WO2011158656A1 - 色彩選別機 - Google Patents
色彩選別機 Download PDFInfo
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- WO2011158656A1 WO2011158656A1 PCT/JP2011/062646 JP2011062646W WO2011158656A1 WO 2011158656 A1 WO2011158656 A1 WO 2011158656A1 JP 2011062646 W JP2011062646 W JP 2011062646W WO 2011158656 A1 WO2011158656 A1 WO 2011158656A1
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- image
- defective
- granular material
- sorting
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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
- B07C5/3425—Sorting according to other particular properties according to optical properties, e.g. colour of granular material, e.g. ore particles, grain
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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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
- B07C5/366—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means during free fall of the articles
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- 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
- G01N21/85—Investigating moving fluids or granular solids
Definitions
- the present invention relates to an apparatus for sorting good and bad granular materials by color.
- Light is projected onto the material to be sorted (granular material), and the difference between the amount of light from this material to be sorted and the amount of background light as a reference is detected by an optical sensor, etc.
- a color sorter that sorts and removes particulate matter that does not have a predetermined color (light quantity) by an ejector such as a blast nozzle is well known. And the normal granular material (good particle) is mixed to some extent in the selected granular material which does not have the predetermined color. For this reason, normally, the secondary selection part which re-sorts a good grain from the granular material discharged
- the sorting ratio is a ratio of the total weight of defective grains mixed in the granular material separated on the defective grain opening side to the total weight of defective grains mixed in the granular material as a raw material.
- Patent Document 1 Japanese Patent No. 3044701
- the conveyor surface 101 of the belt conveyor is partitioned by a partition wall 102 to form a secondary sorting transport surface 103, and for secondary sorting.
- a vibration supply rod (feeder, not shown), a detection unit 104 and an ejector 105 are provided, and the control unit has a positive reference voltage (threshold value) for primary sorting and secondary sorting.
- a switch for outputting or stopping a signal from each comparator is also provided.
- the primary sorting and the secondary sorting are performed.
- the primary sorting is performed by a switch in the secondary sorting.
- the reference voltage is switched and set to the opposite of, and the good grains with a smaller number than the number of defective grains are removed by the ejector (reverse strike).
- the color sorter disclosed above can set a positive reference voltage or a negative reference voltage in accordance with the mixing ratio of defective grains for primary sorting and secondary sorting, or sorting by primary sorting and secondary sorting.
- the sensitivity can be changed, or the above-mentioned “counterstroke” can be set for the secondary sorting.
- FIGS. 7A, 7B and 8 show the ejector nozzle 105 in the multi-channel type color sorter.
- the interval between two adjacent rows of blast nozzle ports 105a and 105b is formed to be as narrow as about 1.0 mm.
- the conventional color sorter is designed to prevent the defective particles from being missed when the defective particles approach the good particles and pass near the blast nozzle port 105a.
- the blast nozzle ports 105b approaching the good grains together with the nozzle ports 105a are set to operate simultaneously in two rows to blast and remove. For this reason, the yield tends to decrease. Further, as shown in FIG.
- the present invention makes the primary sorting unit and the secondary sorting unit different in both the sorting algorithm and the operation of the ejector nozzle, so that when the defective particles are separated, the good particles are wound together and separated. Therefore, it is a technical problem to provide a color sorter that can suppress a decrease in yield as a result.
- the present invention provides a primary sorting transfer means for causing granular materials as raw materials to flow down in a strip shape, an optical detection section provided on a fall trajectory of the granular material falling from the transfer means, and the optical detection section.
- a primary sorting section provided with an ejector means for removing primary defective grains from normal granular materials provided below, and a secondary sorting section for causing primary defective grains removed in the primary sorting section to flow down in multiple rows.
- Each of the optical detection units in the primary sorting unit and the secondary sorting unit includes a binarization unit that binarizes an image of a granular material obtained by imaging, and an image obtained by the binarization unit.
- a defect detecting means for extracting a defective part of the granular material from the image, a shrinking means for performing a shrinking process on the image of the external part of the granular material obtained by the binarizing means, and the granular material obtained by the defect detecting means And an expansion means for performing an expansion process on the image of the defective portion of the image forming apparatus, and a combining means for combining the contracted image of the outer portion obtained by the contracting means and the expanded image of the defective portion obtained by the expanding means, and determining the ejector operation.
- the ejector operation determining means operates the ejector means for the primary sorting section to operate the blast nozzle port for removing the primary defective particles and the blast nozzle port adjacent to the blast nozzle port.
- the ejector means for the next sorting unit is operated only for the blast nozzle port for removing the secondary defective particles.
