WO2018056417A1 - 選別装置及び選別方法 - Google Patents
選別装置及び選別方法 Download PDFInfo
- Publication number
- WO2018056417A1 WO2018056417A1 PCT/JP2017/034385 JP2017034385W WO2018056417A1 WO 2018056417 A1 WO2018056417 A1 WO 2018056417A1 JP 2017034385 W JP2017034385 W JP 2017034385W WO 2018056417 A1 WO2018056417 A1 WO 2018056417A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sorting
- unit
- crushed pieces
- image
- ratio
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—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
-
- 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
-
- 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
- G01B11/30—Measuring arrangements characterised by the use of optical techniques for measuring roughness or irregularity of surfaces
-
- 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
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
Definitions
- the present invention mainly relates to a sorting apparatus that sorts the crushed pieces according to the content ratio of the added metal contained in the crushed pieces of metal.
- additive metals such as manganese or chromium
- a steel plate with a high content of additive metal may make it difficult for graphite to precipitate during solidification in casting, or a brittle structure called chill may be generated.
- Patent Document 1 discloses a method capable of performing casting without any problem by adding sulfur, rare earth metal, or the like even for a steel plate having a high manganese content. However, in this method, since it is necessary to add sulfur, rare earth metal, and the like, the composition of cast iron changes, so that casting using a desired material cannot be performed.
- Patent Document 2 discloses a method of determining whether a crushed piece is a crushed piece derived from carbon steel or a crushed piece derived from special steel by measuring the three-dimensional shape of the surface of the crushed piece. Specifically, the number of parts with a large amount of change in height is counted, and the judgment is performed by comprehensively judging this number and various types of measured values such as the weight, area, and length of the fragment. .
- steel containing five elements of C, Si, Mn, P and S in iron is called carbon steel, and steel obtained by adding Cr, Ni, Mo, etc. to carbon steel is special. It is called steel.
- the present invention has been made in view of the above circumstances, and a main object of the present invention is to provide a sorting apparatus capable of sorting the fragments by detecting the content ratio of the added metal by a simple method.
- a sorting apparatus having the following configuration is provided in a sorting apparatus that sorts the crushed pieces according to the content ratio of the added metal contained in the crushed pieces of metal.
- the sorting device includes an acquisition unit, an image processing unit, and a sorting unit.
- the said acquisition part acquires the surface information which is the information regarding the surface shape of the said crush piece.
- the image processing unit calculates a wrinkle ratio that is a ratio of a portion in which wrinkles are generated on the surface of the crushed piece based on the surface information acquired by the acquisition unit.
- the sorting unit sorts the crushed pieces based on the wrinkle ratio detected by the image processing unit.
- this sorting method includes an acquisition process, an image processing process, and a sorting process.
- acquisition step surface information, which is information related to the surface shape of the crushed pieces, is acquired.
- image processing step based on the surface information acquired in the acquisition step, a wrinkle ratio that is a ratio of a portion where wrinkles are generated on the surface of the crushed piece is calculated.
- the sorting step the crushed pieces are sorted based on the wrinkle ratio detected in the image processing step.
- the inventors of the present application have found that there is a correlation between the content ratio of the added metal and the ratio of wrinkles on the surface of the crushed pieces. By using this, the surface information is obtained as described above to obtain the wrinkle ratio. Only the fragments can be sorted. Accordingly, it is possible to detect the content of the added metal by a simple method and to sort the crushed pieces.
- the figure which shows the structure of the selection apparatus which concerns on 1st Embodiment The perspective view which shows the imaging position of the laser beam with which a laser apparatus irradiates, and a three-dimensional camera.
- the flowchart which shows the process which a control part performs at the time of selection of a crushing piece.
- the flowchart which shows the process which a control part performs at the time of selection of a crushing piece.
- the figure which shows the 1st image obtained during the illumination of a lower surface illumination part, and the image which shows the calculation area
- the figure which shows the 2nd image obtained during the illumination of an upper surface and a side surface illumination part, and the image after an edge process.
- the figure which compares the image
- FIG. 1 is a diagram showing a configuration of a sorting apparatus 1 according to the first embodiment of the present invention.
- upstream and downstream in the conveyance direction of the crushed pieces are simply referred to as upstream and downstream.
- the sorting apparatus 1 includes a supply unit 11, a first transport unit 12a, a second transport unit 12b, a third transport unit 12c, a laser device 51, and a three-dimensional camera (acquisition unit). 52, a selection unit 15, and a control unit 16.
- the supply part 11 supplies the 1st conveyance part 12a with the crushing piece obtained by processing metal members (for example, plate-shaped member), such as an iron alloy or an aluminum alloy, with a crusher.
- the supply unit 11 may be a slope or a belt conveyor. Further, the upstream end of the supply unit 11 is connected to an input port through which a crushed piece processed and discharged by a crusher or the like is charged. In addition, it may replace with this structure and the structure which connects the edge part of the upstream of the supply part 11 with a crusher etc. and supplies the crushing piece discharged
- the first transport unit 12a transports the crushed pieces supplied from the supply unit 11 to the downstream side. While the crushed pieces are transported on the transport surface (measurement surface) of the first transport unit 12a, the content ratio of the added metal is measured.
- the 2nd conveyance part 12b and the 3rd conveyance part 12c are arrange
- the crushed pieces transported by the first transport unit 12a the crushed pieces (crushed pieces 41 denoted by reference numeral 41 in FIG. 1) having a low content of added metal are sent to the second transport unit 12b.
- crushed pieces having high additive metal content are sent to the crushed pieces 42 indicated by reference numeral 42 in FIG.
- each of the first transport unit 12a to the third transport unit 12c is a belt conveyor that drives a belt with a pulley. There may be.
- the crushing piece 41 with a low content rate of an additional metal is sent to the 3rd conveyance part 12c, and the crushing piece 42 with a high content rate of an addition metal is sent to the 2nd conveyance part 12b. There may be.
- an encoder (motion detector) 53 that detects the rotation of the pulley is provided in the pulley that drives the belt. Specifically, the encoder 53 detects the number of rotations and the rotation angle of the pulley and outputs them to the control unit 16. Thereby, the movement amount of the belt of the 1st conveyance part 12a can be grasped
- the encoder 53 may be attached to a belt instead of a pulley, and may be configured to detect the amount of movement of the belt (linear amount of movement) by rotating as the belt moves.
- the laser device 51 is disposed above the first transport unit 12a. Specifically, the laser device 51 is attached to a support base and fixed so as not to move relative to the belt of the first transport unit 12a.
- the laser device 51 is a laser that spreads in the width direction of the conveyance surface (direction perpendicular to the conveyance direction) from the upper side of the fragmentation fragment toward the fragmentation piece on the lower side in the vertical direction (toward the conveyance surface of the first conveyance unit 12a). Irradiate light. Specifically, the laser device 51 irradiates a laser beam whose irradiation spot is linear on the transport surface, and the direction of this line is perpendicular to the transport direction.
- the irradiated laser light appears on the transport surface or the surface of the fragments. Therefore, when the fragment exists at the laser beam irradiation location, the irradiated laser beam appears at a position corresponding to the height of the fragment.
- one laser device 51 irradiates a laser beam that spreads from one end to the other end of the first transport unit 12a. Instead of this, a configuration in which a plurality of laser devices 51 are arranged side by side in the width direction of the transport surface may be employed.
- the three-dimensional camera 52 is disposed on the downstream side of the laser device 51 and above the conveyance surface. Specifically, the three-dimensional camera 52 is attached to a support base and is fixed so as not to move relative to the belt of the first transport unit 12a. The three-dimensional camera 52 is attached so as to be inclined so that an image (hereinafter referred to as “laser image”) of an irradiation spot of laser light can be acquired. Specifically, it is preferable that an angle ⁇ formed by the axial direction of the three-dimensional camera 52 (the direction in which an image is acquired) and the vertical direction is 10 ° to 35 °.
