colorless transparent bottle m 4 .
The diverters 11 to 13 assume the positions shown by the solid line and the alternate long and short dash line by the rotation of the drive shafts 11a to 13a, respectively.
【００１１】本発明の第１実施例は以上のように構成さ
れるが、次にこの作用について説明する。The first embodiment of the present invention is constructed as described above. Next, this operation will be described.
【００１２】今、発光素子６の前方を通過するびんが図
３のＡで示すように、小びんｍとする。このびんｍが発
光素子６の前方を通過するとともに、パルスエンコーダ
Ｅから発生するパルスをコンピュータ１０がカウント
し、所定の回数になるとカメラ９のシャッターを切る。
この時、図３のＡで示すように視野Ｓ内に図示するよう
な位置に小びんｍが撮像されて（シャッターを切る）い
るのであるが、この視野Ｓの縦横に多数並んでいる画素
の数に応じた精度でこのびん全体の色を判別してコンピ
ュータ１０はその色に応じて収容ケース１４、１５、又
は１６に排出すべくダイバータ１１、１２、１３のいづ
れかを一点鎖線で示す位置に駆動してここに排出する。
カメラ９で撮像されてからダイバータ１１〜１３までの
搬送距離もエンコーダＥのパルス数で決定される。Now, let us say that the bottle passing in front of the light emitting element 6 is a small bottle m as shown by A in FIG. As the bottle m passes in front of the light emitting element 6, the computer 10 counts the pulses generated from the pulse encoder E, and the shutter of the camera 9 is released when the number of times reaches a predetermined number.
At this time, as shown in A of FIG. 3, the vial m is imaged (the shutter is released) at the position shown in the view S, but the number of pixels arranged in the vertical and horizontal directions of the view S is large. The computer 10 drives the diverter 11, 12, or 13 to the position indicated by the alternate long and short dash line in order to determine the color of the entire bottle with the accuracy according to the above, and to discharge the diverter 11, 12, or 13 according to the color. And then discharge it here.
The transport distance from the diverter 11 to 13 after the image is picked up by the camera 9 is also determined by the pulse number of the encoder E.
【００１３】又、次に発光素子６の前方を通過するびん
が中びんＭである場合には、やはりパルスエンコーダＥ
のパルスのカウント数からこのびんの長さを検知し、こ
れに応じた回数、コンピュータ１０はカラー撮像カメラ
９のシャッターを所定のタイミングで切るように指令す
る。図３Ｂで示すように１回目のシャッターにおいては
視野ＳにおいてＳ1 で示すように中びんＭの前方部分Ｍ
ａが一点鎖線で示すように、撮像される。次のシャッタ
ーではＳ2 で示すように、このびんＭの後方部分Ｍｂが
実線で示すように、撮像される。なお、図をわかりやす
くするために、一回目及び二回目のシャッタでびんＭは
連続して描かれているが、実際にはＭｂの部分は視野Ｓ
においてほぼ中央部を占めるように撮像されている。一
回目のシャッターにおける前方部分Ｍａにおける部分も
同様である。When the bottle passing in front of the light emitting element 6 is the middle bottle M, the pulse encoder E is also used.
The length of this bottle is detected from the number of counted pulses of, and the computer 10 commands the shutter of the color image pickup camera 9 to be released at a predetermined timing a number of times corresponding to this. As shown in FIG. 3B, in the first shutter, in the visual field S, as shown by S 1 , the front portion M of the middle bottle M is shown.
An image is taken as indicated by a by a chain line. At the next shutter, the rear portion Mb of the bottle M is imaged as indicated by the solid line, as indicated by S 2 . Note that the bottle M is drawn continuously with the first and second shutters for the sake of clarity, but in reality, the area Mb is the field of view S.
In, the image is taken so as to occupy almost the central part. The same applies to the front portion Ma of the first shutter.