- the contraction means performs at least one four-region contraction process on the image of the outer shape portion of the granular material obtained by the primary selection unit, while the secondary selection unit A lateral shrinkage process is performed a plurality of times on the image of the outer portion of the obtained granular material.
- the expansion means performs an 8-neighbor expansion process on the image of the defective portion of the granular material obtained by the primary sorting section a plurality of times, while obtaining it by the secondary sorting section.
- a feature is that the 8-neighbor expansion process is performed a plurality of times on the image of the defective part of the granular material.
- center position calculating means for calculating a center position in the dropping direction of the granular material based on the image obtained by the synthesizing means.
- an image of a granular material captured by an imaging unit such as a CCD camera incorporated in an optical detection unit is binarized at a predetermined threshold value by a binarizing unit, and defect detection is performed.
- the means counts the black pixels of the binarized image to determine the presence or absence of a defective part of the granular material.
- the shrinking means performs a shrinking process on the binarized image related to the outer portion of the granular material, and generates a shrinkage image. As a result, the outer portion of the image is contracted in the direction of the center position of the grain, so that it is possible to set only the blast nozzle port located in the region near the center position of the grain.
- the expansion unit performs expansion processing on the binarized image related to the defective portion of the granular material, and generates an expanded image.
- the defect portion can be emphasized and taken into the image of the contracted outer shape portion.
- the position of the particulate matter is recognized based on the shrinkage image of the outer portion obtained by the shrinking means in relation to the blast nozzle port, and whether or not it is a defective grain based on the expansion image of the defective portion. Make a decision.
- the image of the contracted outline part and the image of the defect defected part are combined by a combining unit by a known method such as addition, subtraction, or multiplication.
- the ejector operation determining means operates the blast nozzle port for removing the primary defective particles and the blast nozzle port adjacent to the blast nozzle port at the same time in the primary sorting, and the secondary sorting in the secondary sorting.
- sorting with an emphasis on quality that can prevent omission of defective grains can be prevented, while in the secondary sorting section, good grains are accompanied by separation of defective grains. Sorting can be performed with an emphasis on improving yield, which prevents separation.
- the shrinking means in the shrinking means, the image of the outer portion of the granular material obtained by the primary sorting unit is subjected to the 4-neighbor shrinking process at least once, while being obtained by the secondary sorting unit. Since the image of the outer portion of the granular material is subjected to the lateral contraction process a plurality of times, the image processing load can be reduced in the secondary sorting section, while the outer shape of the defective grain image is reduced in the secondary sorting section.
- the center of gravity is shrunk in the direction of the center, and the center of gravity of the granular material moves to the center of the jet nozzle opening in the width direction.
- the ejector to be operated is clearly identified, so only the defective particles are accurately and accurately identified. Can be removed.
- the expansion means performs the 8-neighbor expansion process a plurality of times on the image of the defective portion of the granular material obtained by the primary sorting section, while being obtained by the secondary sorting section. Since the image of the defective part of the granular material has been subjected to the 8-neighbor expansion process a plurality of times, the defective part is emphasized so that the information on the defective part is not lost due to the shrinking process of the image of the external part of the granular material. It becomes possible to process.
- the invention according to claim 4 further includes center position calculating means for calculating the center position of the falling direction of the granular material based on the image obtained by the synthesizing means. The position O can be obtained, and defective grains can be accurately and accurately removed.
- FIG. 1 is a schematic diagram of a color sorter according to an embodiment of the present invention.
- This color sorter 1 is capable of sorting good grains and defective grains or foreign matters mixed in the raw materials by color using grains, resin pellets, beans, and other granular materials as raw materials.
- the color sorter 1 has a primary sorting unit and a secondary sorting unit arranged in parallel, and each sorter is provided with the same color sorter components as in the prior art.
- a chute 2 as a transfer means arranged at an angle of about 60 degrees from the horizontal position, and a storage tank 3 for storing granular materials such as grains.
- the vibration feeder 4 for conveying the granular material from the storage tank 3 to the chute 2, the optical detection unit 5 provided across the flow path of the granular material flowing down from the lower end of the chute 2, and further provided below
- An ejector nozzle 6, a primary fine particle discharge rod 7 which is on the same inclination line as the chute 2 below the ejector nozzle 6 and receives the granular material of the flow path without receiving the blast from the ejector nozzle 6, and the ejector nozzle 6
- a primary defective particle discharge rod 8 for recovering the defective particles from the normal granular material in response to the gust of air.
