Coin separation device and method for coin separation

Abstract

The invention relates to a coin separation device for the separation of coins from ashes, in particular bottom ashes, the coin separation device comprising: a transport device that is configured for transporting the ashes to be processed in a transport direction; a detection device that is configured for detecting coins in the ashes; a light source that is configured for emitting light; and a displacement device that is configured for picking up and displacing the detected coins from the transport device; wherein the detection device and the light source are directed towards each other, and wherein the transport device is configured for transporting the ashes to be processed between the detection device and the light source such that the ashes to be processed are illuminated with light by the light source. The invention further relates to a coin separation system and a method for the separation of coins from ashes.

Description

[0001] COIN SEPARATION DEVICE AND METHOD FOR COIN SEPARATION

[0002] The invention relates to a coin separation device and a method for the separation of coins from ashes, in particular bottom ashes.

[0003] From practice it is known that bottom ashes from waste incineration installations still contain diverse non-combusted materials, including coins. These coins, often monetary coins from a variety of states, can be detected and removed in multiple ways.

[0004] In a known device, rolls or sieves are for example used to remove coins from the bottom ashes. A disadvantage of this device is that it is insufficiently selective because, in addition to coins, a variety of other materials is selected as ‘coin’.

[0005] In another known device, cameras that are positioned above a conveyor belt are therefore used to detect coins in the bottom ashes on the conveyor belt. These coins are subsequently removed from the conveyor belt.

[0006] Disadvantages of these devices are that these are insufficiently capable of detecting coins and / or removing coins from the conveyor belt, in particular in the case of a polluted and / or humid / wet stream of bottom ashes that are to be processed.

[0007] A need is therefore felt for a coin separation device with an improved selection capacity. The object of the invention is removing or at least reducing the above-mentioned disadvantages.

[0008] The invention therefore provides a coin separation device for the separation of coins from ashes, in particular bottom ashes, the coin separation device comprising: a transport device that is configured for transporting the ashes to be processed in a transport direction; a detection device that is configured for detecting coins in the ashes; a light source that is configured for emitting light; and a displacement device that is configured for the displacing the detected coins from the transport device; wherein the detection device and the light source are directed towards each other, and wherein the transport device is configured for transporting the ashes to be processed between the detection device and the light source such that the ashes to be processed are illuminated with light by the light source.

[0009] An advantage of the coin separation device according to the invention is that the detection is substantially independent from the degree of pollution and humidity of the coins in the transport device. This is realised by using the light source that is directed towards the detection device which causes with its the light emission for a heigh contrast between the coins and the surrounding (bottom) ashes. In this way, even coins that are heavily polluted and / or have turned completely grey can be separated based on the roundness of the shape. A further advantage is that, by using transmission of (back)light, the coins are better detectable dan in the known devices in which light reflection is employed.

[0010] A further advantage of the device according to the invention is that, by positioning the detection device and the light source at either side of the transported ashes, there is sufficient space available for arranging a displacement device, in particular a robot arm, for removing detected coins from the transport device.

[0011] Preferably, the transported ashes are illuminated from below by the light source, wherein the detection device is positioned above the transported ashes and opposite the light source. A simple and compact device can be realised in this way. However, it is also possible to choose an inverted configuration and / or an obliquely positioned configuration.

[0012] In a preferred embodiment, the light source is an infrared light source that is configured for emitting infrared (or IR) light. Infrared light can be defined by an infrared spectrum having a wavelength in vacuum of 700 nm - 1 mm, preferably the near infrared spectrum of 0.75 pm - 1.4 pm and / or the thermal infrared spectrum of 1.4 pm - 15 pm. Preferably, an IR wavelength from the near infrared spectrum is used, for example comprising 850 nm.

[0013] In practice it has turned out that detection and selection of coins can be (even) further improved by using infrared light.

[0014] In an embodiment of the coin separation device according to the invention, the detection device and the light source are arranged stream upwards as seen in the transport direction from the displacement device, wherein the distance between the detection device and the light source on the one hand and the displacement device on the other hand preferably lies in the range of 0.2 meter up to and including 2.0 meter, more preferably in the range of 0.35 meter up to and including 1.5 meter, and most preferably in the range of 0.5 meter up to and including 1.0 meter.

[0015] An advantage of the above-mentioned embodiment is that, because of the spatial separation of the detection device from the light source on the one hand and from the displacement device on the other hand, there is sufficient physical space available for the movement of the displacement device. A further advantage is that the spatial separation makes sure that there is sufficient time available for controlling the displacement device after detection of a coin.

[0016] In an embodiment of the coin separation device according to the invention, the transport device has a carrier that is moveable in a transport direction, that extends at least partially between the detection device and the light source and that is configured for transporting the ashes, wherein said carrier is at least partially transparent and / or translucent, preferably infrared light translucent. An advantage of an at least partially transparent and / or (infrared) light translucent carrier is that the detection, in particular the recognition of coins in detected objects, is less sensitive to dust and water present on the carrier.

[0017] Preferably, the light source is arranged to emit light through the transport device, in particular the carrier thereof, towards the detection device. The light source is here preferably positioned under the transport device or carrier thereof.

[0018] In an embodiment of the coin separation device according to the invention, it can further comprise a spreading unit that is configured for spreading the ashes to be processed on the carrier, wherein the spreading unit is arranged stream upwards as seen in the transport direction from the detection device and / or the light source.

[0019] An advantage of a spreading unit is that the ashes to be processed are better spread out over the carrier. This results in a less thick, substantially even layer of ashes, whereby further improved detection can take place. This is realised by an improved spreading and / or singulation, whereby coins are more visible in the ashes.

[0020] A further advantage is that, with the spreading of the ashes, the illumination of the ashes from below results in a higher degree of contrast, and thereby to an improve detection.

[0021] In an embodiment of the coin separation device, the spreading unit can comprise an air curtain, brushes, brooms and / or flaps that are preferably arranged perpendicular to the transport direction, and / or can comprise a vibrating device.

[0022] The spreading unit can be implemented in diverse ways. An advantage of air curtains, brushes, brooms and flaps is that these can also be arranged for at least partial capturing and / or abducting superfluous pollution. This causes a reduction of the amount of ashes to be processed and a (yet) further increase of the reliability of the detection.

[0023] In an embodiment of the coin separation device according to the invention, it can further comprise a cleaning unit or device that is arranged at a stream upwards direction of the transport device as seen in the transport direction and that is configured for the cleaning of the transport device, preferably at least the carrier thereof.

[0024] An advantage of this embodiment is that the amount of pollution, in particular the (smaller) ash remnants and moisture in the transport device, and, when a carrier is present, on the carrier, can be reduced. Since pollution, especially in the form of dust, and moisture have a negative effect on the reliability of the detection, preventative removal thereof contributes to an improved reliability of the discriminating capability of the device.

[0025] Preferably, the cleaning device is also arranged stream upwards from an optional spreading unit. Cleaning then preferably takes place preceding the feeding of a (next) quantity of ashes to be processed to the transport device. Alternatively or additionally to this, cleaning can also take place stream upwards in the transport direction after the coins have been separated from the ashes and have been removed from the transport device, in particular when the transport device is circular, such as is the case with a carrier in the form of an endless conveyor belt, for example.

[0026] In an embodiment of the coin separation device according to the invention, an extraction device is arranged above the transport device stream upwards of the detection device as seen in the transport direction. With it, dust and other light substances can be extracted before the ashes to be processed are presented to the detection device.