- the laser device 51 instead of the three-dimensional camera 52 may be tilted with respect to the vertical direction, or both the laser device 51 and the three-dimensional camera 52 may be tilted with respect to the vertical direction. Further, the three-dimensional camera 52 may be arranged on the upstream side of the laser device 51.
- the positions of the laser device 51, the conveyance surface, and the three-dimensional camera 52 are known. Therefore, by using the principle of triangulation, the height of the portion irradiated with the laser light can be calculated based on the position of the laser light appearing in the laser image.
- the three-dimensional camera 52 continuously acquires the laser image and calculates the height, whereby the height distribution of the fragments can be detected.
- a laser image is acquired for each predetermined distance based on the detection result of the encoder 53. The detection result of the encoder 53 is always stored and updated.
- a laser image can be acquired after a predetermined distance from the acquisition of the laser image before the stop (the laser image acquisition interval is maintained before and after the stop). it can).
- it may replace with the structure which acquires a laser image for every predetermined distance, and the structure which acquires a laser image for every predetermined time may be sufficient.
- the distance image is created based on the height calculated based on the laser image.
- the distance image is an image in which the luminance (or shading) is changed according to the height, not the color, as shown in FIG. In the example shown in FIG. 6, one side of the rectangle is the transport direction and the other side is the width direction. Then, the brightness is set to become lower and whiter (lighter) as the height increases.
- the distance image corresponds to “surface information” because it is information related to the surface shape of the crushed piece, and particularly corresponds to “height information” because it indicates information about the height of the surface of the crushed piece.
- the process of creating the distance image from the laser image may be performed by the three-dimensional camera 52 or the control unit 16.
- the sorting unit 15 is configured to be able to switch between sending the crushed pieces transported through the first transport unit 12a to the second transport unit 12b or the third transport unit 12c. Specifically, the sorting unit 15 is configured to be able to inject compressed air. When the sorting unit 15 injects compressed air, the crushed pieces are blown by the compressed air and sent to the second transport unit 12b. On the other hand, when the sorting unit 15 does not inject the compressed air, the crushed pieces fall from the first transport unit 12a (in some cases, collide with the partition wall separating the first transport unit 12a and the second transport unit 12b). It is sent to the third transport unit 12c. The sorting unit 15 may sort the crushed pieces by another configuration.
- a movable guide plate is installed at the downstream end of the first transport unit 12a.
- the crushed pieces are guided to the second transport unit 12b, and the guide plate is When in the position, the configuration may be such that the crushed pieces are guided to the third transport unit 12c.
- the crushing piece 42 with a high content rate of an addition metal is sent to the 2nd conveyance part 12b as mentioned above, the crushing piece 42 is blown off with compressed air by the selection part 15.
- FIG. Of the crushed pieces 41 and the crushed pieces 42 it is preferable that the one with a smaller absolute amount is blown by the compressed air of the sorting unit 15 and sent to the second transport unit 12b.
- the control unit 16 is realized by an arithmetic device such as an FPGA, an ASIC, or a CPU.
- the control unit 16 is configured to be able to execute various processes related to the sorting apparatus 1 by reading and executing a program created in advance. In the following description, a part of the processes executed by the control unit 16 will be described, but the control unit 16 can also execute other processes.
- the control unit 16 includes a transport control unit 21, a camera control unit 22, a light source control unit (illumination control unit) 23, an image processing unit 24, and a selection control unit 25.
- the transport control unit 21 controls driving of the first transport unit 12a to the third transport unit 12c.
- the camera control unit 22 controls the operation of the three-dimensional camera 52 (particularly the timing for capturing an image).
- the light source control unit 23 controls the operation (particularly ON / OFF) of the laser device 51.
- the image processing unit 24 analyzes and analyzes the distance image acquired by the three-dimensional camera 52.
- the sorting control unit 25 controls the operation of the sorting unit 15 (whether compressed air is injected) according to the analysis result of the image processing unit 24.
- the recycling use of the crushed pieces varies depending on the content ratio of the added metal contained in the crushed pieces.
- the additive metal is added mainly for improving the strength of a metal such as iron or aluminum (for example, a metal plate). Therefore, a crushed piece having a high content of added metal has a relatively high strength and is not easily deformed when processed by a crusher. Conversely, a crushed piece with a low content of added metal has a relatively low strength and is easily deformed when processed by a crusher.
- an alloy having a lower content of the additive metal introduced into the crusher is more likely to be bent so as to be rounded, and as a result, it tends to appear as wrinkles on the surface of the crushed piece.
- the sorting device 1 sorts crushed pieces using this characteristic discovered this time. This will be specifically described below.
- FIG. 3A is a flowchart showing a process performed by the control unit 16 in order to select a crushed piece.
- the control unit 16 (camera control unit 22 and light source control unit 23) acquires or creates a distance image (S101, acquisition step). Specifically, the control unit 16 operates the laser device 51 to irradiate laser light, and operates the three-dimensional camera 52 to acquire a laser image. The control unit 16 acquires a distance image created by the three-dimensional camera 52 based on the laser image, or acquires a laser image to create a distance image.
- the thinning process shown in FIG. 4 is performed in order to accurately obtain the position of the laser beam in the laser image acquired by the three-dimensional camera 52 when the distance image is created.
- 4 is a laser image acquired by the three-dimensional camera 52, the horizontal axis indicates the position in the transport direction, and the vertical axis indicates the position in the direction perpendicular to the transport direction.
- the lower diagram in FIG. 4 is a diagram illustrating processing for accurately specifying the position of the laser beam appearing in the laser image, the horizontal axis indicates the position in the transport direction, and the vertical axis indicates the luminance. Yes.
- the first luminance and the second luminance are set.
- the first luminance and the second luminance are determined so as to be higher than the portion not irradiated with the laser light and lower than the maximum luminance of the portion irradiated with the laser light.
- two points ((1) and (2) in FIG. 4) whose luminance matches the first luminance are specified, and the luminance becomes the second luminance.
- Two matching points ((3) and (4) in FIG. 4) are specified.
- the irradiation position of a laser beam is specified by calculating
- the control unit 16 performs secondary differential processing on the distance image to detect wrinkles on the surface of the crushed pieces (S103).
- the secondary differentiation process is a kind of spatial filtering process, and converts the luminance of the determination target portion based on the luminance of the determination target portion that is the target for determining the presence or absence of wrinkles and the surrounding luminance.
- the determination target portion is one pixel.
- this pixel is referred to as a target pixel. That is, in this embodiment, the luminance of the pixel of interest is converted based on the luminance of the pixel of interest and the luminance of pixels arranged around the pixel of interest (hereinafter referred to as peripheral pixels).
- the peripheral pixels are 8 pixels in total, that is, 2 pixels in the vertical direction in FIG. 5, 2 pixels in the horizontal direction, and 2 pixels in 2 diagonal directions (2 pixels ⁇ 2).
- Pixels adjacent in four directions along a plane (conveying surface) perpendicular to the height direction are used as peripheral pixels.
- each brightness of the surrounding pixels is multiplied by ⁇ 1 and added to 8 times the brightness of the target pixel (number of times of the surrounding pixels). In other words, the difference between the target pixel and the surrounding pixels is calculated and added.
- the portion where the change in luminance is large that is, the portion where the change in height is large
- the portion where the change in luminance is small ie, the portion where the change in height is small
- the portion where the change in height is small has high luminance. Get smaller. Therefore, it is possible to emphasize a portion where the change in height is large.
- a portion where the luminance after conversion is equal to or greater than a predetermined threshold can be estimated as a portion where wrinkles exist.
- the surrounding pixels of this embodiment are 8 pixels, you may process by omitting a diagonal direction and making a surrounding pixel become 4 pixels, for example.
