System for conveying and / or sorting objects

Abstract

An object transport system is provided. The system comprises a guide plate (10) having at least one channel (11) for transporting an object (O) between a first end (11a) and a second end (11b) of the corresponding channel (11). Each channel (11) has a first aperture (121) disposed at a first longitudinal position (P1) thereof. The system further comprises an object measurement unit (13) for performing optical measurements related to a property of the object through the first aperture (121) as the object passes through the first aperture (121) toward the second end (11b). At least one ejector unit (14) is arranged to eject the object transported on the corresponding channel when it reaches a second longitudinal position (P2, P2') disposed downstream of the first aperture (121) based on the measured property of the object and a timing signal related to the transport speed of the object being transported along the channel (11). [Selected Figure] Figure 2

Description

[Technical field]

[0001] The present invention relates to a system for transporting and ejecting certain objects of a batch of objects. More specifically, the present invention relates to a guide plate having at least one channel for transporting each object, each channel having a first aperture that is utilized to measure a characteristic of the object being transported in the channel. At least one ejector unit is arranged to eject an object transported on a corresponding channel upon reaching a position disposed downstream of the first aperture based on the measured characteristic of the object and a timing signal corresponding to a transport speed of the object being transported along the channel. [Background technology]

[0002] It is known to separate objects in a bulk of objects such as grain by means of a rotating cylinder or drum having pockets inside. The cylinder rotates about a horizontal axis with its central longitudinal axis substantially coinciding with said axis. Objects such as granules are fed into one end of the cylinder and as the cylinder rotates, the granules are lifted by being trapped in each pocket. The pockets are adapted in size and dimensions to receive one object each. For example, at the bottom of each pocket, an opening is provided to the outer surface of the drum so that light can be transmitted from the outside of the drum through said opening to the object and detected inside the drum or reflected and detected outside the drum, or vice versa. In this way, the objects in each pocket can be illuminated with light and a reflection or transmission spectrum can be obtained. From this spectrum, properties of the objects can be obtained and used to sort or separate the bulk of objects based on said properties. One or several collectors can then be placed adjacent to the drum to receive specific fractions based on the impulses from the detector after characterization. A drum of this kind and a machine equipped with such a drum are disclosed in WO 2004 / 060585. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2004 / 060585 Summary of the Invention [Problem to be solved by the invention]

[0004] A problem with such drums is that if an object received in the opening becomes lodged in the opening, the opening can become blocked. The pocket is then useless for the remainder of the sorting process, since the object is not released into its corresponding trough and no new objects can enter the pocket during the next rotation of the drum. Another problem is that only a limited amount of information can be obtained from the object, since the amount of information is governed by the size of the opening. A third problem is that the drum must be adapted to the size of the object, since the size of the pocket must be adapted in three dimensions to the size of the object. Fourth, the drum requires active release of each object individually.

[0005] Another known sorting solution is to allow a mass stream of objects to fall over a shelf, similar to a waterfall. During the fall of the objects, a camera or a group of cameras detects the properties of each object and an ejector unit is arranged to eject objects with certain properties detected in the fall. In this way, the ejected objects are sorted from the original mass stream of objects. A weakness of this solution is the considerable inaccuracy even with an optimized fluid jet, since with each ejection several nearby objects are also ejected together with the object with certain properties, for example up to 8-12 at full force. Thus, the ejected group of objects has mixed properties, since most of the ejected objects may not have the certain properties that triggered the ejection. At the same time, this method ejects many objects that should not be ejected. This has an unfavorable effect on the throughput of the system and on the ability and degree of accurately sorting objects with different properties, since for example only one type of fraction can be separated.

[0006] Therefore, a better system for sorting objects would be useful. [Means for solving the problem]

[0007] Accordingly, the present invention preferably seeks to mitigate, alleviate or eliminate one or more of the above mentioned shortcomings and disadvantages in the art singly or in any combination, and provides: a guide plate having at least one channel for conveying an object between a first end and a second end of a corresponding channel, the at least one channel having a first aperture disposed at a first longitudinal position thereof; an object measuring unit configured to perform optical measurements related to properties of the object through the first aperture as the object passes through the first aperture towards the second end; at least one ejector unit arranged to eject the object conveyed on the corresponding channel when the object reaches a second longitudinal position disposed downstream of the first aperture based on a measured characteristic of the object and a timing signal related to a conveying speed of the object being conveyed along the channel; By providing an object transport system comprising: At the very least, it solves the problems mentioned above.