[0027] In an embodiment of the coin separation device according to the invention, the carrier can comprise a conveyor belt, preferably an endless conveyor belt.

[0028] An advantage of a (endless) conveyor belt is that an efficient, reliable and cost- effective transport device can be formed with it that required relatively low maintenance. The conveyor belt preferably has a transparent part and / or is completely made of a transparent and / or (infrared)translucent material. The material that is used for the carrier, the conveyor belt and / or the transparent part thereof, can for example be selected from a polyolefin such as polyethylene or a polyvinylchloride. The thickness of the carrier or conveyor belt is preferably between 0.5 and 2 mm.

[0029] In an embodiment of the coin separation device according to the invention, the detection device can comprise a camera, preferably a camera that is configured for image recognition in the infrared spectrum. The camera can be equipped with a band filter (bandpass filter) that is configured to pass the (infrared) light of the light source or a selected bandwidth thereof. In particular diffuse reflection from the environment can hereby be reduced such that the camera image can be sharper.

[0030] An advantage of this embodiment is that a camera is highly suitable for making images (with backlight) to realise images with a heigh contrast on which the coins (and other objects) can be clearly discriminated. In particular a sharp delimitation of the form of the objects can be achieved, whereby a higher degree of reliability in the recognition, in particular shape recognition, can be achieved.

[0031] In an embodiment of the coin separation device according to the invention, the (infrared) light source can comprise one or more (infrared) lamps, wherein the one or more (infrared) lamps are preferably arranged in a predetermined configuration.

[0032] The light source is preferably formed by one or more lamps, such as infrared lamps. Preferably, a predetermined arrangement is chosen that ensures a consistency and / or intensity of illumination of the ashes in the transport device that is as high as possible. This contributes to a good recognition of the coins in the ashes.

[0033] In an embodiment according to the invention, the (infrared) lamps are elongate (infrared) lamps that extend substantially parallel to a transport plane of the transport device and perpendicular to the transport direction, wherein the lamps preferably extend over a full width of the transport device, and more preferably the carrier.

[0034] An advantage of lamps that are placed perpendicular to the transport direction is that the ashes are completely illuminated, that is over the full width. This achieves a consistent illumination of the ashes, whereby a higher reliability of recognition is realised.

[0035] The one or more lamps are preferably arranged parallel to a transport plane, or parallel to an optionally present carrier, such that the distance to the ashes is substantially the same at every point of the lamp or lamps. This also contributes to a consistent, clear illumination.

[0036] In the case of employing multiple lamps, these are preferably arranged parallel to each other.

[0037] In an embodiment of the coin separation device according to the invention, the coin separation device can further comprise a light spreading element that extends between the transport device and the light source, wherein the light spreading element is preferably a light spreading plate. In particular, the light spreading element is a light diffusion element.

[0038] The light spreading element is configured for spreading the incident (infrared) light over the surface in order to realise an even radiation of light towards the ashes. An advantage thereof, more so in the form of a plate, is that the ashes to be processed are consistently and simply illuminated. This (even) further contributes to a high reliability of recognition.

[0039] In an embodiment of the coin separation device according to the invention, the light spreading element can be a plastic plate, preferably a plate based on polycarbonate. As alternative material, glass is possible. Irrespective of the material, the surface of the plate can be roughened, preferably the surface of the plate that is directed towards the conveyor belt. The plate thickness is for example in the range of 2 - 10 mm, preferably 6 ± 2 mm.

[0040] An advantage of plastics, or polycarbonate in particular, is that it has a high transparency and therefore realises a good spreading of the light.

[0041] A further advantage of such material is that it is a hard, scratch and break resistant material, whereby it contributes to the safety in the device. In particular, it also forms a protective layer above the (infrared) light source.

[0042] In an embodiment according to the invention, a coloured plastic plate is employed, preferably in a cold colour such as green, blue or purple. This feature can also be applicable to the light spreading element in general.

[0043] It has turned out that cold colours lead to an improved spreading of light and a higher contrast of objects relative to the ashes in which the objects are located. Because of this, the reliability of the separation of coins from the ashes increases (even) further. In an embodiment of the coin separation device according to the invention, the device can further comprise a control unit that is configured for controlling the transport device and / or the detection device.

[0044] The control unit is preferably arranged for controlling the detection device and, additionally or alternatively, for controlling the (mechanical) parts of the transport device. The control unit can be used herein for processing the information, such as images or photos, that are generated by the detection device.

[0045] In an embodiment according to the invention, the control unit is integrated into the detection device.

[0046] An advantage of said integration is that an efficient and compact device can be achieved. A further advantage is that the control unit is relatively well protected by integration against dirt, dust and damaging.

[0047] In an embodiment of the coin separation device according to the invention, the detection device can be arranged for generating images, and the control unit can be arranged for processing images generated by the detection device.

[0048] The control unit can be used advantageously for processing images generated by the detection device and preferably for executing edits thereon to classify detected objects based on various aspects. For example, classification based on roundness, diameter, the presence of holes or openings and / or the thickness of the object (as measured in a direction perpendicular on a plane of the object) can be conceived here.

[0049] In an embodiment of the coin separation device according to the invention, the control unit can comprise a data processing unit, such as a processor, and the control unit can further be arranged for determining whether a detected object is a ‘coin’. This can be implemented by executing the determination of a roundness of a detected object and comparing the roundness of a detected object with a predetermined roundness threshold value. The object is herein classified as ‘coin’ when the roundness lies above the predetermined threshold value. Additionally or alternatively, this can also be implemented by executing the determination of a diameter of a detected object and by comparing the diameter of a detected object with a predetermined diameter range. The object is classified as ‘coin’ when the diameter lies within the predetermined diameter range.

[0050] In this embodiment, the selection of coins from the ashes is executed based on the roundness and / or the diameter of the coins. By applying the light source and the detection device at either side of the ashes, it is achieved that the contour of objects in the ashes is shown better, in particular sharper. This makes a selection possible with a higher accuracy based on roundness and / or diameter. This primarily arises from the fact that selection is possible with a smaller error margin. A further advantage is that the degree of roundness and / or the diameter can be set to a predetermined value, wherein that value is preferably adjustable to make it tuneable to specific desired situations. This also makes it possible to select coins from the ashes that are not completely round and / or worn down.

[0051] In an embodiment of the coin separation device according to the invention, the control unit can comprise a data processing unit, such as a processor, and the control unit can further be arranged for determining whether a detected object is a ‘coin’. This can for example be implemented by executing the determination of the presence or absence of a hole in the detected object and determining a sideways in-plane displacement of the hole relative to a central axis of the object. A subsequent step is then the comparing the sideways displacement with a displacement threshold value and classifying said object as ‘coin’ when the sideways displacement lies under the displacement threshold value.

[0052] Alternatively or additionally, the executing can also comprise the steps of determining the presence or absence of a hole in the detected object and, if a hole is present, determining the diameter of the hole. A subsequent step then follows in which the diameter is compared with a predetermined diameter range, and said object is classified as ‘coin’ when the diameter lies within the predetermined diameter range.