- the chute 2 for the primary sorting part has a flat plate shape without a groove part in order to slide the granular material in a wide band shape. Further, in order to prevent the granular material from overflowing from the chute 2 and to prevent the granular material to be selected from floating from the bottom surface while sliding on the chute 2, a chute cover may be provided at a predetermined interval from the bottom surface. Good.
- the vibration feeder 4 has a feeder trough 4a supported on a support portion 4b, and can supply particulate matter to the chute 2 by operating a vibration device such as an electromagnetic drive coil.
- the optical detection unit 5 includes a photosensor unit including a CCD camera 9 for visible light, a NIR camera 10 for near-infrared light, a visible light source 11 including a fluorescent lamp, and a near-field including a halogen lamp.
- An infrared light source 12 and an opposing background 13 for the optical sensor unit are provided.
- Reference numeral 14 denotes an elevator for supplying the secondary sorting unit to re-sort the defective grains sorted by the primary sorting unit.
- the difference from the primary sorting section is the shape of the chute 2A.
- the chute 2A for secondary sorting has a plurality of groove portions for sliding in a state where the granular material is divided into a plurality of rows (multi-row). Is formed.
- As the cross-sectional shape of the groove portion a U-shaped shape, a V-shaped shape, a concave shape, or the like can be appropriately employed.
- a secondary fine grain discharge rod 7A which is on the same inclination line as the chute 2A below the ejector nozzle 6 and receives the granular material of the flow trajectory as it is without receiving the blast from the ejector nozzle 6, and the ejector nozzle 6
- a secondary defective particle discharge rod 8A for collecting the defective particles from the normal granular material by receiving the blast is provided. The rest of the configuration is almost the same as that of the primary sorting unit.
- Reference numeral 15 denotes a control unit for discriminating between good and defective granular materials based on the image data acquired by the optical detection unit 5 and for controlling arithmetic processing and a color sorter.
- the specific configuration of the control unit is preferably configured by an electronic computer such as a computer.
- an input unit such as a keyboard and a mouse, a CPU that performs calculation / judgment / image processing, and the color sorter 1 are provided.
- the program is composed of a storage device (RAM, ROM, hard disk drive, etc.) for storing an operation program for operation or editing image data.
- the control unit 15 is electrically connected to the vibration feeder 4, the CCD camera 9, the NIR camera 10, the visible light source 11, the near-infrared light source 12, and the ejector nozzle 6 drive unit, etc. Is.
- FIG. 2 is a block diagram of the image processing unit 16 included in the control unit 15.
- the image processing unit 16 synchronizes images from the CCD camera 9 and the like, and also performs a preprocessing unit 17 that performs shading correction on an image acquired by biased illumination, and a binarization process that binarizes the corrected image.
- a defect detection unit 19 that counts the pixels of the black portion of the binarized image and determines that a defective portion exists in the granular material when a predetermined threshold value or more is detected, and the defect detection unit 19
- a delay circuit 20 for matching the timing with the first contraction processing unit 21 for contracting the binarized image from which the outer portion of the granular material is extracted, and the image contracted by the first contraction processing unit 21
- a second contraction processing unit 22 that performs contraction processing
- a first expansion processing unit 23 that performs expansion processing on the binarized image from which the defect of the granular material has been extracted, and an image expanded by the first expansion processing unit 23 are further processed.
- An overlapping processing unit 24, and an overlap processing unit 25 that determines, based on the image, two rows of blast nozzle ports and a blast nozzle port adjacent to a particle having a defective portion so as to perform blast operation simultaneously,
- a valve assignment processing unit 26 for generating an on / off signal of the valve of the ejector nozzle, a center position calculating unit 27 for determining the center position of the granular material in the falling direction of the granular material, an injection delay (delay time) processing unit 28,
- the main part is composed of an injection length (injection time) processing unit 29.
- the ejector operation determining means described in the present invention indicates a combination of the overlap processing unit 25 and the valve allocation processing unit 26.
- the CCD camera 9 includes a CCD element composed of a CCD chip 9a.
- the CCD chip 9a has a total of 2048 pixels (pixels) when viewed in the horizontal direction. From 1 to 1800, the primary sorting unit (width direction of the flat chute 2) is monitored, and 1801 to 2048. Up to this point, the secondary sorting part (the width direction of the multi-row chute 2A in which a plurality of grooves are formed) is monitored. As a result, since the primary sorting unit and the secondary sorting unit are classified by the pixel area, different image processing can be performed in the primary sorting unit and the secondary selection sorting unit.
- FIG. 3 is a conceptual diagram of an original image acquired by the CCD camera 9 and various images when the original image is converted by the image processing unit 16.