- the peripheral pixel in the present embodiment is a pixel adjacent to the target pixel, the process may be performed by including two adjacent pixels of the target pixel (that is, two pixels around the target pixel) in the peripheral pixel.
- FIG. 6 shows a distance image and a differential image obtained by performing a second derivative process on a crushed piece having a low Mn content and a large amount of wrinkles, and a crushed piece having a high Mn content and a small amount of flaws. Each is shown. As shown in FIG. 6, it can be confirmed that the portion where wrinkles are generated is emphasized by performing the second order differential process. It should be noted that a process other than the secondary differentiation process can be used as long as it emphasizes a portion having a large change in height from the distance image.
- the control unit 16 executes binarization processing on the distance image (S103).
- the binarization processing is processing that creates two types of images (binary images) with two types of luminance, classified into pixels having higher luminance and lower pixels than reference luminance (reference luminance).
- reference luminance is set to the luminance of the conveyance surface (that is, the height of the conveyance surface). Since the crushed pieces are placed on the conveyance surface, they exist at a position higher than the conveyance surface. Accordingly, by setting the reference luminance to the luminance of the conveyance surface, the conveyance surface and the crushed pieces can be clearly distinguished.
- control unit 16 (image processing unit 24) specifies the fragmented pieces, assigns an ID to each fragmented piece, and stores them in association with the area and the perimeter (S104).
- the fragment can be specified based on the position of the fragment (for example, the center position or the gravity center position of the fragment in the distance image) and the shape.
- the control unit 16 assigns a different ID for each identified fragment.
- the ID assigned to the crushed pieces is stored in a storage unit (not shown).
- the conveyance surface and the fragment are clearly distinguished, so the area and the perimeter of the fragment at the angle of the binary image (that is, the angle of the distance image) (the boundary line between the fragment and the conveyance surface). Length) can be calculated.
- the calculated area and perimeter are associated with the fragment ID and stored in a storage unit (not shown).
- ID is not assigned and registered as crushed pieces. do not do.
- the control unit 16 calculates a wrinkle ratio for each crushed piece based on the detected wrinkles, area, and perimeter (S105, image processing step).
- the wrinkle ratio is a ratio of a portion where wrinkles are generated on the surface of the crushed piece (specifically, the surface appearing in the distance image).
- the wrinkle ratio is obtained by excluding this boundary portion.
- FIG. 3B is a flowchart showing processing performed when the control unit 16 (selection control unit 25) operates the selection unit 15.
- the control unit 16 determines whether or not the percentage of wrinkles is greater than or equal to a predetermined threshold with respect to the crushed pieces to be selected that are transported through the first transport unit 12a (S110).
- This threshold value may be set in the sorting apparatus 1 in advance, or may be changeable by an operator setting. Basically, the smaller the content ratio of the added metal contained in the crushed pieces, the lower the strength of the crushed pieces, the more likely the wrinkles are produced, and the higher the percentage of wrinkles. Therefore, by changing the threshold according to the required content ratio of the added metal, it is possible to select a crushed piece having a content ratio of the added metal or less from the entire crushed piece.
- the control unit 16 operates the selection unit 15 (S111) to send the crushed pieces to the second transport unit 12b when the percentage of wrinkles is equal to or greater than a predetermined threshold.
- the control unit 16 sends the crushed pieces to the third transport unit 12c without operating the selection unit 15 (S112).
- the crushed pieces can be selected according to the content ratio of the added metal. In the present embodiment, the crushed pieces are sorted into two, but may be configured to be sorted into three or more.
- the sorting apparatus 1 according to the second embodiment includes a camera 13, a top illumination unit 14a, two side illumination units 14b, and a bottom illumination unit 14c instead of the laser device 51 and the three-dimensional camera 52. Note that the top illumination unit 14a, the side illumination unit 14b, and the bottom illumination unit 14c all correspond to “illumination units”.
- the camera 13 acquires an appearance image by capturing images of the crushed pieces transported by the first transport unit 12a from a predetermined direction.
- An appearance image is an image (two-dimensional image, photograph) including the color of a fragment.
- the appearance image is information related to the surface shape of the crushed pieces, and thus corresponds to “surface information”.
- a portion ie, a portion where wrinkles are generated
- the camera 13 is disposed on the upper side of the first transport unit 12a, and acquires an external appearance image of the upper surface of the first transport unit 12a by imaging the first transport unit 12a from above.
- the camera 13 may be configured to image the side surface of the fragment.
- the structure which images the bottom face of a crushing piece by making the 1st conveyance part 12a transparent etc. may be sufficient.
- the upper surface illumination unit 14a and the side surface illumination unit 14b irradiate the surface of the crushed pieces conveyed by the first conveyance unit 12a.
- the upper surface illumination unit 14a and the side surface illumination unit 14b irradiate light to a position including a location where the camera 13 acquires an appearance image.
- the upper surface illumination unit 14a and the side surface illumination unit 14b irradiate light to a position including the upper surface of the shredded piece.
- the upper surface illumination unit 14a is arranged so that the position in the conveyance direction of the crushed pieces overlaps the camera 13 in a side view (FIG. 8).
- the upper surface illumination unit 14a emits light downward in the vertical direction.
- the two side surface illumination units 14b are arranged on the upstream side and the downstream side of the camera 13, and irradiate light obliquely downward toward the shredded pieces. The light irradiated by the top surface illumination unit 14 a and the side surface illumination unit 14 b overlaps below the camera 13.
- the side illumination portions 14b are arranged on the upstream side and the downstream side, but face the downstream side in the conveyance direction of the crushed pieces (in other words, when the downstream side is the front side), the side surfaces are on the left side and the right side.
- at least one of the top illumination unit 14a and the side illumination unit 14b may be omitted.
- the numbers of the top illumination unit 14a and the side illumination unit 14b may be different from those in the present embodiment.
- the lower surface illumination part (back surface illumination part) 14c irradiates light on the back surface of the crushed pieces conveyed by the first conveyance part 12a.
- the lower surface illumination part 14c irradiates light to the position including the opposite side of the location where the camera 13 acquires the appearance image.
- the lower surface illumination unit 14c irradiates light on the lower surface of the crushed piece.
- Light transmission is achieved by providing a transparent member or forming a hole at least above the lower surface illumination unit 14c in the first transport unit 12a so that the light irradiated by the lower surface illumination unit 14c reaches the fragments. It has sex.
- the number of the lower surface illumination portions 14c is one, but may be two or more.
- the lower surface illumination unit 14 c is disposed directly below the camera 13, but may be disposed obliquely below the camera 13.
- the lower surface illumination part 14c is not an essential component of the sorting apparatus 1, and can be omitted (details will be described later).
- the camera control unit 22 controls the operation of the camera 13 (particularly, the timing for imaging). Further, the light source control unit 23 controls the operations (particularly ON / OFF) of the top surface illumination unit 14a, the side surface illumination unit 14b, and the bottom surface illumination unit 14c.
- control unit 16 particularly analysis contents of the image processing unit 24 will be described in detail with reference to FIGS. 9 to 12.
- FIG. 9 is a flowchart showing a process performed by the control unit 16 when sorting the crushed pieces. This flowchart shows a process of selecting one crushed piece. Note that this flowchart is an example, and the order of processing can be changed, other processing can be added, and some processing can be omitted. Since the crushed pieces are continuously supplied to the sorting device 1, the processing of FIG. 9 is performed on each crushed piece.
- the control unit 16 (light source control unit 23) turns on the lower surface illumination unit 14c to irradiate light, and further turns off the upper surface illumination unit 14a and the side surface illumination unit 14b so as not to irradiate light (S201). ).
- the control unit 16 (camera control unit 22) causes the camera 13 to acquire an image (S201).
- the appearance image acquired in step S201 is referred to as a first image.