[0053] It is known that some coins are originally provided with a central opening. An advantage of this embodiment of the coin separation device is that a detected object can also (amongst other factors) be selected based on the central opening. An advantage of above-mentioned embodiment is that the presence of a central opening in a detected object can also be used for determining whether an object is a coin. An advantage of the device according to the invention is that the sideway deviation of the opening relative to the central axis can be determined, after which it can be determined whether the object is a coin. Alternatively or additional, the device is also arranged to apply the diameter of the opening as selection criterion to determine whether the detected object is a coin.

[0054] This is made possible by the specific configuration of the light source and the detection device by which the opening can be determined with an improved accuracy.

[0055] In an embodiment of the coin separation device according to the invention, the device can be further provided with a receptacle, preferably a receiving bucket or receiving container, for receiving coins that have been removed from the (bottom) ashes, preferably by the displacement device.

[0056] A receiving bucket or container has as advantage that it is easily replaced by an empty one when it is full. The receiving bucket or container is preferably implemented as moveable, more preferably rollable.

[0057] In an embodiment of the coin separation device according to the invention, the displacement device can be a robot arm. An advantage of a robot arm as displacement device is that it can be deployed in a reliable and efficient way for displacing detected coins from the transport device, and preferably also for picking up detected coins. Other displacement devices are, for example, based on compressed air to separate objects detected as ‘coin’ from the transport device by displacement. However, a displacement device based on compressed air requires a free path for the flow of compressed air such that only the desired object is indeed removed from the transport device. Such a free path requires a free housing of the transport device and a larger degree of singulation of the objects that are to be sorted (for example by additional sorting in advance or by a singulator) to prevent obstructions of the flow of air. This in general reduces the throughput or capacity of the device. Compressed air also causes formation of dust, surely in the case of ashes, which can negatively affect the detection. With a robot arm, the desired selectivity can be achieved in a simple way. It requires less or no additional pre-treatment. An increased throughput can also be achieved at the same selectivity for objects detected as ‘coin’.

[0058] If a robot arm is applied as the displacement device in the coin separation device, the light source may be omitted. However, the invention also provides a coin separation device which comprises both the light source as well as the robot arm.

[0059] The invention also provides a coin separation device for the separation of coins from ashes, in particular bottom ashes, the coin separation device comprising: a transport device that is configured for transporting the ashes to be processed in a transport direction; a detection device that is configured for detecting coins in the ashes; and a robot arm that is configured for picking up and displacing the detected coins from the transport device.

[0060] In an embodiment of the coin separation device according to the invention, the robot arm can have a base end and a pick-up end, and the pick-up end can be provided with one or more pick-up and / or holding means.

[0061] The robot arm is preferably positioned adjacent or near the transport device and has a pick-up end that is moveable in such a way that the detected coins can be picked up and can be removed from the transport device, for example from a conveyor belt, with further preference to a storage or receiving container.

[0062] In an embodiment of the coin separation device according to the invention, the pickup end can be moveable at least in a height direction, wherein the height direction is seen in a direction perpendicular to a transport plane in which the (bottom) ashes are transported by the transport device. An advantage of this embodiment is that a detected coin can readily be lifted above the transported ashes and can subsequently be removed towards a receiving container or another means suitable for this purpose.

[0063] The movement in the height direction can be limited to a predetermined height displacement and / or can be implemented as adjustable.

[0064] In an embodiment of the coin separation device according to the invention, the pickup end can be moveable at least in in a movement place that extends substantially parallel to a transport plane in which the ashes are transported by the transport device.

[0065] An advantage of this embodiment is that the coins that are detected and picked up are transported from the transport device in an efficient and effective way, because a relatively short route is traversed.

[0066] In an embodiment of the coin separation device according to the invention, the pickup and / or holding means can be one or more suction cups.

[0067] It has turned out that the use of one or more suction cups is an effective way to pick up coins from the ashes. This is the case even when the coins concerned are polluted and / or moist.

[0068] A further advantage is that suction cups are cheap and easily replaceable, whereby the continuity of the process operation van be ensured as much as possible.

[0069] Preferably, the suction cups using are operated at reduced pressure or vacuum (from a vacuum unit) to realise an additional suction force on the coins that are picked up.

[0070] In an embodiment of the coin separation device according to the invention in which the robot arm comprises multiple suction cups, the suction cups can be positioned in a predetermined configuration that is configured to pick up objects with an opening that is positioned substantially central in the object.

[0071] An advantage of multiple suction cups arranged in a predetermined configuration is that these can be adapted to the type of coins that should be removed from the ashes.

[0072] A further advantage of multiple suction cups is that these can also realise sufficient suction force for coins with an opening.

[0073] In an embodiment of the coin separation device according to the invention, the robot arm is provided with three suction cups, wherein the three suction cups are preferably positioned in the form of a triangle.

[0074] An advantage of the positioning in the form of a triangle is that these, in particular with coins having an opening, engage at the edges of the coin and are thereby substantially unsensitive for loss of suction force or even disengagement because of the opening.

[0075] In an embodiment of the coin separation device according to the invention, the robot arm is provided with a single suction cup, wherein the suction cup has a substantially centrally placed closure or protrusion such that the suction force is realised near a circumferential edge.

[0076] This embodiment is in particular suitable for application with coins having an opening, because the opening can then be substantially covered by the closure and / or protrusion in the central part. This achieves that there is no loss of suction force by the opening in the coin.

[0077] In an embodiment of the coin separation device according to the invention, the robot arm can be provided with a height sensor that is configured for detecting a height of an object detected by the detection device directly preceding or during picking-up of said object.

[0078] An advantage of a height sensor that is arranged at the robot arm, preferably near the pick-up end, is that it can be determined whether the object to be picked up is a coin during the process of picking up. This can for example be achieved by comparing the height of the object with a threshold value. This further increases the reliability of the separation.

[0079] In the aforementioned embodiment, the height of an object is measured relative to a plane, such as a support plane of the transport device, for example a surface of a conveyor belt, onto which the detected object is positioned.

[0080] Preferably, the height sensor, the control unit and the robot arm cooperate in such a manner that the height of the object is determined already preceding the picking-up, so for example on a conveyor belt.

[0081] In an embodiment of the coin separation device according to the invention, the pickup end can be provided with a height-indicator, preferably a notch, that is configured for the activation of the height sensor when an object that is too high is being detected, wherein the pick-up and / or holding means are preferably positioned at a downwards end of the notch, and wherein the pick-up and / or holding means and the notch move upwardly when touching an object that is too high. As alternative or additionally, a vertical bar having a recess therein can be used as the height-indicator. This bar may for example move up and down with the pick-up end of the robot arm and will move down to a lower extend for a product that is too high, whereby the recess reached a different height then desired. This activates a sensor and the object, which may already have been picked up, is classified as too high and is then not picked op or as thrown back onto the conveyor belt. The threshold value for the height, such as determined by the position of the notch and / or the recess, can for example be set by means of a screw thread.

[0082] In an embodiment of the coin separation device according to the invention, the height sensor can be arranged for detecting the height of the object based on a pick-up height of the robot arm relative to a reference height of the robot arm.

[0083] In an embodiment of the coin separation device according to the invention, the height sensor can be arranged for determining the pick-up height as the height value that is detected by the height sensor when the robot arm picks up an object from the transport device.

[0084] In an embodiment of the coin separation device according to the invention, the reference height of the robot arm can be a calibrated height value of the height sensor that is detected when the robot arm rests on the transport device. The robot arm can potentially come to rest onto the transport device now and then between picking-up of objects for recalibration of the calibrated height value of the height sensor.