- FIG. 3a shows a state in which defective grains having a defect portion shown in black straddling (or straddling) between the jet nozzle openings 6a and 6b of the ejector nozzle 6 pass. That is, when the length of defective grains (the length viewed in the width direction of the ejector nozzle 6) is (L), the blast nozzle port 6a side occupies a ratio of 75% of the total length (L), while the blast The portion protruding from the nozzle port 6a is 25% of the total length (L).
- this defective particle has already been picked up by the CCD camera 9 installed on the upstream side before reaching the jet nozzle openings 6a and 6b.
- the obtained image is given to the image processing unit 16 as an original image (image a in FIG. 3), and the preprocessing unit 17 synchronizes the image and corrects the shading of the image acquired by the biased illumination. Processing is performed.
- the image corrected by the preprocessing unit 17 is input to the binarization processing unit 18.
- the image is binarized, and is divided into an outer shape portion and a defective portion by properly using an outer shape threshold value relating to pixel brightness and a defect portion threshold value relating to brightness different from this. . That is, when the original image is the one shown in FIG. 3A, for example, the outer shape portion is generated from the binarized original image as shown in FIG. The defect portion is generated from the binarized original image using a defect portion threshold as shown in FIG. As a result, it is possible to extract the outer shape of defective grains and extract defects.
- the binarized image of the outer portion generated by the binarization processing unit 18 is sequentially sent to the first contraction processing unit 21 and the second contraction processing unit 22 and subjected to the contraction process repeatedly a plurality of times. At this time, the number of shrinking processes and the shrinking method are different between the primary sorting unit and the secondary sorting unit.
- the primary sorting unit can reduce the load of image processing, while the secondary sorting.
- the image of the outer portion of the defective grain is shrunk in the direction of the center position of the grain at the section, and the setting can be made such that only the blast nozzle port in the region near the grain center position is activated.
- d indicates an image that is not subjected to contraction processing in the first contraction processing unit 21 with respect to the binarized image acquired in the primary selection unit
- e in FIG. 3 indicates the binarized image acquired in the primary selection unit.
- the second contraction processing unit 22 applies the 4-neighbor contraction process (up / down / left / right 4 directions (4 contraction) contraction).
- e in FIG. 3 is reduced to be substantially the same as the area of the blast nozzle port 6a (the total length (L) of the particles is reduced to 75%) with respect to a in FIG. Only the blast nozzle port 6a in the region closer to the position operates (FIG. 5A).
- f in FIG. 3 is an image obtained by applying lateral contraction processing (contraction in the left and right directions) in the first contraction processing unit 21 to the binarized image acquired in the secondary sorting unit
- g in FIG. 2 is an image obtained by further applying a lateral contraction process in the contraction processing unit 22. Accordingly, g in FIG. 3 is smaller than the region of the blast nozzle port 6a with respect to a in FIG. 3 which is the original image (the total length (L) of the grains is 75% or less), and is closer to the center position of the defective grains. Only the blast nozzle port 6a in the area can be set to operate (FIG. 5B).
- the shrinkage processing of the outer shape portion of the granular material is performed twice, so that there is a possibility that information on the defective portion existing at the outer edge portion is lost.
- the expansion process is performed twice on the image of the defective part as shown in Table 2, it becomes possible to emphasize the defective part of the defective grain.
- h is an image obtained by applying 8-neighbor expansion processing (expansion in eight directions (upper and lower eight directions) obliquely) in the first expansion processing unit 23 to the binarized image of the defective portion acquired in the primary sorting unit.
- i is an image obtained by further applying 8-neighbor expansion processing in the second expansion processing unit 24.
- j in FIG. 3 is an image obtained by applying 8-neighbor expansion processing in the first expansion processing unit to the binarized image of the defective portion acquired in the secondary sorting unit
- k in FIG. 3 is the second expansion. It is an image in which an 8-neighbor expansion process is further applied in the process 24.
- the image processing unit 16 will be described again with reference to FIG.
- the outline image output line 30 from the second contraction processing unit 22 is branched into an input line 30 ⁇ / b> A input to the overlap processing unit 25 and an input line 30 ⁇ / b> B input to the AND circuit unit 31.
- the defect image output line 32 from the second expansion processing unit 24 is input to the AND circuit 31.
- the outer shape image and the defect image are combined by a known method such as multiplication (AND processing).
- 4 is a diagram obtained by combining the image of the outer portion of e in FIG. 3 and the image of the defective portion of i in FIG. 3, and d in FIG. 4 is an image of the outer portion of g in FIG.
- the output signal of the overlap processing unit 25 is then input to the center position calculation unit 27 via the valve assignment processing unit 26.