【００１４】以上のようにして、中径びんＭに対しても
その全体が同じ画素数の一定の視野Ｓで撮像されるの
で、コンピュータ１０では各部についてＲ、Ｇ、Ｂ信号
を分析して、このびんの色を正確に判別することができ
る。この判別に応じてダイバータ１１、１２、１３のい
づれかを駆動してこれに対応する収容ケース１４、１
５、１６のいづれかにこのびんを排出する。びんｍ1 、
ｍ2 、ｍ3 は例えば茶色、青色、黒色である。As described above, the entire medium-sized bottle M is also imaged with a constant field of view S having the same number of pixels. Therefore, the computer 10 analyzes the R, G and B signals for each part, The color of this bottle can be accurately identified. In response to this determination, one of the diverters 11, 12, 13 is driven to accommodate the corresponding housing case 14, 1,
Drain the bottle in either 5 or 16. Bottle m 1 ,
m 2 and m 3 are, for example, brown, blue and black.
【００１５】以上のようにして、カラー撮像カメラ９の
視野が小さくとも、いかなる大きさのびんでもその全体
を撮像することにより、その色を正確に検知することが
できる。なお、本実施例で選別するどの色にも属さない
びん及び無色透明のびんｍ4はベルトコンベヤ２の排出
端の直下方に配設された収容箱１７内に排出される。As described above, even if the field of view of the color image pickup camera 9 is small, the color of a bottle of any size can be accurately detected by taking an image of the entire bottle. The bottles that do not belong to any color and the colorless and transparent bottle m 4 that are selected in the present embodiment are discharged into the storage box 17 arranged immediately below the discharge end of the belt conveyor 2.
【００１６】図４は本発明の第２実施例を示すものであ
るが、図示しない他の構成は第１実施例と同様である。Although FIG. 4 shows a second embodiment of the present invention, the other construction not shown is the same as that of the first embodiment.
【００１７】すなわち、本実施例でも発光素子６と受光
素子７とにより色を選別すべきびんの長さが検知される
のであるが、この長さに応じてカラー撮像カメラ９’の
視野Ｓ（最大のウインドウ）においてウインドウの大き
さをＡ、Ｂで示すように切り換える。公知のようにウイ
ンドウの大きさを変えても視野Ｓ（ウインドウ最大時）
の縦×横の画素数は変わらずに大小に切り換わるために
Ａで示すように小びんｍが小さなウインドウＳ1 でその
全体を撮像され、又、中びんＭはＢで示すように大きな
ウインドウＳ2 でその全体が撮像され、共に同画素数で
同じ精度でその全体の色を分析することができて正確に
その色を判別することができる。That is, in the present embodiment as well, the length of the bottle whose color is to be selected is detected by the light emitting element 6 and the light receiving element 7, and the visual field S (of the color image pickup camera 9'is detected according to this length. In the maximum window), the window size is switched as shown by A and B. The field of view S (when the window is maximum) even if the window size is changed as is known
Since the number of pixels in the vertical and horizontal directions is not changed and is switched to large or small, the whole of the small bottle m is imaged in a small window S 1 as shown by A, and the middle bottle M is shown as a large window S in B. The entire image is captured in 2 , and the color of the entire image can be analyzed with the same number of pixels and the same accuracy, and the color can be accurately determined.
【００１８】以上、本発明の各実施例について説明した
が、勿論、本発明はこれらに限定されることなく、本発
明の技術的思想に基いて種々の変形が可能である。Although the respective embodiments of the present invention have been described above, the present invention is not limited to these, and various modifications can be made based on the technical idea of the present invention.
【００１９】例えば以上の第１実施例では、２回のシャ
ッターを切って全体を撮像してその色を判別するように
したが、更に長いびんの場合にはその長さに応じて複数
回シャッターを切るようにしてもよい。For example, in the first embodiment described above, the shutter is released twice and the whole image is picked up to discriminate its color. However, in the case of a longer bottle, the shutter is released a plurality of times depending on the length. You may turn off.
【００２０】又、上記実施例ではびんの検出手段として
発光素子６及び受光素子７を設けたが、他の手段、例え
ば超音波発生手段を側方に配設してその前方を通過する
びんを検知するようにしてもよい。In the above embodiment, the light emitting element 6 and the light receiving element 7 are provided as the bottle detecting means. However, other means, for example, an ultrasonic wave generating means is provided on the side and a bottle passing in front of the bottle is used. You may make it detect.