- the first image is backlit because light is irradiated from the back side of the fragment. Therefore, the portion where the fragment is present in the first image tends to be black regardless of the shape of the fragment.
- step S201 is omitted, and the processes of steps S203 and S204 are performed using the second image obtained in step S202 described later.
- control unit 16 (light source control unit 23) turns off the lower surface illumination unit 14c and does not irradiate the light, and further turns on the upper surface illumination unit 14a and the side surface illumination unit 14b to irradiate the light (see FIG. S202).
- control unit 16 (camera control unit 22) causes the camera 13 to acquire an image (S202).
- the appearance image acquired in step S202 is referred to as a second image. As shown in FIG. 11, since the second image irradiates light on the surface of the fragment, a bright (whiter) image is obtained as a whole. Is possible.
- control part 16 performs step S201 and step S202 in a short time. Or the control part 16 (conveyance control part 21) may stop the 1st conveyance part 12a until it performs step S202 after performing step S201.
- the control unit 16 calculates a calculation area based on the first image acquired in step S201 (S203).
- the calculation area is an area for obtaining the wrinkle ratio of the crushed pieces (that is, an area where calculation is performed).
- the control unit 16 performs image processing on the first image, and identifies pixels whose image brightness is equal to or lower than a predetermined threshold. Thereby, the whole area
- the control part 16 ignores the dark area
- the control unit 16 calculates an area that is a predetermined number of pixels from the entire area of the fragment as a calculation area (see the image on the right side of FIG. 10).
- the edge process is a process for specifying an edge area that is an area in which the amount of change in brightness of the image is greater than or equal to a predetermined value for one second image. It is determined for each pixel whether or not it is a region where the amount of change in image brightness is greater than or equal to a predetermined value. Note that not only the pixels whose image brightness change amount is greater than or equal to a predetermined value, but also the surrounding pixels may be included in the edge region.
- an average value or the like of the brightness of pixels belonging to the one unit area is obtained with a predetermined number of pixels as one unit area, and the average value of the brightness or the like (brightness of one unit area) is determined as another unit area. It may be compared with the brightness of.
- an image after the edge processing is shown (a white portion corresponds to an edge region).
- the area where the surface of the shredded piece is wrinkled is identified as an edge area by performing edge processing.
- the edge region is specified based on the brightness distribution in one appearance image.
- the control unit 16 calculates an edge ratio (edge area / calculation area) (S205). Specifically, the control unit 16 obtains the edge ratio by dividing the area of the edge region calculated in step S204 by the area of the calculation region calculated in step S203. That is, the edge ratio is a ratio of a region where wrinkles are generated on the entire surface of the crushed piece. In FIG. 12, the edge region is shown in white, and it is shown that the edge ratio increases as the wrinkle ratio increases.
- step S203 not the entire area of the crushed piece but the area inside the crushed piece by a predetermined number of pixels as the calculation area. This is because the end portion (outline) of the crushed piece is necessarily an edge region, and therefore, if the entire crushed piece is used as the calculation region, it is determined that the edge region (the wrinkle ratio) is larger than the actual region. In order to simplify the calculation process, the entire area of the crushed pieces may be set as the calculation area.
- the control unit 16 determines whether or not the edge ratio is greater than or equal to a predetermined threshold (S206).
- This threshold value may be set in the sorting apparatus 1 in advance, or may be changeable by an operator setting. Basically, the smaller the content of the additive metal contained in the crushed pieces, the lower the strength of the crushed pieces, the more likely to cause wrinkles, and the higher the edge ratio. Therefore, by changing the threshold according to the required content ratio of the added metal, it is possible to select a crushed piece having a content ratio of the added metal or less from the entire crushed piece.
- the control unit 16 (selection control unit 25) has an edge ratio equal to or greater than a predetermined threshold with respect to the crushed pieces to be selected that are transported through the first transport unit 12a. It is determined whether or not (S210). When the edge ratio is equal to or greater than the predetermined threshold, the control unit 16 operates the sorting unit 15 (S211) and sends the crushed pieces to the second transport unit 12b. On the other hand, when the edge ratio is smaller than the predetermined threshold value, the control unit 16 does not operate the sorting unit 15 (S212) and sends the crushed pieces to the third transport unit 12c. As described above, the crushed pieces can be selected according to the content ratio of the added metal.
- the crushed pieces are sorted into two, but may be configured to be sorted into three or more.
- the process of step S211 and S212 becomes reverse.
- FIG. 13 is a diagram illustrating a lighting state of the illumination unit at the time of acquiring the first image and at the time of acquiring the second image in the second embodiment, the first modified example and the second modified example of the second embodiment.
- the lower surface illumination unit 14c is turned on when the first image (the image for calculating the calculation area) is acquired, and the second image (for calculating the edge area) is obtained.
- the upper surface illumination unit 14a and the side surface illumination unit 14b are turned on at the time of acquisition of the image.
- the sorting device 1 according to the first modification of the second embodiment does not include the lower surface illumination unit 14c. Therefore, when acquiring the first image, the outline of the fragment is clarified by turning on the side illumination unit 14b and not turning on the top illumination unit 14a. And when acquiring a 2nd image, the upper surface illumination part 14a and the side surface illumination part 14b are made to light similarly to 2nd Embodiment.
- the first modification is different from the second embodiment only in the situation of the illumination unit at the time of acquiring the first image, and the processing for calculating the edge ratio is the same as in the second embodiment.
- the lower surface illumination unit 14c is not necessary, and it is not necessary to provide a part of the first transport unit 12a with light transmittance.
- the sorting device 1 includes only the upper surface illumination unit 14a as the illumination unit. Moreover, in the 2nd modification, the color of the surface of the 1st conveyance part 12a and the color of a fragment are different. With this configuration, even when the upper surface illumination unit 14a emits light, the image processing unit 24 can recognize the boundary between the first transport unit 12a and the fragmented pieces. Therefore, in the second modification, it is not necessary to acquire the first image. Specifically, the process of step S201 in FIG. 9 is not necessary. In step S203, a calculation area is calculated based on the second image. With the configuration of the second modification, the number of image acquisitions can be reduced while maintaining the sorting accuracy. In addition, the sorting device 1 may be able to change the member (belt etc.) on the surface of the 1st conveyance part 12a according to the crushing piece supplied.
- Mn ratio is used as an additive metal. Further, the content ratio of Mn (Mn ratio) is divided into two based on a predetermined reference value ⁇ , and crushed pieces whose Mn ratio is equal to or less than the reference value ⁇ are indicated by squares (FIG. 14) and circles (FIG. 15). Fragments having a ratio larger than the reference value ⁇ are indicated by triangles (FIG. 14) and diamonds (FIG. 15).
- a crushed piece having a high Mn ratio and a crushed piece having a low Mn ratio can be selected with a predetermined accuracy.
- a metal other than Mn for example, Cr
- the content ratio of the added metal it is considered that there is a correlation in the edge ratio.
- the thickness of the steel plate from which the crushed pieces are large is considered to be less likely to be rounded and hardly wrinkled when processed by a crusher.
- the thickness of the steel plate is not taken into consideration, and it is considered that a higher correlation can be obtained by considering the thickness of the steel plate. Therefore, when the thickness of the steel plate from which the crushed pieces are derived is known, for example, by inputting the thickness to the sorting device 1, the sorting accuracy can be further improved by adjusting the threshold in consideration of the thickness of the steel plate. Can be improved.
- the sorting apparatus 1 of the third embodiment further includes a pre-stage sorting unit 30 on the upstream side of the supply unit 11 to the control unit 16 (collectively referred to as a main sorting unit) of the first embodiment or the second embodiment. .
- a crushed piece with a low content of the added metal is denoted by reference numeral 41
- a crushed piece with a high content of the added metal is denoted by reference numeral 42.
- former stage selection part 30 can also be used other than the front
- the direction in which gravity acts on the slope portions 31 and 35 is referred to as an inclination direction
- the slope portion 35 is inclined.