- the center position calculation unit 27 calculates a distance h from the front end to the rear end of the grain in the falling direction of the defective grain (see FIGS. 5A and 5B), and calculates a half of the distance.
- the length L in the lateral direction of the defective grains is substantially within the width dimension of the ejector nozzle 6 by the above-described image processing. It is not necessary to calculate the horizontal length L of the. This simplifies the process of obtaining the center position O of the defective grain.
- the output signal of the center position calculation unit 27 is then input to the injection length (injection time) processing unit 29 via the injection delay (delay time) processing unit 28 (see FIG. 2).
- the ejection delay processing unit 28 is controlled to blow in accordance with the drop time of the defective particles falling between the optical detection unit 5 and the ejector nozzle 6, and the ejection length processing unit 29 controls the ejector nozzle.
- the blast time by 6 is controlled. Thereby, it is possible to accurately and accurately remove defective grains.
- the primary sorting unit as shown in FIG. 5A, the original image shown by the broken line is subjected to image processing as shown by the solid line by the shrinking process of the outer shape part and the expanding process of the defective part.
- the defective portion that protrudes from the blast nozzle port 6b in the adjacent row moves in the direction of the blast nozzle port 6a in the row where the center position O of the defective particle is located, and includes the center position O of the defective particle.
- the blast nozzle port 6a can be operated.
- the original image indicated by the broken line is subjected to image processing as indicated by the solid line by the contraction process of the outer shape part and the expansion process of the defective part.
- the defective portion that protrudes from the blast nozzle port 6b in the adjacent row moves in the direction of the blast nozzle port 6a in the row where the center position O of the defective particle is located, and includes the center position O of the defective particle.
- the blast nozzle port 6a can be operated.
- the lateral contraction process is performed twice, so that the defective portion has a large degree of movement in the direction of the blast nozzle port 6a of the row where the center position O of the defective particle is located, and the center position of the defective particle Can be calculated accurately and only defective grains can be accurately and accurately removed.
- the conventional color sorter aimed to improve the quality of the granular material sorted on the good grain side, so it removes defective grains in both the primary sorting section and the secondary sorting section.
- An overlapping method is used in which a plurality of rows of blast nozzle nozzles and blast nozzle nozzles adjacent thereto are operated. For this reason, even when the defective grains are separated, even the good grains are removed, which causes a decrease in yield.
- the primary sorting unit operates the blast nozzle port for removing the primary defective particles and the blast nozzle port adjacent thereto, while the secondary sorting unit uses the secondary blast nozzle port.
- the image of the outer portion of the defective grain is contracted in the direction of the center position of the grain, and only the defective nozzle is accurately operated by operating only the blast nozzle opening in the region near the center position of the grain. It is possible to remove properly and prevent the good grains from being accompanied by defective grains and the yield from being lowered.
- the color sorter of the present invention is not limited to the above embodiment, and it goes without saying that the configuration can be changed as appropriate without departing from the scope of the present invention.
- the defective particles are separated by jetting in the secondary sorting, but the granular material that is separated by inverting the reference voltage for sorting the defective and good particles, for example, from positive to negative. Can also be made into good grains. It is appropriate when the number of good grains is small in the granular material to be subjected to secondary sorting (defective grain side granular material in the primary sorting).
- the primary selection performs selection to avoid mixing of defective grains as much as possible while allowing good grains to be wrapped around.
- the secondary sorting that further sorts the granular material on the defective grain side, avoiding the entanglement of good grains and accurately sorting only the defective grains, thereby providing a color sorter that improves the sorting ratio of defective grains Is.