[0085] In an embodiment of the coin separation device according to the invention, the robot arm can be provided with a weight sensor that is configured for detecting a weight of an object that is detected by the detection device during or after picking-up of said object.

[0086] An advantage of a weight sensor is that an even further improved separation can be achieved. This is realised in that objects that are highly similar to coins regarding form and / or height can still be separated as ‘not-coin’ from objects that are indeed a coin by means of (too high or too low) weight. Examples of such ‘not-coin’ objects have proven to be watch faces, particular washers and (parts of) toys.

[0087] In an embodiment of the coin separation device according to the invention, the robot arm can comprise one or multiple rotation axes that extend vertically relative to a horizontal transport plane of the transport device for the ashes to be processed. The robot arm can thereby move freely in the transport plane of the transport device. Preferably, the robot arm comprises two of such rotation axes.

[0088] Preferably, the robot arm comprises a first rotation axis and a second rotation axis, wherein the first rotation axis connects the base end of the robot arm with a first member of the robot arm and the second rotation axis connects the first member with a second member of the robot arm. The pick-up end can be connected to the second member. Alternatively, further rotation axes and members can be connected to the second member.

[0089] In general, the robot arm can be implemented as an articulated arm with rotation axes between subsequent members. The pick-up end of the robot arm can be connected to the final member of the robot arm, as seen from the base end of the robot arm.

[0090] In an embodiment of the coin separation device the control unit can comprise a data processing unit, such as a processor, and the control unit can further be arranged for determining whether a detected object is a ‘coin’ by: comparing data comprising a detected height supplied by the height sensor with a height threshold value; and classifying said object as ‘coin’ when the detected height lies below the threshold value; and control the robot arm to pick up and remove the object from the transport device. An advantage of the abovementioned embodiment is that, additionally or alternatively to selection based on form and / or diameter, the height of an object can also be used as selection criterion for the separation of the coins from other objects. This achieves an even further improved separation.

[0091] In an embodiment of the coin separation device, the control unit can comprise a data processing unit, such as a processor, and the control unit can further be arranged for determining whether a detected object is a ‘coin’ by: comparing data comprising a detected weight supplied by the weight sensor with a weight threshold value; and classifying the object as ‘coin’ when the detected weight lies below the threshold value; and control the robot arm to pick up and remove the object from the transport device.

[0092] In abovementioned embodiment, it is preferred that the control unit is further configured to control the robot arm to leave the detected object behind and / or put it back in the transport device, for example on a conveyor belt thereof, in case the control unit does not classify the detected object as coin.

[0093] An advantage of the abovementioned embodiment is that, additionally or alternatively to selection based on form and / or diameter and / or height, the weight of an object can also be used as selection criterion for the separation of the coins from other objects. An even further improved separation can be achieved with this. This is in particular interesting for the separation of coins and objects that are similar to coins regarding form, height, diameter or a combination thereof.

[0094] The invention further relates to a coin separation system for the separation of coins from ashes, preferably bottom ashes, the system comprising: a coin separation device according to the invention; and one or more of:

[0095] ~ a non-ferro-separator that is configured for separating the ashes to be processed into a ferro fraction and a non-ferro fraction;

[0096] ~ a weight separator that is configured for separating the ashes to be processed based on predetermined specific mass into a heavy fraction and a light fraction;

[0097] ~ a long-parts separator that is configured for separating the ashes to be processed based on a predetermined length into a long fraction and a not-long fraction;

[0098] ~ an infeed device that is configured for feeding ashes to be processed, wherein the infeed device preferably comprises an infeed funnel;

[0099] ~ a pre-sieve that is arranged upstream from the coin separation device as seen in a transport direction, wherein the pre-sieve is preferably a bar sieve or brush sieve, and wherein the pre-sieve is configured for separating the ashes to be processed into a fraction with planar or flat parts and a fraction with not-flat parts;

[0100] ~ a flatness selector that is configured for separating the coins that are detected and removed from the transport device based on a predetermined bending curvature into a coin fraction and a bent rest fraction, wherein the flatness selector is preferably formed by a vibrable rib that extends along a length axis and has a predetermined thickness; and

[0101] ~ a weigh device that is configured for weighing and separating the coins that are detected and removed from the transport device based on a predetermined weight into a coin fraction and a rest fraction, wherein the rest fraction consists of material that lies under a predetermined lower weight threshold value or above a predetermined upper weight threshold value.

[0102] The system according to the invention has similar effects and advantages as the coin separation device according to the invention. The embodiments described for the coin separation device can be freely combined with (embodiments of) the coin separation system. It is noted that the terms ‘heavy’ and ‘light’ fraction in the context of this application are synonymous with (respectively) the terms ‘sinking’ and ‘floating’ fraction.

[0103] The coin separation system according to the invention can comprise one or multiple pre-processing steps with which the quantity of (bottom) ashes to be processed can be reduced prior to feeding the ashes to the coin separation device. This comprises for example the separation of ferro-materials, long parts and / or a sieve.

[0104] Further, the coin separation system according to the invention can be provided with one or more post-processing steps, such as for example the separation of bent coins from coins that still remain flat by applying a flatness selector or weighing the coins that are detected and separated from the ashes. This further enhances the accuracy of the separation process of the coins.

[0105] In an embodiment of the coin separation system according to the invention, the flatness selector can be formed by a supply unit rib that extends along a length axis and has a predetermined thickness.

[0106] An advantage of this embodiment is that substantially flat coins can be separated from bent coins in an efficient way.

[0107] In an embodiment of the coin separation system according to the invention, the weight separator can be a sink-flotation separator, wherein a heavy fraction is separated for processing in the coin separation device.

[0108] An advantage of this pre-processing step is that the amount of bottom ashes that are fed to the coin separation device according to the invention is reduced whereby a more efficient separation takes place. The invention also relates to a method for processing ashes, in particular bottom ashes, the method comprising at least one of the steps of: detecting coins in the ashes, preferably using a coin separation device according to the invention; and removing coins from bottom ashes, preferably using said coin separation device or an additional coin separation device according to the invention.

[0109] The method in particular relates to the separation of coins from ashes, preferably bottom ashes. This separation can occur by detecting coins in the ashes and / or removing coins from the ashes, preferably after these have been detected. The same coin separation device can be employed in the step of detecting coins in the ashes and in the step of removing detected coins. However, it is also possible to use different implementations of the coin separation device according to the invention in these steps. For example, a coin separation device with a light source for the step of detecting coins and a coin separation device with a robot arm for removing detected coins. More in general, coin separation devices that do not comprise all features of the coin separation device according to the invention, but only those components that are necessary for the implementation of the steps of the method, can also be applied in this method. For the step of detecting in the broadest sense a coin separation device is contemplated such as described herein but without the displacement device or robot arm. For the step of removing in the broadest sense a coin separation device is contemplated such as described herein but without the detection device and / or the light source.

[0110] The method according to the invention has similar effects and advantages as the coin separation device and / or the coin separation system according to the invention. Further, the embodiments described for the coin separation device and / or the coin separation system can be freely combined with (embodiments of) the method. The coin separation device may in particular be arranged for executing steps of the method such as described herein.

[0111] In an embodiment of the method according to the invention, the step of removing can further comprise displacing the coins from the transport device.

[0112] In an embodiment of the method according to the invention, the step of detecting can further comprise: generating images of ashes to be processed using the detection device; identifying objects in images generated by the detection device; and determining whether a detected object is a coin.