- a direction perpendicular to the direction is referred to as a slope width direction.
- the pre-stage sorting unit 30 of the third embodiment sorts the crushed pieces based on the difference in speed when the crushed pieces are moved along the slope. Since the upstream sorting unit 30 of the third embodiment is configured to move the crushed pieces along the slope portions 31, 35, the slope portion 31 is used to move the crushed pieces along the slope portions 31, 35 with certainty. , 35 is required to have an angle greater than the angle of repose (in other words, an angle at which even a non-rounded fragment is slid spontaneously).
- a structure is arbitrary. For example, the structure which moves a crush piece reliably along the slope parts 31 and 35 by vibrating the surface of the slope parts 31 and 35 with a vibrator motor may be sufficient.
- the surface of the slope parts 31 and 35 is a raw material with a small friction coefficient in order to make it easy to slide a fragment (for example, rubber is not preferable).
- FIG. 16 is a diagram illustrating the upstream sorting unit 30 of the third embodiment.
- the upstream sorting unit 30 includes a slope portion 31.
- a groove portion 32 is formed in a predetermined range in the inclination direction in the middle portion of the slope portion 31.
- the crushing piece 41 having a low content of the added metal can easily get over the groove 32 because the velocity component in the inclined direction tends to be high.
- the crushed piece 42 having a high content of the additive metal cannot easily get over the groove 32 and falls from the groove 32 because the velocity component in the inclined direction is not easily increased. .
- the pre-stage sorting unit 30 uses the characteristic that the speed component in the inclination direction is less likely to be larger than the crushed piece 41 because the crushed piece 42 having a high content of added metal is less likely to be rounded. Sort out fragments. Further, below the lower end of the slope portion 31 or the groove portion 32, a belt conveyor (not shown) that conveys the crushed pieces 41 or the crushed pieces 42 to the main sorting portion is disposed below the lower end of the slope portion 31 or the groove portion 32. In addition, the apparatus which conveys a crushing piece to a main selection part is not restricted to a belt conveyor, Another slope part or a vibration conveyor etc. may be sufficient.
- a storage unit for example, a storage place such as a stock yard or a storage container such as a bottle
- a conveyor device such as a belt conveyor. May be.
- FIG. 17 is a diagram illustrating the upstream sorting unit 30 of the first modification of the third embodiment.
- the first stage sorting unit 30 of the first modification includes a slope part 35 and a guide part 36.
- the guide part 36 is provided on the slope part 31, and is inclined so as to advance to the downstream side in the inclination direction as it proceeds to one side in the slope width direction. Further, the upper end of the guide portion 36 in the inclination direction is located downstream of the upper end of the inclined portion 35 in the inclination direction.
- the crushed pieces 41 and the crushed pieces 42 are supplied to the slope portion 35 so as to collide with the guide portion 36. Since the crushed piece 42 has a larger frictional resistance than the crushed piece 41 and tends to decrease in speed, the velocity component in the slope width direction when colliding with the guide portion 36 is also likely to be smaller than that of the crushed piece 41. . Thereby, the crushing piece 42 tends to be smaller in movement amount in the slope width direction than the crushing piece 41.
- the first stage sorting unit 30 of the first modification of the third embodiment sorts the crushed pieces as described above.
- FIG. 18 is a diagram illustrating the upstream sorting unit 30 of the second modification of the third embodiment.
- the front stage sorting unit 30 of the second modification includes a slope part 35 and a guide part 36.
- the guide part 36 is provided on the slope part 31 and is inclined so as to proceed to the downstream side of the slope part 35 as it proceeds to one side in the slope width direction.
- the crushed pieces 41 and the crushed pieces 42 are supplied to the inclined surface portion 35 so as to move along the guide portion 36. Since the crushing piece 42 is moved along the guide portion 36, the frictional resistance is increased and the speed is easily reduced as compared with the crushing piece 41. Therefore, the velocity component in the slope width direction is also smaller than that of the crushing piece 41. Easy to be.
- the upstream sorting unit 30 of the second modification of the third embodiment sorts the crushed pieces as described above.
- the guide portion 36 in the second modification is preferably longer than the guide portion 36 of FIG. 17 in order to increase the speed difference in the slope width direction between the crushed piece 41 and the crushed piece 42.
- FIG. 19 is a diagram illustrating the upstream sorting unit 30 of a third modification of the third embodiment.
- the front-stage sorting unit 30 of the third modification includes a slope part 35 and a guide part 36.
- the crushed pieces 41 and the crushed pieces 42 are supplied from the guide portion 36 to the slope portion 35 at the same speed parallel to the slope width direction.
- the shredded piece 42 has a frictional resistance that is larger than that of the shredded piece 41 and tends to decrease in speed, so that the speed component in the slope width direction is also easily smaller than that of the shredded piece 41. Thereby, the crushing piece 42 tends to be smaller in movement amount in the slope width direction than the crushing piece 41.
- the upstream sorting unit 30 of the third modification of the third embodiment sorts the crushed pieces as described above.
- the crushed pieces are selected by using the characteristic that the speed component in the slope width direction of the crushed pieces 42 having a high content of added metal is more easily decelerated than the crushed pieces 41. is doing.
- a belt conveyor or the like is disposed at a predetermined position in the slope width direction at the downstream end of the slope part 35 in the slope direction, and is shredded to the main sorting part. The piece 41 or the crushing piece 42 is guided.
- a transport device other than the belt conveyor may be provided, or a storage unit for storing the crushed pieces may be provided. Good.
- the sorting apparatus 1 includes the acquisition unit (the three-dimensional camera 52 or the camera 13), the image processing unit 24, and the sorting unit 15, and performs the following sorting. Do the way.
- An acquisition part acquires the surface information (distance image, appearance image) which is the information regarding the surface shape of a fragment (acquisition process).
- the image processing unit 24 Based on the surface information acquired by the acquisition unit, the image processing unit 24 calculates a wrinkle ratio that is a ratio of a portion where wrinkles are generated on the surface of the crushed pieces (image processing step).
- the sorting unit 15 sorts the crushed pieces based on the wrinkle ratio detected by the image processing unit 24 (sorting step).
- the inventors of the present application have found that there is a correlation between the content ratio of the added metal and the ratio of wrinkles on the surface of the crushed pieces. By using this, the surface information is obtained as described above to obtain the wrinkle ratio. Only the fragments can be sorted. Accordingly, it is possible to detect the content of the added metal by a simple method and to sort the crushed pieces.
- the three-dimensional camera 52 acquires height information (more specifically, a distance image) that is the height according to the position of the surface of the fragment as surface information.
- the height of the portion where the wrinkles are generated changes, so that the wrinkle ratio can be calculated accurately by using the height information.
- the three-dimensional camera 52 acquires height information about the crushed pieces viewed from one direction. Based on the height information, the image processing unit 24 calculates the area of the crushed pieces viewed from one direction, calculates the area of the crushed pieces viewed from one direction, and calculates the wrinkle ratio based on them. To do.
- the apparatus configuration and processing become simpler than when using the height information viewed from a plurality of directions.
- the area and the area of the ridge are calculated using detection results of separate sensors. Compared to the configuration, the number of parts can be reduced.
- the image processing unit 24 calculates the wrinkle ratio using the distance image in which the brightness corresponding to the height is set for the surface of the fragment.
- the first direction and the second direction (the up-down direction and the left-right direction in FIG. 12) along a plane perpendicular to the height direction (the transport surface and the measurement surface of the first transport unit 12a).
- Two of the two diagonal directions are set.
- the first difference that is the difference between the height of the determination target portion and the height of the adjacent portion (peripheral pixel) in the first direction for the determination target portion (target pixel) that is the target for determining the presence or absence of wrinkles on the fragmented pieces Is calculated.