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Abstract
Description
前記一次選別部および二次選別部における前記光学検出部は、いずれも、撮像して得られた粒状物の画像を二値化する二値化手段と、該二値化手段により得られた画像から粒状物の欠陥部分を抽出する欠陥検出手段と、前記二値化手段により得られた粒状物の外形部分の画像に対し収縮処理を施す収縮手段と、前記欠陥検出手段により得られた粒状物の欠陥部分の画像に対し膨張処理を施す膨張手段と、前記収縮手段により得られる外形部分の収縮画像と前記膨張手段により得られる欠陥部分の膨張画像とを合成する合成手段を備え、エジェクター作動決定手段は、前記合成手段により得られた画像に基づいて作動するエジェクター手段の作動について前記一次選別部用のエジェクター手段の噴風動作と前記二次選別部用のエジェクター手段の噴風動作とを異なったものにするという技術的手段を講じた。
換言すれば、前記収縮手段により得られる外形部分の収縮画像に基づいて噴風ノズル口との関係で粒状物の位置を認識し、欠陥部分の膨張画像に基づいて不良粒であるか否かの判定を行う。
請求項4記載の発明は、さらに、前記合成手段により得られた画像に基づいて、粒状物の落下方向の中心位置を算出する中心位置算出手段を設けたので、簡単な処理で不良粒の中心位置Oを求め、不良粒を精度よく適確に除去することができる。
次に、二次選別部についての構成部品を説明する。一次選別部と相違する点としては、シュート2Aの形状が挙げられ、二次選別用のシュート2Aは粒状物を複数列状(多列状)に分割した状態で滑走させるために複数の溝部が形成されている。この溝部の断面形状としては、U字状のもの、V字状のもの、凹字状のもの等、適宜採用することができる。また、エジェクターノズル6下方で前記シュート2Aと同傾斜線上にあり、エジェクターノズル6からの噴風を受けずにそのまま流下軌跡の粒状物を受ける二次良粒排出樋7Aと、エジェクターノズル6からの噴風を受けて正常な粒状物から不良粒を回収するための二次不良粒排出樋8Aと、が備えられている。その余の構成は前記一次選別部とほぼ同様の構成である。
図2は、前記制御部15が有する画像処理部16のブロック図である。この画像処理部16は、CCDカメラ9などからの画像を同期化するとともに、偏った照明により取得した画像をシェーディング補正する前処理部17と、補正した画像を二値化処理する二値化処理部18と、当該二値化画像の黒部分の画素をカウントし、所定のしきい値以上を検出したときに粒状物に欠陥部分が存在すると判定する欠陥検出部19と、該欠陥検出部19とのタイミングを合わせるための遅延回路20と、粒状物の外形部分が抽出された二値化画像を収縮処理する第1収縮処理部21と、該第1収縮処理部21によって収縮された画像を更に収縮処理する第2収縮処理部22と、粒状物の欠陥が抽出された二値化画像を膨張処理する第1膨張処理部23と、該第1膨張処理部23によって膨張された画像を更に膨張処理する第2膨張処理部24と、当該画像に基づき、欠陥部分が存在する粒の噴風ノズル口と隣接する噴風ノズル口とを2列同時に噴風動作するように決定するオーバーラップ処理部25と、エジェクターノズルのバルブのオン・オフ信号を発生させるバルブ割り当て処理部26と、粒状物の落下方向において当該粒状物の中心位置を求める中心位置算出部27と、噴射遅延(遅延時間)処理部28と、噴射長さ(噴射時間)処理部29とから主要部が構成されている。なお、本発明で述べているエジェクター作動決定手段とは、前記オーバーラップ処理部25及びバルブ割り当て処理部26を併せたものを指し示す。
図3はCCDカメラ9などで取得した原画像と、該原画像を画像処理部16により変換したときの各種画像の概念図を示したものである。図3におけるaには、エジェクターノズル6の噴風ノズル口6a,6b間に跨(またが)って黒く示した欠陥部分を有する不良粒が通過する様子を示している。すなわち、不良粒の長さ(エジェクターノズル6の幅方向でみた長さを)を(L)とすると、噴風ノズル口6a側は全長(L)の75%の割合を占有する一方、噴風ノズル口6aからはみ出した部分は全長(L)の25%の割合となっている。
二値化処理部18で生成された外形部分の二値化画像は、第1収縮処理部21及び第2収縮処理部22に順次送られて収縮処理が複数回繰り返して施される。このとき、一次選別部と二次選別部とで収縮処理の回数及び収縮方法を異ならせる。
二値化処理部18で生成された欠陥部分の二値化画像は、第1膨張処理部23及び第2膨張処理部24に順次送られて膨張処理が複数回繰り返して施される。このとき、一次選別部と二次選別部とで膨張処理の回数及び膨張方法は同じにするのが好ましい。