【００２１】又、以上の実施例では、びんの搬送速度を
パルスエンコーダＥにより、検出するようにしたが、定
速度モータで駆動され、ベルトと従動ローラ及び駆動ロ
ーラとの間にスリップがない場合にはこのような速度検
出手段は不要である（びん検出器がびんを検出している
時間でその長さがわかる）。又、びんの搬送手段として
ベルトコンベヤを用いたが、これに代えて振動コンベヤ
を用いてもよい。この場合には、トラフの振動を定振巾
制御するようにすれば搬送速度検出手段は不要である。
すなわち、パルスエンコーダの代わりに時間をその搬送
速度（振巾×振動数＝一定で搬送速度がわかる）にかけ
ることにより、びんの長さを判別することができる。In the above embodiment, the transport speed of the bottle is detected by the pulse encoder E. However, when the belt is driven by a constant speed motor and there is no slip between the belt and the driven roller and the drive roller. Does not require such a speed detection means (the length is known from the time when the bottle detector is detecting the bottle). Further, although the belt conveyor is used as the bottle conveying means, a vibrating conveyor may be used instead. In this case, if the vibration of the trough is controlled with a constant amplitude, the conveying speed detecting means is unnecessary.
That is, the length of the bottle can be discriminated by applying the time to the transport speed (the swing width × the number of vibrations = constant to know the transport speed) instead of using the pulse encoder.
【００２２】又、上記第２実施例ではウインドウの大き
さをＳ1 、Ｓ2 の２段階に切り換えるようにしたが、更
に多数の段階に切り換えるようにしてもよい。Further, in the second embodiment, the size of the window is switched to two stages of S 1 and S 2 , but it may be switched to more stages.
【００２３】[0023]
【発明の効果】以上述べたように、本発明のびんの色選
別装置によれば、いかなるサイズのびんに対しても小型
のカラー撮像カメラでその色を正確に検出することがで
きる。As described above, according to the bottle color selecting apparatus of the present invention, the color of any size bottle can be accurately detected by the small color image pickup camera.
【図１】本発明の第１実施例によるびんの色選別装置の
側面図である。FIG. 1 is a side view of a bottle color selecting device according to a first embodiment of the present invention.
【図２】同平面図である。FIG. 2 is a plan view of the same.
【図３】同実施例の作用を説明するための撮像カメラの
視野の正面図であり、Ａは１回のシャッターでの撮像視
野であり、Ｂは２回のシャッターでの撮像視野を示す図
である。FIG. 3 is a front view of the field of view of the imaging camera for explaining the operation of the same embodiment, where A is the field of view with one shutter and B is the field of view with two shutters. Is.
【図４】図４は本発明の第２実施例におけるカラー撮像
カメラのウインドウの大小切換え状況を示す図で、Ａは
小なるウインドウ、Ｂは大なるウインドウの視野を示す
図である。FIG. 4 is a diagram showing a window size switching state of a color imaging camera according to a second embodiment of the present invention, in which A is a small window and B is a field of view of a large window.
１ びんの色選別装置 ２ ベルトコンベヤ ６ 発光素子 ７ 受光素子 ８ 光源 ９ カラー撮像カメラ ９’ カラー撮像カメラ １０ コンピュータ 1 Bottle Color Selector 2 Belt Conveyor 6 Light Emitting Element 7 Light Receiving Element 8 Light Source 9 Color Imaging Camera 9'Color Imaging Camera 10 Computer
Claims (2)
送機と、該搬送機の側方に配設されたびん検出器と、該
びん検出器の下流側に配設されたカラー撮像カメラとを
備え、前記びん検出器の前方を搬送されるびんの先端部
を該びん検出器が検出してから所定時間後に前記カラー
撮像カメラのシャッターを切り、前記びん検出器の出力
とにより、前記びんの長さが前記カラー撮像カメラの視
野の長さを越えると検知したときにはこの越えた長さに
応じて所定のタイミングで複数回のシャッターを切るよ
うにしたことを特徴とするびんの色選別装置。1. A transporter for transporting a bottle along a predetermined transport path, a bottle detector disposed on the side of the transporter, and a color imager disposed on the downstream side of the bottle detector. With a camera, the shutter of the color imaging camera is released after a predetermined time has passed since the bottle detector detected the tip of the bottle conveyed in front of the bottle detector, and the output of the bottle detector, When it is detected that the length of the bottle exceeds the length of the field of view of the color image pickup camera, the shutter is released a plurality of times at a predetermined timing according to the length of the exceeded length. Sorter.