[0113] In an advantageous embodiment of the method, use is made of images that are preferably continuously or semi-continuously generated. Objects present in the bottom ashes are illuminated by the light source and (sharply) outlined in the images generated by the detection device. These can therefore be identified and removed well. In an embodiment of the method according to the invention, the coin separation device can be provided with a control unit, preferably a control unit with a data processing unit for processing data generated in the device.

[0114] An advantage of the application of a control unit with data processing unit is that the separation of coins can be realised in an effective and consistent way. Preferably, the data processing unit is adjustable or provided with software in which diverse parameters for detection are adjustable.

[0115] In an embodiment of the method according to the invention, the step of identifying objects in images generated by the detection device and / or the step of determining whether a detected object is a coin by the data processing unit, are executed using the data processing unit.

[0116] An advantage of executing the identification of coins in the detected objects by the data processing unit is that the identification can be executed in a consistent and rapid way. Preferably, use is made of software developed for this purpose.

[0117] In an embodiment of the method according to the invention, the step of determining whether a detected object is a coin, can be executed by the steps of: determining a roundness of a detected object; comparing the roundness of said object with a predetermined roundness threshold value; and classifying said object as ‘coin’ when the roundness lies above the predetermined threshold value; and / or determining a diameter of a detected object; comparing the diameter of said object with a predetermined diameter range; and classifying said object as ‘coin’ when the diameter lies within the predetermined diameter range.

[0118] An advantage of the abovementioned embodiment of the method is that coins present in the bottom ashes can be separated from the bottom ashes based on the roundness and / or diameter. In the method according to the invention this is (in part) achieved by the fact that the bottom ashes are illuminated from a side that is opposite the side at which the detection device is positioned. A contour of the objects, including coins, is thereby sharply outlined and an accurate and reliable separation can take place.

[0119] In an embodiment of the method according to the invention, the step of determining whether a detected object is a coin further comprises the steps of: determining the presence or absence of a hole in the detected object; determining a sideways in-plane displacement of the hole relative to a central axis of the object; comparing the sideways displacement with a displacement threshold value; classifying said object as ‘coin’ when the sideways displacement lies under the displacement threshold value; and / or further comprises the steps of: determining the presence or absence of a hole in the detected object; if a hole is present, determining the diameter of the hole; comparing the diameter with a predetermined diameter range; and classifying said object as ‘coin’ when the diameter lies within the predetermined diameter range.

[0120] An advantage of this embodiment of the method is that coins that are provided with a (central) opening can also be separated from the bottom ashes with the method. This leads to an improved yield and (thereby) a higher percentage of coins that is removed from the bottom ashes.

[0121] In an embodiment of the method according to the invention, the step of determining whether a detected object is a coin, comprises the steps of: generating height data with a height sensor that is preferably comprised by the coin separation device; comparing data comprising a detected height supplied by the height sensor with a height threshold value; and classifying said object as ‘coin’ when the detected height lies below the threshold value.

[0122] An advantage of the abovementioned embodiment is that, additionally or alternatively to selection on form and / or diameter, also the height of an object can be applied as selection criterion for the separation of the coins from other objects. Thereby, an even further improved separation can be achieved, for example because objects such as nuts are not selected and removed as coins.

[0123] The step of removing preferably comprises picking up and separating an object classified as ‘coin’ from the transport device with a displacement device, in particular a robot arm. Said displacement device can be comprised by the coin separation device that is used in the method.

[0124] In an embodiment of the method according to the invention, the step of determining whether a detected object is a coin, can alternatively comprise the steps of: providing a height sensor that is configured for supplying a ‘too high’ signal when the detected object is higher than a predetermined value; if no ‘too high’ signal is supplied, classifying the object as ‘coin’; and picking up and separating the object from the transport device, preferably with a robot arm. For the determination of the height, a height sensor can be used, for example a mechanical height sensor, that is configured to only supply a signal if an object is ‘too high’ to be a coin. The height sensor then operates in a binary way (too high I not too high) and only comes into effect if the object should not be picked up. Thereby, am energy reducing and an efficient determination of the height is realised.

[0125] In an embodiment of the method according to the invention, the step of determining whether a detected object is a coin can be computer-implemented method steps that are preferably executed by a data processing unit.

[0126] An advantage of realising the method by means of a computer-implemented method is that the process can be executed in an effective and efficient way.

[0127] A further advantage of a computer-implemented method is that the separation process can be automated to high degree. A safe and efficient separation can thereby be realised.

[0128] An even further advantage of a computer-implemented method is that the method can be arranged to make various parameters adjustable to the circumstances. Consideration can here be given, for example, to setting the diameter, roundness, the weight, the centricity and / or the diameter of the opening as selection criteria for the separation of the coins. The method can thus be applied for a large variety of types and kinds of coins.

[0129] Further advantages, features and details of the invention are elaborated at the hand of preferred embodiments thereof, wherein reference is made to the appended drawings, in which:

[0130] Figure 1 shows a schematic rendition of an example of a coin separation device according to the invention;

[0131] Figure 2 shows a detailed view of the coin separation device of figure 1 in which an example of a detection device, a light source and a (part of a) transport device are visible;

[0132] Figure 3 shows an example of an image that can be realised with an example of a coin separation device;

[0133] Figure 4 shows a top view of a coin separation device according to the invention, wherein the displacement device is clearly visible;

[0134] Figure 5 shows a side view of an example of a displacement device according to the invention;

[0135] Figure 6 shows a detailed view of an example of a displacement device according to the invention wherein a coin is picked up;

[0136] Figures 7, 8 and 9 show diverse examples of embodiments of pick-up and / or holding means according to the invention;

[0137] Figure 10 shows a schematic overview of an example of a control unit;

[0138] Figure 11 shows a schematic example of software according to the invention; and Figure 12 shows a schematic example of a method according to the invention.

[0139] In the description of the diverse figures, use is made of similar reference numbers for similar components and / or aspects of the coin separation device according to the invention.

[0140] In an example of coin separation device 2, device 2 is provided with a supply unit 4 that deposes (bottom) ashes with objects, including coins, on transport device 6. In this example, supply unit 4 is implemented as infeed funnel 4 and transport device 6 is implemented as endless conveyor belt 6 that is rotated over (drive) rolls 8 in a transport direction T. Conveyor belt 6 is in this case a conveyor belt that is translucent, and more specifically translucent for infrared light. Seen stream upwards in transport direction T from supply unit 4, a (optional) cleaning unit or device 5 is positioned, that is configured to brush clean conveyor belt 6. In this example, cleaning device 5 comprises a brush. The cleaning device 5 can also be arranged at the underside of the endless conveyor belt 6, for example near the left drive roll figure 1. In that case, dirt that is removed or brushed away can simply fall down. The cleaning device 5 is then arranged downstream relative to the coin separation as seen in the transport direction T.

[0141] Coin separation device 2 is further provided with detection device 10 that here comprises camera 12 and control unit or controller 14. Camera 12 is configured for making images based on infrared light, wherein the images are further processed by control unit 14. The latter has software 15 for detecting and identifying coins in the ashes.

[0142] Further in this example, coin separation device 2 is provided with light source 16 that is positioned under conveyor belt 6 as seen in height direction z and that is directed towards camera 12. During use of device 2, ashes A on conveyor belt 6 are hereby illuminate from below and the contours of available objects are rendered sharply on images B of camera 12. A schematic example of an image B is shown in figure 3, in which, amongst other things, key S, nut II and coin M are visible which are illuminated from below through the conveyor belt 6 that is transparent (for infrared light) in this example.