再び、図2を参照して画像処理部16を説明する。第2収縮処理部22からの外形画像の出力線30は、オーバーラップ処理部25に入力する入力線30Aと、アンド回路部31に入力する入力線30Bとに分岐される。一方、第2膨張処理部24からの欠陥画像の出力線32はアンド回路31に入力される。アンド回路31では、外形画像と欠陥画像とが乗算(アンド処理)など周知の手法により合成される。図4におけるbは、図3におけるeの外形部分の画像と図3におけるiの欠陥部分の画像とを合成した図であり、図4におけるdは図3におけるgの外形部分の画像と図3におけるkの欠陥部分の画像とを合成した図である。これら複数の合成した画像と外形部分の画像は、前記オーバーラップ処理部25に入力され、下記表3のように、一次選別部用のエジェクター手段の噴風動作と前記二次選別部用のエジェクター手段の噴風動作とを異ならせる処理が行われる(選別アルゴリズムを異ならせる)。これにより、一次選別部においては、不良粒の除去漏れを防止し得るという品質に重点を置いた選別を可能とし、二次選別部においては不良粒の分離に際して良粒が巻き添えでともに分離されてしまうこと防止するという歩留まりの向上に重点をおいた選別を可能とし、一次選別と二次選別のそれぞれに役割を分担させることが可能である。
図4に示すように、オーバーラップ処理部25の出力信号は、次いで、バルブ割り当て処理部26を経て、中心位置算出部27に入力される。中心位置算出部27では、不良粒の落下方向において粒の先端から後端までの距離hを算出するとともに(図5A及び図5B参照)、その距離の2分の1を算出する。このとき、不良粒の横方向(シュート2の幅方向又はエジェクターノズル6の幅方向)の長さLは前記の画像処理によりエジェクターノズル6の幅寸法にほぼ納まることになっているので、不良粒の横方向の長さLを算出する必要はない。これにより、不良粒の中心位置Oを求める処理が簡単になる。
中心位置算出部27の出力信号は、次いで、噴射遅延(遅延時間)処理部28を経て、噴射長さ(噴射時間)処理部29に入力される(図2参照)。噴射遅延処理部28では、光学検出部5とエジェクターノズル6との間を落下する不良粒の落下時間に合わせて噴風されるように制御されるとともに、噴射長さ処理部29では、エジェクターノズル6による噴風時間が制御される。これにより、精度よく適確に不良粒の除去を行うことができる。そして、一次選別部においては、図5Aに示すように、破線で示す原画像が、外形部分の収縮処理及び欠陥部分の膨張処理によって実線で示すように画像処理される。すなわち、原画像では隣の列の噴風ノズル口6bにはみ出した欠陥部分が、不良粒の中心位置Oがある列の噴風ノズル口6aの方向に移動し、不良粒の中心位置Oを含む噴風ノズル口6aを作動させることができる。また、二次選別部においては、図5Bに示すように、破線で示す原画像が、外形部分の収縮処理及び欠陥部分の膨張処理によって実線で示すように画像処理される。すなわち、原画像では隣の列の噴風ノズル口6bにはみ出した欠陥部分が、不良粒の中心位置Oがある列の噴風ノズル口6aの方向に移動し、不良粒の中心位置Oを含む噴風ノズル口6aを作動させることができる。このとき、二次選別部では、横収縮処理を2回行うので、欠陥部分が、不良粒の中心位置Oがある列の噴風ノズル口6a方向に移動する程度が大きく、不良粒の中心位置を精度よく算出し、不良粒のみを精度よく適確に除去することができる。
なお、本発明の色彩選別機は、上記実施の形態に限らず、本発明の範囲を逸脱しない限りにおいて、その構成を適宜変更できることはいうまでもない。例えば、一次選別部、二次選別部、三次選別部を備えた色彩選別機において、各選別部で噴風動作を異ならせたり、選別アルゴリズムを異ならせたりすることが可能である。
説明した実施例では、二次選別において不良粒を噴射により分離する構成としているが、不良粒と良粒を選別するための基準電圧を、例えばプラスからマイナスに反転させることにより、分離する粒状物を良粒とすることもできる。二次選別の対象とする粒状物(一次選別における不良粒側粒状物)に良粒の数が少ない場合に適切である。
2 シュート
3 貯留タンク
4 振動フィーダ
5 光学検出部
6 エジェクターノズル
7 一次良粒排出樋
8 一次不良粒排出樋
9 CCDカメラ
10 NIRカメラ
11 可視光源
12 近赤外光源
13 対向用バックグラウンド
14 昇降機
15 制御部
16 画像処理部
17 前処理部
18 二値化処理部
19 欠陥検出部
20 遅延回路
21 第1収縮処理部
22 第2収縮処理部
23 第1膨張処理部
24 第2膨張処理部
25 オーバーラップ処理部
26 バルブ割り当て処理部
27 中心位置算出部
28 噴射遅延処理部
29 噴射長さ処理部
30 出力線
31 アンド回路
32 出力線
Claims (4)
- 粒状物の良、不良を色彩によって選別する装置であって、
原料となる粒状物を帯状に流下させる一次選別用の移送手段、該移送手段から落下する粒状物の落下軌跡に設けられる光学検出部、及び該光学検出部のさらに下方に設けて正常な粒状物から一次不良粒を除去するエジェクター手段を備えた一次選別部と、
該一次選別部において除去された一次不良粒を多列状に流下させる二次選別用の移送手段、該移送手段から落下する粒状物の落下軌跡に設けられる光学検出部、及び該光学検出部のさらに下方に設けて一次不良粒から二次不良粒を除去するエジェクター手段を備えた二次選別部と、
エジェクター作動決定手段を備え、
前記一次選別部および二次選別部における光学検出部は、撮像して得られた粒状物の画像を二値化する二値化手段と、
該二値化手段により得られた画像から粒状物の欠陥部分を抽出する欠陥検出手段と、
前記二値か手段により得られた画像から粒状物の外形部分を抽出する外形検出手段と、
前記外形検出手段により抽出された外形部分の画像に対し収縮処理を施す収縮手段と、
前記欠陥検出手段により得られた欠陥部分の画像に対し膨張処理を施す膨張手段と、