送機と、該搬送機の側方に配設されたびん検出器と、該
びん検出器の下流側に配設されたカラー撮像カメラとを
備え、前記びん検出器の前方を搬送されるびんの先端部
を該びん検出器が検出してから所定時間後に前記カラー
撮像カメラのシャッターを切り、前記びん検出器の出力
により検出されたびんの長さに応じて前記カラー撮像カ
メラの視野におけるウインドウの大きさを変えるように
したことを特徴とするびんの色選別装置。2. A transporter for transporting a bottle along a predetermined transport path, a bottle detector disposed on the side of the transporter, and a color imager disposed on the downstream side of the bottle detector. A camera, the shutter of the color image pickup camera is released after a predetermined time has passed since the bottle detector detected the front end portion of the bottle conveyed in front of the bottle detector, and the output of the bottle detector detects A bottle color selecting device, characterized in that the size of the window in the field of view of the color imaging camera is changed according to the length of the bottle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16586694A JP3312488B2 (en) | 1994-06-24 | 1994-06-24 | Bottle color sorter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16586694A JP3312488B2 (en) | 1994-06-24 | 1994-06-24 | Bottle color sorter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH081100A true JPH081100A (en) | 1996-01-09 |
| JP3312488B2 JP3312488B2 (en) | 2002-08-05 |
Family
ID=15820477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16586694A Expired - Fee Related JP3312488B2 (en) | 1994-06-24 | 1994-06-24 | Bottle color sorter |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3312488B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102385888A (en) * | 2010-09-03 | 2012-03-21 | 索尼公司 | Control terminal apparatus and control method |
| KR101314739B1 (en) * | 2012-05-03 | 2013-10-08 | 계명대학교 산학협력단 | Ball classification system using of photo and color sensor |
| CN103447248A (en) * | 2013-09-18 | 2013-12-18 | 金坛市金旺包装科技有限公司 | Bottle inspection and elimination device and working method thereof |
| KR101715686B1 (en) * | 2015-12-11 | 2017-03-13 | 한국식품연구원 | Selection apparatus for vegetables |
| WO2018084477A3 (en) * | 2016-11-02 | 2018-08-09 | 주식회사 엘지화학 | System for detecting, removing, transferring, and retrieving incompletely dried raw material |
-
1994
- 1994-06-24 JP JP16586694A patent/JP3312488B2/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102385888A (en) * | 2010-09-03 | 2012-03-21 | 索尼公司 | Control terminal apparatus and control method |
| KR101314739B1 (en) * | 2012-05-03 | 2013-10-08 | 계명대학교 산학협력단 | Ball classification system using of photo and color sensor |
| CN103447248A (en) * | 2013-09-18 | 2013-12-18 | 金坛市金旺包装科技有限公司 | Bottle inspection and elimination device and working method thereof |
| KR101715686B1 (en) * | 2015-12-11 | 2017-03-13 | 한국식품연구원 | Selection apparatus for vegetables |
| WO2018084477A3 (en) * | 2016-11-02 | 2018-08-09 | 주식회사 엘지화학 | System for detecting, removing, transferring, and retrieving incompletely dried raw material |
| US10744535B2 (en) | 2016-11-02 | 2020-08-18 | Lg Chem, Ltd. | System for detecting, removing, transferring, and retrieving incompletely dried raw material |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3312488B2 (en) | 2002-08-05 |
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