[0143] Coin separation device 2 is also provided with displacement device 18 that in this example is implemented as robot arm 18. A base end 20 of robot arm 18 (see figure 4) is positioned adjacent, and in this example somewhat higher than, conveyor belt 6, while a pick-up end 22 of robot arm 18 is movable above and adjacent to conveyor belt 6. In this example, pick-up end 22 is moveable in height direction z and is also moveable in horizontal directions x and y to pick up and thereby separate coins in an efficient way from the ashes. Further, discharge or receiving bucket 24 is provided, that in this example is implemented as receiving container 24 that is positioned adjacent to conveyor belt 6 (see figure 1 , 4 and 5). Between receiving container 24 and conveyor belt 6, in this example, flatness selector 26 is arranged where bent coins are removed from the coins separated from the ashes. However, instead of the flatness selector 26, a slide or another transfer can also be chosen to transport coins towards receiving container 24. In another embodiment (not shown) the robot arm 18 is arranged to deposit coins directly in the receiving container 24.

[0144] Further in this example, coin separation device 2 is also provided with extraction device 28 that is positioned above conveyor belt 6 and that extracts dust and other light substances preceding to conveying of the ashes under detection device 10.

[0145] In a further example (see figure 2), a detailed rendition of the arrangement of detection device 10 and light source 16 is shown. It is clearly visible that light source 16 illuminates conveyor belt 6 from below. Conveyor belt 6 is therefore at least partially transparent, such that the light from underneath can fall onto the ashes on conveyor belt 6. Backlight is hereby provided for detection device 10, more specifically in this example camera 12. In this example use is made of infrared light.

[0146] Visible too in this example is optional light spreading element 30 that is implemented as a plastic plate, preferably a Lexan® plate. A Lexan® plate is a polycarbonate plate. Other plastics are also conceivable, such as other polymers and resins. Light spreading element 30 is arranged between light source 16 and conveyor belt 6 and ensures that the incident light from light source 16 is evenly spread such that alle ashes on conveyor belt 6 are substantially evenly illuminated.

[0147] In an example of robot arm 18 (see figure 4 and 5), it is provided with two rotation axes R1, R2 that extend in direction z (a vertical direction), such that robot arm 18 is freely moveable in a plane formed by directions x and y (a horizontal plane, in particular the transport plane of the transport device 6). It is visible in figure 4 and 5 that the first rotation axis R1 connects the base end 20 of the robot arm 18 with a first member 21 and the second rotation axis R2 connects the first member 21 with a second member 21. The pick-up end 22 of the robot arm 18 is in this example connected at the second member 21. Though a robot arm 18 with more than two members 21 is also possible, the twee rotation axes R1, R2 are already sufficient to implement the robot arm 18 in such a way that it is freely moveable in the horizontal transport plane (which comprises the transport direction T) on which the (bottom) ashes to be processed are transported by the transport device 6.

[0148] Pick-up and holding means 32 are arranged at pick-up end 22 for picking-up and holding a coin M. In this example (see figures 5 - 9), pick-up and holding means 32 are formed by one or more suction cups 34. Suction cups 34 are arranged to exert a suction force on a coin M in order to pick it up and, during displacement, hold it. The suction force can for example be generated by a selectively applicable vacuum of vacuum unit 36. Robot arm 18 is further provided with height sensor 17 that is used to determine the height of a detected object directly preceding to picking-up of said object. This height is used by control unit 14 with software 15 to determine whether it concerns a coin M or another object based on the measured height. Optional additionally or alternatively in coin separation device 2, use can also be made of weight sensor 19 that is used to determine whether the object is a coin M based on weight, after picking-up and displacing objects from the conveyor belt displacing. After removal from conveyor belt 6, too light and / or too heavy objects can then (still) be separated from coins M before these are brought into receiving container 24.

[0149] In a first example of pick-up and holding means 32, these are implemented as a single (preferably vacuum operated) suction cup 134 (see figure 7). In a second example (see figure 8), these pick-up and holding means 32 are implemented as three smaller suction cups 234 that are arranged in a triangular configuration at pick-up end 22 of robot arm 18. This configuration ensures an even suction force on the edge part of coin M and generated no suction force in the middle of coin M. This configuration is therefore highly suitable for picking-up and holding coins that have a central opening.

[0150] In a third example (see figure 9), pick-up and holding means 32 are implemented as a single suction cup 334 that has central closure or protrusion 336. Central closure or protrusion 336 is intended to be placed over a central opening in a coin M to thereby create a proper seal for suction cup 334 and to realise the necessary suction force.

[0151] In an example, control unit 14 (see figure 10) can be operatively connected with camera 12 to receive produced images therefrom. Further, control unit 14 is connected with robot arm 18 for the controlling thereof. Control unit 14 is also connected with optionally present height sensor 17 and / or weight sensor 19 that can be arranged on robot arm 18. Control unit 14 is then also arranged to receive and process information from the concerned sensors 17, 19. The received images B of camera 12 are employed by control unit 14 with software 15 to detect coins M in ashes A on conveyor belt 6. Further, software 15 can be used to employ the data of sensors 17, 19 for the detection of coins M. Control unit 14 is in this example further also provided with data processing unit 13, for example processor 13, that can be employed for processing and / or editing of data as well as executing optional control commands.

[0152] In use of coin separation device 2, ashes A are deposited onto transparent conveyor belt 6 via supply unit 4, after which these are transported in transport direction T with conveyor belt 6. Ashes A are first freed from dust and other fine particles as much as possible in extraction device 28, after which ashes A are conveyed between detection device 10 and light source 16. Here (see also figure 2), ashes A are illuminated from below through transparent conveyor belt 6, such that objects O, including coins M, are brightly illuminated in the view of camera 12 of detection device 10. By the backlight that is realised with light source 16, the contours of objects O are sharply outlined on images B (see figure 3) that are made by camera 12. Images B are then analysed by control unit 14 of detection device 10, wherein in this example software 15 is employed. Software 15 comprises in this example multiple selection paths that can be applied subsequently or alternatively in parallel.

[0153] In an example of first selection path 15a, this selection path comprises step 50 of determining the roundness of a detected object O in image B. In step 52, the determined roundness is compared with a roundness threshold value, after which in step 54 it is determined whether the determined roundness lies below the roundness threshold value. If this is the case, step 56 follows in which object O is classified as coin M and coin M is displaced by robot arm 18 to receiving container 24. If it turns out in the determination of step 54 that the roundness lies above the roundness threshold value is (that is to say: not sufficiently round), object O is not picked up from conveyor belt 6 in step 58. Naturally, in another example the threshold value can be set the other way round, wherein a result below the roundness threshold value means that the coin is insufficiently round and so is not selected.

[0154] In an example of second selection path 15b, this selection path comprises step 60 of determining the diameter of a detected object O in image B. In step 62, the determined diameter is compared with a diameter range, after which in step 64 it is determined whether the determined diameter lies within the diameter range. If this is the case, step 66 follows in which object O is classified as coin M and coin M is displaced by robot arm 18 to receiving container 24. If it turns out in the determination of step 64 that the diameter lies outside the diameter range, object O is not picked up from conveyor belt 6 in step 68.