前記収縮手段により得られる外形部分の収縮画像と前記膨張手段により得られる欠陥部分の膨張画像とを合成する合成手段とを備え、
エジェクター作動決定手段は、前記合成手段により得られた画像に基づいて、前記一次選別部用のエジェクター手段に、不良粒位置に対応した噴風ノズル口とこれに隣接する噴風ノズル口とを同時に作動させる噴風動作を行わせ、前記二次選別部用のエジェクター手段に二次不良粒位置に対応した噴風ノズル口のみを作動させる噴風動作を行わせることを特徴とする色彩選別機。 - 前記収縮手段は、前記一次選別部では、粒状物の外形部分の画像に対して4近傍収縮処理を少なくとも1回施し、前記二次選別部では、粒状物の外形部分の画像に対して横収縮処理を複数回施すことを特徴とした請求項1に記載の色彩選別機。
- 前記膨張手段は、前記一次選別部および二次選別部のいずれにおいても粒状物における欠陥部分の画像に対して8近傍膨張処理を複数回施すことを特徴とした請求項1または2に記載の色彩選別機。
- 前記収縮手段により得られた画像に基づいて粒状物の落下方向の中心位置を算出する中心位置算出手段を設けてなる請求項1記載の色彩選別機。
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- 2011-06-02 BR BR112012031856-0A patent/BR112012031856B1/pt not_active IP Right Cessation
- 2011-06-02 CN CN201180030047.7A patent/CN102947015B/zh not_active Expired - Fee Related
- 2011-06-02 GB GB1300786.9A patent/GB2495050B/en not_active Expired - Fee Related
- 2011-06-02 US US13/703,898 patent/US8985342B2/en not_active Expired - Fee Related
- 2011-06-02 WO PCT/JP2011/062646 patent/WO2011158656A1/ja active Application Filing
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JP2000185263A (ja) * | 1998-12-21 | 2000-07-04 | Satake Eng Co Ltd | 粒状物色彩選別方法およびその選別機 |
JP2001145855A (ja) * | 1999-09-10 | 2001-05-29 | Satake Eng Co Ltd | 粒状物選別方法及び粒状物選別装置 |
JP2001179186A (ja) * | 1999-12-28 | 2001-07-03 | Kubota Corp | 粉粒体検査装置 |
JP2009050760A (ja) * | 2007-08-23 | 2009-03-12 | Satake Corp | 光学式穀物選別機 |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021256438A1 (ja) * | 2020-06-17 | 2021-12-23 | 株式会社サタケ | 光学式選別機 |
JP7322823B2 (ja) | 2020-06-17 | 2023-08-08 | 株式会社サタケ | 光学式選別機 |
EP4169628A4 (en) * | 2020-06-17 | 2023-11-22 | Satake Corporation | OPTICAL SORTING MACHINE |
WO2023047968A1 (ja) * | 2021-09-22 | 2023-03-30 | 株式会社サタケ | 光学式選別機 |
Also Published As
Publication number | Publication date |
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JP5569799B2 (ja) | 2014-08-13 |
KR101903196B1 (ko) | 2018-10-01 |
US8985342B2 (en) | 2015-03-24 |
BR112012031856B1 (pt) | 2020-03-10 |
CN102947015B (zh) | 2014-02-26 |
CN102947015A (zh) | 2013-02-27 |
JP2012000575A (ja) | 2012-01-05 |
BR112012031856A2 (pt) | 2016-11-08 |
US20130081982A1 (en) | 2013-04-04 |
GB2495050A (en) | 2013-03-27 |
GB201300786D0 (en) | 2013-02-27 |
GB2495050B (en) | 2016-05-11 |
KR20130113411A (ko) | 2013-10-15 |
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