- a second difference that is a difference between the height of the determination target portion and the height of the adjacent portion in the second direction is calculated. Based on the first difference and the second difference, the presence or absence of wrinkles in the determination target portion is determined.
- the three-dimensional camera 52 acquires the height information of the crushed pieces placed on the measurement surface.
- the image processing unit 24 calculates a wrinkle ratio for a portion excluding the boundary (pixels indicating the peripheral length) with the measurement surface of the crushed pieces.
- the sorting apparatus 1 includes a first transport unit 12a and an encoder 53.
- the 1st conveyance part 12a conveys a crushing piece.
- the encoder 53 detects the amount of movement or rotation of the first transport unit 12a or a member (pulley) that moves integrally with the first transport unit 12a.
- the three-dimensional camera 52 is fixed so as not to move with respect to the first transport unit 12a, and acquires height information at a timing determined by the detection result of the encoder 53.
- the height information can be acquired at a more accurate interval compared to a configuration that determines the timing for acquiring the height information based on time.
- the camera 13 captures an image of the crushed pieces as a surface information by imaging the crushed pieces from a predetermined direction.
- the image processing unit 24 detects the wrinkle ratio based on the brightness distribution in the appearance image acquired by the camera 13.
- the image processing unit 24 performs edge processing that identifies an edge region that is a region where the amount of change in brightness in the appearance image acquired by the camera 13 is equal to or greater than a predetermined value.
- the ratio of wrinkles generated on the surface of the crushed pieces is detected based on the edge ratio, which is the ratio of the edge regions generated in the crushed pieces in the appearance image.
- the sorting unit 15 sorts the crushed pieces based on the edge ratio of the crushed pieces.
- the sorting device 1 of the second embodiment includes a plurality of illumination units (a top illumination unit 14a, a side illumination unit 14b, and a bottom illumination unit 14c).
- the image processing unit 24 obtains the area of the fragment in the appearance image (the area of the calculation area, or the area of the entire area of the fragment as described above) based on the appearance image acquired by the camera 13, and the fragment The edge ratio is detected based on the area (specifically, the calculation area is calculated and the edge area / calculation area is calculated).
- the sorting device 1 has at least one illumination when acquiring an appearance image (first image) used for calculating the edge region and when acquiring an appearance image (second image) used for calculating the area of the fragment. The presence or absence of lighting of the part is varied.
- the entire area of the crushed pieces in the appearance image can be obtained with high accuracy, so that the ratio of wrinkles on the surface of the crushed pieces (that is, the content of added metal in the crushed pieces) can be obtained with high accuracy.
- the sorting accuracy can be improved.
- the sorting device 1 of the second embodiment includes a surface illumination unit (an upper surface illumination unit 14a and a side illumination unit 14b) that irradiates light to a position including a portion from which the camera 13 acquires an appearance image among the fragmented pieces.
- a surface illumination unit an upper surface illumination unit 14a and a side illumination unit 14b
- the image processing unit 24 detects the ratio of wrinkles generated on the surface of the crushed pieces based on the appearance image acquired by the camera 13 while the surface illumination unit irradiates light.
- the sorting device 1 of the third embodiment and each modification is based on the difference in the magnitude of the velocity component in the tilt direction or the slope width direction when the crushed pieces are moved along the slope portions 31 and 35.
- the crushed pieces sorted by the previous sorting unit 30 are sorted by the main sorting unit (camera 13, image processing unit 24, and sorting unit 15).
- the crushed pieces can be selected by the method of the third embodiment and each modification. Although this sorting method is unlikely to increase the sorting accuracy, it is possible to reduce the amount of crushed pieces supplied to the downstream main sorting section, and thus the main sorting section can be downsized. In particular, since the main sorting unit is expensive, the equipment cost can be reduced by downsizing the main sorting unit.
- the slope portion 31 of the upstream sorting portion 30 is formed with a groove portion 32 in a predetermined range in the tilt direction, and based on whether or not the groove portion 32 has fallen. And sort the crushed pieces.
- the crushed pieces can be selected with a simple configuration. Moreover, since the process which detects the content rate of the addition metal of a crushing piece, and the process which classifies according to a detection result (for example, the route of a crushing piece is changed) can be performed at once, a crushing piece can be efficiently processed. Can be selected.
- the pre-stage sorting unit 30 moves the crushed pieces along the slope 35 so as to have a velocity component in the slope width direction, The crushed pieces are selected based on the position in the slope width direction after being moved along the slope 35.
- the crushing pieces 42 which are not easily rounded tend to decrease in speed by moving on the slope, so that the amount of movement in the horizontal direction tends to be small. Therefore, the crushed pieces can be selected with a simple configuration. Moreover, since the process which detects the content rate of the addition metal of a crushing piece, and the process which classifies according to a detection result (for example, the route of a crushing piece is changed) can be performed at once, a crushing piece can be efficiently processed. Can be selected. Moreover, although the sorting method using a groove part sorts crush pieces into two, the method using the velocity component in the slope width direction can sort crush pieces into a plurality.
- a distance image is created from the measured height information, and the wrinkle ratio is calculated using this distance image.
- the wrinkle ratio can be calculated by directly using the height information without creating a distance image.
- the ratio of wrinkles on the surface of the fragment is detected by edge processing.
- the processing uses the brightness distribution of the appearance image, another processing (for example, a region indicated by a pixel whose brightness is equal to or less than a predetermined value).
- the wrinkle ratio may be detected by using a method for determining whether or not a wrinkle is based on the shape.
- the process which detects a wrinkle ratio is performed about the crushing piece set
- the first image and the second image are acquired by one camera 13, but the camera that acquires the first image and the camera that acquires the second image may be different.
- the crushing piece 42 having a high content of added metal is less likely to be rounded, so that the speed component in the inclined direction is less likely to be larger than the crushing piece 41, or the speed component in the slope width direction of the crushing piece 42 is Various sorting methods have been described using characteristics that are easier to decelerate than the crushed pieces 41, but sorting methods other than those described above may be used.