[0155] In an example of third selection path 15c, this selection path step comprises 70 of determining the height of a detected object O in image B. This is executed by means of height data obtained with height sensor 17. In step 72, the determined height is compared with a height threshold value, after which it is determined in step 74 whether the determined height lies below the height threshold value. If this is the case, step 76 follows in which object O is classified as coin M and coin M is displaced by robot arm 18 to receiving container 24. If it turns out in the determination of step 74 that the height lies above the height threshold value, object O is not picked up from conveyor belt 6 in step 78. In this way, objects that are too high, such as nuts, are not undesirably separated from ashes A as coin.

[0156] In an example of fourth selection path 15d, this selection path comprises step 80 of determining the presence or absence of an opening in detected object O in image B. If no hole is present, no further action is undertaken in this selection path 15d. If a hole is indeed present, in step 81 the sideways (in-plane) displacement of this hole relative to a central axis of the object is determined. In step 82, the sideways displacement is subsequently compared with a displacement threshold value. In step 84, it is subsequently determined whether the determined sideways displacement lies below the displacement threshold value. If this is the case, step 86 follows in which object O is classified as coin M (with opening) and coin M is displaced by robot arm 18 to receiving container 24. If it turns out in the determination of step 84 that the displacement is larger than the displacement threshold value, object O is not picket up from conveyor belt 6 in step 88.

[0157] In an example of fifth selection path 15e, this selection path comprises step 90 of determining the diameter of an opening of detected object O in image B. In step 92, the determined diameter of the opening is compared with a diameter range, after which it is determined in step 94 whether the determined diameter of the opening lies within the diameter range. If this is the case, step 96 follows in which object O is classified as coin M and coin M is displaced by robot arm 18 to receiving container 24. If it turns out in the determination of step 64 that the diameter of the opening lies outside the diameter range, object O is not picked up from conveyor belt 6 in step 98.

[0158] In an example of method 1000 for detecting coins in (bottom) ashes (see figure 12), comprises method 1000 the general steps of providing 1002 of a coin separation device according to the invention and removing 1004 of coins from (bottom) ashes using coin separation device 2.

[0159] The step of removing 1004 can be executed in various sub-steps, wherein a part of the sub-steps is optional. The step of removing 1004 comprises in this example the steps of generating 1006 images B of ashes A to be processed using the detection device and identifying 1008 objects in images generated by the detection device. Herein it holds that the identification can for example be executed using control unit 14, and also in combination with one or more parts of software 15 and / or data processing unit 13. After the objects have been identified, the step follows of determining 1010 whether a detected object is a coin, and if this is the case, displacing 1012 the coin from the transport device.

[0160] The step of determining 1010 whether a detected object is a coin, can be executed in various ways. The ways can be applied in addition to each other or as alternatives for each other. In a first way or selection path, the step of determining 1010 is executed by determining 1014 a roundness of a detected object and by comparing 1016 the determined roundness of a detected object with a predetermined roundness threshold value. The method further comprises classifying 1018 the object as ‘coin’ when the roundness lies above the predetermined threshold value.

[0161] In a second way or selection path, the step of determining 1010 is executed by determining 1020 a diameter of a detected object and comparing 1022 the diameter of a detected object with a predetermined diameter range. Thes way further comprises classifying 1024 the object as ‘coin’ when the diameter lies within the predetermined diameter range. In a third way or selection path, that is preferably applied in combination with one or both of the preceding ways, the step of removing 1004, more specifically the step of determining 1010, comprises the following steps. A step of providing 1026 a height sensor and generating 1028 height data with said sensor. In a subsequent step follows comparing 1030 data comprising a detected height supplied by the height sensor with a height threshold value. After this follows the step of, if the detected height lies below the threshold value, classifying 1032 the object as ‘coin’ and, preferably with a robot arm, picking up 1034 and separating the object from the transport device.

[0162] In a fourth way or selection path, that is preferably applied in combination with one or more of the preceding ways, the step of removing 1004, more specifically the step of determining 1010, comprises the step of determining 1036 the presence or absence of a hole in the detected object. After this follow the steps of determining 1038 whether a sideways in-plane displacement of the hole relative to a central axis of the object and comparing 1040 the sideways displacement with a displacement threshold value. Subsequently the step follows of classifying 1042 the detected object as ‘coin’ when the sideways displacement lies under the displacement threshold value.

[0163] In a fifth way or selection path, that is preferably applied in combination with one or more of the preceding ways, the step of removing 1004, more specifically the step of determining 1010, comprises the steps of determining 1044 of the presence or absence of a hole in the detected object and, if a hole is present, determining 1046 the diameter of the hole. After this follow the steps of comparing 1048 the diameter with a predetermined diameter range and classifying 1050 the detected object as ‘coin’ when the diameter lies within the predetermined diameter range.

[0164] Optionally, it holds that in method 1000, the step of determining 1010 whether a detected object is a coin, this step or these steps are computer-implemented method steps 1052, that are preferably executed by a data processing unit.

[0165] The present invention is in no way limited to its preferred embodiments as described above. The requested rights are determined by the appended claims for which many modifications are conceivable within their scope.

Claims

CLAIMS1. Coin separation device for the separation of coins from ashes, in particular bottom ashes, the coin separation device comprising: a transport device that is configured for transporting the ashes to be processed in a transport direction; a detection device that is configured for detecting coins in the ashes; a light source that is configured for emitting light; and a displacement device that is configured for displacing the detected coins from the transport device; wherein the detection device and the light source are directed towards each other, and wherein the transport device is configured for transporting the ashes to be processed between the detection device and the light source such that the ashes to be processed are illuminated with light by the light source.

2. Coin separation device according to claim 1 , wherein the light source is an infrared light source.

3. Coin separation device according to claim 1 or 2, wherein the transport device has a carrier that is moveable in the transport direction, that extends at least partially between the detection device and the light source and that is configured for transporting the ashes, wherein said carrier is at least partially transparent and / or translucent, preferably infrared translucent is.

4. Coin separation device according to claim 1 , 2 or 3, wherein the carrier comprises a conveyor belt, preferably an endless conveyor belt.

5. Coin separation device according to one of the preceding claims, wherein the light source is configured to emit light through the transport device, in particular the carrier thereof, towards the detection device, wherein the light source is preferably positioned under the transport device or the carrier thereof.

6. Coin separation device according to one of the preceding claims, wherein the detection device comprises a camera, preferably a camera that is configured for image recognition in the infrared spectrum.

7. Coin separation device according to one of the preceding claims, wherein the light source comprises one or more lamps, wherein the one or more lamps are preferably arranged in a predetermined configuration.

8. Coin separation device according to one of the preceding claims, further comprising a light spreading element that extends between the transport device and the light source, wherein the light spreading element preferably is a light spreading plate.

9. Coin separation device according to claim 8, wherein the light spreading element is a plastic plate, preferably a plate based on polycarbonate.

10. Coin separation device for the separation of coins from ashes, in particular bottom ashes, the coin separation device comprising: a transport device that is configured for transporting the ashes to be processed in a transport direction; a detection device that is configured for detecting coins in the ashes; and a robot arm that is configured for picking up and displacing the detected coins from the transport device.

11. Coin separation device according to claim 10, wherein the robot arm has a base end and a pick-up end, and wherein the pick-up end has one or more pick-up and / or holding means.

12. Coin separation device according to claim 11 , wherein the pick-up and / or holding means are one or more suction cups.

13. Coin separation device according to claim 12, wherein multiple suction cups are arranged in a predetermined configuration that is configured to pick up objects with an opening that is positioned substantially centrally in the object.

14. Coin separation device according to claim 12 or 13, wherein the one or more suction cups comprise three suction cups that are arranged in a triangular configuration at the pickup end of the robot arm.

15. Coin separation device according to one of the claims 12 - 14, wherein the one or more suction cups comprise a suction cup that has a central closure or protrusion.

16. Coin separation device according to one of the claims 11 - 15, wherein the pick-up end of the robot arm is at least moveable in a height direction, wherein the height direction is seen in a direction perpendicular to a transport plane in which the ashes are transported by the transport device.

17. Coin separation device according to one of the claims 10 - 16, wherein the robot arm has a height sensor that is configured for detecting a height of an object detected by the detection device directly preceding or during picking-up of said object.

18. Coin separation device according to claim 17, wherein the height sensor is configured for detecting the height of the object based on a pick-up height of the robot arm relative to a reference height of the robot arm.

19. Coin separation device according to claim 18, wherein the height sensor is configured for determining the pick-up height as the height value that is detected by the height sensor when the robot arm picks up an object of the transport device.

20. Coin separation device according to claim 18 or 19, wherein the reference height of the robot arm is a calibrated height value of the height sensor that is detected when the robot arm rests on the transport device.

21. Coin separation device according to one of the claims 10 - 20, wherein the robot arm has a weight sensor that is configured for detecting a weight of an object detected by the detection device during or after picking-up of said object.

22. Coin separation device according to one of the claims 10 - 21 , wherein the robot arm comprises twee rotation axes that extend vertically relative to a horizontal transport plane of the transport device for the ashes to be processed.

23. Coin separation device according to claim 22 at least dependent from claim 11, wherein the twee rotation axes comprise a first rotation axis and a second rotation axis, wherein the first rotation axis connects the base end of the robot arm with a first member of the robot arm and the second rotation axis connects the first member with a second member of the robot arm.

24. Coin separation device according to claim 23, wherein the pick-up end of the robot arm is connected at the second member of the robot arm.

25. Coin separation device according to one of the claims 1 - 9, wherein the displacement device comprises the robot arm of a coin separation device according to one of the claims 10 - 24.

26. Coin separation device according to one of the preceding claims, further comprising a control unit that is configured for controlling the transport device and / or the detection device.

27. Coin separation device according to claim 26, wherein the detection device is configured for generating images, and wherein the control unit is configured for processing images generated by the detection device.

28. Coin separation device according to claim 26 or 27, wherein the control unit comprises a data processing unit, such as a processor, and wherein the control unit is further configured for determining whether a detected object is a ‘coin’ by executing one or more of: determining a roundness of a detected object; comparing the roundness of said object with a predetermined roundness threshold value; and classifying said object as ‘coin’ when the roundness lies above the predetermined threshold value; and / or determining a diameter of a detected object; comparing the diameter of said object with a predetermined diameter range; and classifying said object as ‘coin’ when the diameter lies within the predetermined diameter range.

29. Coin separation device according to one of the claims 26 - 28, wherein the control unit comprises a data processing unit, such as a processor, and wherein the control unit is further configured for determining whether a detected object is a ‘coin’ by executing: determining the presence or absence of a hole in the detected object; determining a sideways in-plane displacement of the hole relative to a central axis of said object; comparing the sideways displacement with a displacement threshold value; classifying said object as ‘coin’ when the sideways displacement lies under the displacement threshold value; and / or:determining the presence or absence of a hole in the detected object; determining, if a hole is present, the diameter of the hole; comparing the diameter with a predetermined diameter range; and classifying said object as ‘coin’ when the diameter lies within the predetermined diameter range.

30. Coin separation system for the separation of coins from ashes, preferably bottom ashes, the system comprising: a coin separation device according to one of the preceding claims; and one or more of:~ a non-ferro-separator that is configured for separating the ashes to be processed into a ferro fraction and a non-ferro fraction;~ a weight separator that is configured for separating the ashes to be processed based on predetermined specific mass into a heavy fraction and a light fraction;~ a long-parts separator that is configured for separating the ashes to be processed based on a predetermined length into a long fraction and a not-long fraction;~ an infeed device that is configured for feeding ashes to be processed, wherein the infeed device preferably comprises an infeed funnel;~ a pre-sieve that is arranged upstream from the coin separation device as seen in a transport direction;~ a flatness selector that is configured for separating the coins that are detected and removed from the transport device based on a predetermined bending curvature into a coin fraction and a bent rest fraction, wherein the flatness selector is preferably formed by a vibrable rib that extends along a length axis and has a predetermined thickness; and~ a weigh device that is configured for weighing and separating the coins that are detected and removed from the transport device based on a predetermined weight into a coin fraction and a rest fraction, wherein the rest fraction consists of material that lies under a predetermined lower weight threshold value or above a predetermined upper weight threshold value.

31. Method for processing ashes, preferably bottom ashes, the method comprising at least one of the steps of: detecting coins in the ashes using a coin separation device according to one of the claims 1 - 29; and removing coins from the ashes using the coin separation device or an additional coin separation device according to one of the claims 1 - 29.

32. Method according to claim 31, wherein the step of removing further comprises: displacing the coins from the transport device.

33. Method according to claim 31 or 32, wherein the step of detecting further comprises: generating images of ashes to be processed using the detection device; identifying objects in images generated by the detection device; and determining whether a detected object is a coin.

34. Method according to claim 33, wherein the step of determining whether a detected object is a coin further comprises: determining a roundness of a detected object; comparing the roundness of said object with a predetermined roundness threshold value; and classifying said object as ‘coin’ when the roundness lies above the predetermined threshold value.

35. Method according to claim 33 or 34, wherein the step of determining whether a detected object is a coin further comprises: determining a diameter of a detected object; comparing the diameter of said object with a predetermined diameter range; and classifying said object as ‘coin’ when the diameter lies within the predetermined diameter range.

36. Method according to one of the claims 33 - 35, wherein the step of determining whether a detected object is a coin further comprises the steps of: determining the presence or absence of a hole in the detected object; determining a sideways in-plane displacement of the hole relative to a central axis of said object; comparing the sideways displacement with a displacement threshold value; and classifying said object as ‘coin’ when the sideways displacement lies under the displacement threshold value.

37. Method according to one of the claims 33 - 36, wherein the step of determining whether a detected object is a coin is further comprises the steps of: determining the presence or absence of a hole in the detected object; if a hole is present, determining the diameter of the hole;comparing the diameter with a predetermined diameter range; and classifying said object as ‘coin’ when the diameter lies within the predetermined diameter range.

38. Method according to one of the claims 31 - 37, wherein the step of detecting further comprises the steps of: generating height data with a height sensor that is preferably comprised by the coin separation device; comparing data comprising a detected height supplied by the height sensor with a height threshold value; and classifying said object as ‘coin’ when the detected height lies below the threshold value.

39. Method according to one of the claims 31 - 38, wherein the step of removing further comprises: picking up and separating an object classified as ‘coin’ from the transport device with a displacement device, in particular a robot arm.

40. Method according to one of the claims 31 - 39, wherein the steps of determining whether a detected object is a coin are computer-implemented method steps that are preferably executed by a data processing unit.

Images