- SYMBOLS 1 Sorting device 11 Supply part 12a 1st conveyance part 12b 2nd conveyance part 12c 3rd conveyance part 13 Camera (acquisition part) 14a Top illumination unit (surface illumination unit, illumination unit) 14b Side illumination unit (surface illumination unit, illumination unit) 14c Bottom illumination part (illumination part) DESCRIPTION OF SYMBOLS 15 Sorting part 16 Control part 24 Image processing part 51 Laser apparatus 52 Three-dimensional camera (acquisition part) 53 Encoder (motion detector)
Abstract
Description
皺割合=(2次微分処理により強調された部分の面積-周囲長に相当する面積)/(破砕片の面積)
なお、破砕片の面積からも周囲長に相当する面積を減算してもよい。
11 供給部
12a 第1搬送部
12b 第2搬送部
12c 第3搬送部
13 カメラ(取得部)
14a 上面照明部(表面照明部、照明部)
14b 側面照明部(表面照明部、照明部)
14c 下面照明部(照明部)
15 選別部
16 制御部
24 画像処理部
51 レーザ装置
52 3次元カメラ(取得部)
53 エンコーダ(動き検出部)
Claims (15)
- 金属の破砕片に含まれる添加金属の含有割合に応じて、当該破砕片を選別する選別装置において、
前記破砕片の表面形状に関する情報である表面情報を取得する取得部と、
前記取得部が取得した表面情報に基づいて、前記破砕片の表面のうち皺が生じている部分の割合である皺割合を算出する画像処理部と、
前記画像処理部が検出した前記皺割合に基づいて当該破砕片を選別する選別部と、
を備えることを特徴とする選別装置。 - 請求項1に記載の選別装置であって、
前記取得部は、前記破砕片の表面の位置に応じた高さである高さ情報を前記表面情報として取得することを特徴とする選別装置。 - 請求項2に記載の選別装置であって、
前記取得部は、一方向から見た前記破砕片について前記高さ情報を取得し、
前記画像処理部は、前記高さ情報に基づいて、前記一方向から見た前記破砕片の面積を算出するとともに、前記一方向から見た前記破砕片の皺の面積を算出し、それらに基づいて前記皺割合を算出することを特徴とする選別装置。 - 請求項2又は3に記載の選別装置であって、
前記画像処理部は、前記破砕片の表面について高さに応じた輝度を設定した距離画像を用いて前記皺割合を算出することを特徴とする選別装置。 - 請求項2から4までの何れか一項に記載の選別装置であって、
前記画像処理部は、
高さ方向に垂直な平面に沿う第1方向及び第2方向を設定し、
前記破砕片の皺の有無を判定する対象である判定対象部分について、
前記判定対象部分の高さと、前記第1方向において隣り合う部分の高さと、の差分である第1差分を算出し、
更に、前記判定対象部分の高さと、前記第2方向において隣り合う部分の高さと、の差分である第2差分を算出し、
前記第1差分と前記第2差分とに基づいて、前記判定対象部分の皺の有無を判定することを特徴とする選別装置。 - 請求項5に記載の選別装置であって、
前記取得部は、測定面に載せられた前記破砕片の前記高さ情報を取得し、
前記画像処理部は、前記破砕片のうち前記測定面との境界を除いた部分について、前記皺割合を算出することを特徴とする選別装置。 - 請求項2から6までの何れか一項に記載の選別装置であって、
前記破砕片を搬送する搬送部と、
前記搬送部又は当該搬送部と一体的に動く部材の移動量又は回転量を検出する動き検出部と、
を備え、
前記取得部は、前記搬送部に対して移動不能に固定されており、前記動き検出部の検出結果で定められるタイミングにおいて、前記高さ情報を取得することを特徴とする選別装置。 - 請求項1に記載の選別装置であって、
前記取得部は、前記破砕片を所定の方向から撮像することで当該破砕片の外観を示す外観画像を前記表面情報として取得し、
前記画像処理部は、前記取得部が取得した前記外観画像内における明るさの分布に基づいて、前記皺割合を検出することを特徴とする選別装置。 - 請求項8に記載の選別装置であって、
前記画像処理部は、前記取得部が取得した前記外観画像内における明るさの変化量が所定以上となる領域であるエッジ領域を特定するエッジ処理を行い、前記外観画像における前記破砕片に前記エッジ領域が生じている割合であるエッジ割合に基づいて前記皺割合を検出し、
前記選別部は、前記破砕片の前記エッジ割合に基づいて当該破砕片を選別することを特徴とする選別装置。 - 請求項9に記載の選別装置であって、
前記破砕片に光を照射する1又は複数の照明部を備え、
前記画像処理部は、前記外観画像に基づいて、当該外観画像における前記破砕片の面積を算出し、当該破砕片の面積に基づいて前記エッジ割合を検出し、
前記エッジ領域の算出に用いる前記外観画像を取得するときと、前記破砕片の面積の算出に用いる前記外観画像を取得するときと、で少なくとも1つの前記照明部の点灯の有無を異ならせることを特徴とする選別装置。 - 請求項10に記載の選別装置であって、
前記照明部には、前記破砕片のうち、前記取得部が前記外観画像を取得する箇所を含んだ位置に光を照射する表面照明部が含まれており、
前記画像処理部は、少なくとも1つの前記表面照明部が光を照射している間に前記取得部が取得した前記外観画像に基づいて、前記皺割合を検出することを特徴とする選別装置。 - 請求項8から11までの何れか一項に記載の選別装置であって、
前記破砕片を選別するための斜面部を有する前段選別部を備え、
前記前段選別部の前記斜面部上において重力が作用する方向を傾斜方向とし、当該斜面部上において前記傾斜方向と垂直な方向を斜面幅方向としたときに、
前記破砕片を前記斜面部に沿って移動させたときの、前記傾斜方向又は前記斜面幅方向の速度成分の大きさの差に基づいて当該破砕片を選別する前段選別部を備え、
前記前段選別部で選別された前記破砕片を、前記取得部、前記画像処理部、及び前記選別部により選別することを特徴とする選別装置。 - 請求項12に記載の選別装置であって、
前記前段選別部の前記斜面部には、前記傾斜方向における所定範囲に溝部が形成されており、
前記前段選別部は、前記溝部から落下したか否かに基づいて、前記破砕片を選別することを特徴とする選別装置。 - 請求項12に記載の選別装置であって、
前記前段選別部は、前記斜面幅方向の速度成分を有するように前記破砕片を前記斜面部に沿って移動させ、当該斜面部に沿って移動させた後の前記斜面幅方向の位置に基づいて、前記破砕片を選別することを特徴とする選別装置。 - 金属の破砕片に含まれる添加金属の含有割合に応じて、当該破砕片を選別する選別方法において、
前記破砕片の表面形状に関する情報である表面情報を取得する取得工程と、
前記取得工程で取得した表面情報に基づいて、前記破砕片の表面のうち皺が生じている部分の割合である皺割合を算出する画像処理工程と、
前記画像処理工程で検出した前記皺割合に基づいて当該破砕片を選別する選別工程と、
を含むことを特徴とする選別方法。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018540326A JP6726753B2 (ja) | 2016-09-23 | 2017-09-22 | 選別装置及び選別方法 |
EP17853185.1A EP3517933A4 (en) | 2016-09-23 | 2017-09-22 | SORTING DEVICE AND SORTING METHOD |
KR1020197011344A KR102242948B1 (ko) | 2016-09-23 | 2017-09-22 | 선별장치 및 선별방법 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016-185878 | 2016-09-23 | ||
JP2016185878 | 2016-09-23 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2018056417A1 true WO2018056417A1 (ja) | 2018-03-29 |
Family
ID=61689951
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2017/034385 WO2018056417A1 (ja) | 2016-09-23 | 2017-09-22 | 選別装置及び選別方法 |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP3517933A4 (ja) |
JP (1) | JP6726753B2 (ja) |
KR (1) | KR102242948B1 (ja) |
WO (1) | WO2018056417A1 (ja) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019181454A (ja) * | 2018-04-11 | 2019-10-24 | 株式会社アーステクニカ | 選別装置及び搬送経路状態判定方法 |
JP2019217608A (ja) * | 2018-06-21 | 2019-12-26 | キヤノン株式会社 | 情報処理装置、情報処理方法及びプログラム |
CN111144426A (zh) * | 2019-12-28 | 2020-05-12 | 广东拓斯达科技股份有限公司 | 一种分拣方法、装置、设备和存储介质 |
JP2020104075A (ja) * | 2018-12-28 | 2020-07-09 | 株式会社アーステクニカ | 選別装置 |
CN114130687A (zh) * | 2021-10-22 | 2022-03-04 | 南京认知物联网研究院有限公司 | 一种产品视觉质检方法、系统、计算机设备及存储介质 |
WO2023199928A1 (ja) * | 2022-04-14 | 2023-10-19 | 株式会社アーステクニカ | 判定装置、選別装置、及び判定方法 |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021145709A1 (ko) | 2020-01-17 | 2021-07-22 | 코오롱인더스트리 주식회사 | 브레이크 바디 및 제동장치 |
CN111921908A (zh) * | 2020-09-08 | 2020-11-13 | 昆山峤川电气科技有限公司 | 全自动钢板表面残缺检测系统 |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02303578A (ja) * | 1989-05-15 | 1990-12-17 | Maki Seisakusho:Kk | 青果物の選別装置 |
JPH06106091A (ja) * | 1992-09-25 | 1994-04-19 | Kyushu Metal Sangyo Kk | 金属廃棄物を各金属種類別に選別する方法 |
JP2003171729A (ja) | 2001-12-10 | 2003-06-20 | Daihatsu Motor Co Ltd | 鋼板スクラップの再利用方法 |
EP1416265A1 (en) * | 2002-11-01 | 2004-05-06 | Huron Valley Steel Corporation | Scanning system and metal scrap sorting system employing same |
WO2004063744A1 (ja) * | 2003-01-10 | 2004-07-29 | Juridical Foundation Osaka Industrial Promotion Organization | 合金の分別方法及びそれを用いた分別システム |
JP2010172799A (ja) * | 2009-01-28 | 2010-08-12 | National Institute Of Advanced Industrial Science & Technology | 非磁性金属の識別方法 |
US20130229510A1 (en) * | 2010-11-25 | 2013-09-05 | Dirk Killmann | Method and device for individual grain sorting of objects from bulk materials |
JP2014132433A (ja) * | 2012-12-07 | 2014-07-17 | Canon Inc | 画像生成装置および画像生成方法 |
JP2014167430A (ja) * | 2013-02-28 | 2014-09-11 | Shin Nippon Koki Co Ltd | 欠陥検査システム、欠陥検査プログラムおよび欠陥検査方法 |
JP2016118475A (ja) | 2014-12-22 | 2016-06-30 | 国立研究開発法人産業技術総合研究所 | 識別装置及び識別方法 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6323946B2 (ja) | 2014-04-14 | 2018-05-16 | 学校法人福岡大学 | 竹破砕片乾燥選別システム |
-
2017
- 2017-09-22 EP EP17853185.1A patent/EP3517933A4/en active Pending
- 2017-09-22 WO PCT/JP2017/034385 patent/WO2018056417A1/ja unknown
- 2017-09-22 KR KR1020197011344A patent/KR102242948B1/ko active IP Right Grant
- 2017-09-22 JP JP2018540326A patent/JP6726753B2/ja active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02303578A (ja) * | 1989-05-15 | 1990-12-17 | Maki Seisakusho:Kk | 青果物の選別装置 |
JPH06106091A (ja) * | 1992-09-25 | 1994-04-19 | Kyushu Metal Sangyo Kk | 金属廃棄物を各金属種類別に選別する方法 |
JP2003171729A (ja) | 2001-12-10 | 2003-06-20 | Daihatsu Motor Co Ltd | 鋼板スクラップの再利用方法 |
EP1416265A1 (en) * | 2002-11-01 | 2004-05-06 | Huron Valley Steel Corporation | Scanning system and metal scrap sorting system employing same |
WO2004063744A1 (ja) * | 2003-01-10 | 2004-07-29 | Juridical Foundation Osaka Industrial Promotion Organization | 合金の分別方法及びそれを用いた分別システム |
JP2010172799A (ja) * | 2009-01-28 | 2010-08-12 | National Institute Of Advanced Industrial Science & Technology | 非磁性金属の識別方法 |
US20130229510A1 (en) * | 2010-11-25 | 2013-09-05 | Dirk Killmann | Method and device for individual grain sorting of objects from bulk materials |
JP2014132433A (ja) * | 2012-12-07 | 2014-07-17 | Canon Inc | 画像生成装置および画像生成方法 |
JP2014167430A (ja) * | 2013-02-28 | 2014-09-11 | Shin Nippon Koki Co Ltd | 欠陥検査システム、欠陥検査プログラムおよび欠陥検査方法 |
JP2016118475A (ja) | 2014-12-22 | 2016-06-30 | 国立研究開発法人産業技術総合研究所 | 識別装置及び識別方法 |
Non-Patent Citations (1)
Title |
---|
See also references of EP3517933A4 * |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019181454A (ja) * | 2018-04-11 | 2019-10-24 | 株式会社アーステクニカ | 選別装置及び搬送経路状態判定方法 |
JP2019217608A (ja) * | 2018-06-21 | 2019-12-26 | キヤノン株式会社 | 情報処理装置、情報処理方法及びプログラム |
CN110626548A (zh) * | 2018-06-21 | 2019-12-31 | 佳能株式会社 | 信息处理设备、信息处理方法和存储介质 |
US11613026B2 (en) | 2018-06-21 | 2023-03-28 | Canon Kabushiki Kaisha | Information processing apparatus, information processing method, and storage medium |
JP7286272B2 (ja) | 2018-06-21 | 2023-06-05 | キヤノン株式会社 | 情報処理装置、情報処理方法及びプログラム |
JP2020104075A (ja) * | 2018-12-28 | 2020-07-09 | 株式会社アーステクニカ | 選別装置 |
JP7221682B2 (ja) | 2018-12-28 | 2023-02-14 | 株式会社アーステクニカ | 選別装置 |
CN111144426A (zh) * | 2019-12-28 | 2020-05-12 | 广东拓斯达科技股份有限公司 | 一种分拣方法、装置、设备和存储介质 |
CN114130687A (zh) * | 2021-10-22 | 2022-03-04 | 南京认知物联网研究院有限公司 | 一种产品视觉质检方法、系统、计算机设备及存储介质 |
WO2023199928A1 (ja) * | 2022-04-14 | 2023-10-19 | 株式会社アーステクニカ | 判定装置、選別装置、及び判定方法 |
Also Published As
Publication number | Publication date |
---|---|
JP6726753B2 (ja) | 2020-07-22 |
KR20190086436A (ko) | 2019-07-22 |
JPWO2018056417A1 (ja) | 2019-08-29 |
EP3517933A4 (en) | 2020-04-22 |
KR102242948B1 (ko) | 2021-04-21 |
EP3517933A1 (en) | 2019-07-31 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2018056417A1 (ja) | 選別装置及び選別方法 | |
JP5311376B2 (ja) | 非磁性金属の識別方法 | |
CN108369067B (zh) | 用于确定输送机上的给料的质量的方法和系统 | |
CA2816162C (en) | Method and device for individual grain sorting of objects from bulk materials | |
JP5263776B2 (ja) | 非磁性金属の識別方法 | |
JP6152845B2 (ja) | 光学式粒状物選別機 | |
RU2315977C2 (ru) | Способ и устройство для анализа и сортировки потока материала | |
CN114025889B (zh) | 从表面上拾取物体的装置和方法 | |
AU2019335607A1 (en) | Monitoring ore | |
CN101750033A (zh) | X射线检查装置 | |
JPWO2018012346A1 (ja) | Libs型物体選別装置 | |
US20220072589A1 (en) | Sorting apparatus with a libs laser device | |
JP2015531863A (ja) | 変化するベルトの特性を考慮した金属物体を分析するための方法および装置 | |
US20210129188A1 (en) | Seed sorting | |
US20190308300A1 (en) | Appearance inspection apparatus, surface treatment system, appearance inspection method, program and shot material replacement determination method | |
EP2947032B1 (en) | Method for transporting objects | |
JP6099525B2 (ja) | ペレット粒径測定方法 | |
JP6896698B2 (ja) | 選別装置及び搬送経路状態判定方法 | |
JP6488820B2 (ja) | テーブル比重選鉱機における仕切り板位置制御装置及び仕切り板位置制御方法、並びに仕切り板位置制御装置を備えたテーブル比重選鉱システム | |
JP7221682B2 (ja) | 選別装置 | |
JP2006126061A (ja) | 粉粒体の粒度分布計測方法および装置 | |
WO2023042389A1 (ja) | 物体処理装置 | |
WO2017217121A1 (ja) | 外観検査装置、表面処理システム、外観検査方法、プログラム、および投射材交換判断方法 | |
WO2020241339A1 (ja) | フロス泡移動速度計測装置及びフロス泡移動速度計測方法、並びにこれらを用いた浮遊選鉱装置及び浮遊選鉱方法 | |
JP5527544B2 (ja) | 容器の判別方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 17853185 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2018540326 Country of ref document: JP Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 20197011344 Country of ref document: KR Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 2017853185 Country of ref document: EP Effective date: 20190423 |