[0008] Preferred embodiments are contemplated in the following dependent claims.

[0009] These and other aspects, features and advantages which the present invention can attain will become apparent and obvious from the following detailed description of the preferred embodiments of the invention, taken in conjunction with the accompanying drawings. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a plan view of the object transport system. [Diagram 2] FIG. 2 is a plan view of the object transport system of FIG. 1 with a second aperture. [Diagram 3] FIG. 3 is a perspective view of a channel of the object transport system of FIG. 1 or FIG. 2. [Figure 4] 3 is a perspective view of the object transport system of FIG. 1 or FIG. 2, in which a guide plate includes a number of adjacently extending channels. [Diagram 5]FIG. 3 is a perspective view of the object transport system of FIG. 1 or FIG. 2, in which the guide plate includes multiple adjacently extending channels, each having a different length, and a discharge position is disposed downstream of the end of each channel. [Figure 6] FIG. 3 is a perspective view of the object transport system of FIG. 1 or FIG. 2, in which a guide plate includes multiple adjacently extending channels, each having a different length, and a discharge position for each channel is located upstream of the end of each channel. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The following description is provided for an object transport system used to separate objects having certain measured properties from a large number of objects. Such properties can be, for example, structural, purity, genomic, and epigenetic properties of organic granules. Such objects can be organic or inorganic, such as, for example, grains, granules, lentils, nuts, nuts, legumes, recyclables, minerals, metals, plastics, etc.

[0012] FIG. 1 shows a plan view of an object transport system 100. The object transport system 100 comprises a guide plate 10. The guide plate 10 has a longitudinal extension. The guide plate 10 comprises at least one channel 11 for transporting an object O between a first end 11a and a second end 11b of the corresponding channel 11, as indicated by the black arrow. For simplicity, FIG. 1 shows only one channel. However, it should be understood that any number of adjacently arranged channels may be used. Thus, in one embodiment, the guide plate 10 comprises a plurality of channels 11. Each channel 11 comprises a first aperture 121 arranged at its first longitudinal position P1. An object measurement unit 13 is arranged to perform optical measurements related to properties of the object through the first aperture 121 as the object passes through the first aperture 121 towards the second end 11b. The first apertures 121 are not necessarily adapted in size to the size of the object, but may optionally comprise a mesh, a grid or a transparent material such as glass adapted not to disturb the optical measurement of the object O, so as to give the opportunity to measure the entire length of the object O in the axial plane. Similarly, the first apertures 121 may be arranged to cross the channels and may optionally even interfere with each channel 11 for a certain detection interval. The first apertures 121 arranged to cross the channels 11 may be combined with a mesh or grid. At least one emitter unit 14 is arranged to emit an object conveyed on a corresponding channel 11 when it reaches a corresponding second longitudinal position P2, P2' arranged downstream of the first aperture 121, based on a measured characteristic of the object and a timing signal corresponding to the conveying speed of the object O being conveyed along the channel 11, i.e. the relative speed of the object with respect to the movement of the object towards the corresponding emitter unit 14. When more than one fraction is to be separated from a bulk object O, each channel 11 may have more than one position P2, such as two, three, four or five positions P2, each position P2 having its corresponding emitter unit 14 for separating a corresponding fraction based on at least one characteristic of the object O.

[0013] The second longitudinal position P2 can be located within the boundary of each channel, as represented by P2 in Fig. 1, or downstream of the second end 11b of the channel. The two second longitudinal positions P2, P2' are shown simultaneously in Fig. 1 and Fig. 2 using dashed lines, but should be understood as two different alternatives.

[0014] The timing signal can be arranged to trigger any one of the corresponding emitter units to emit the corresponding object having the property being measured. To achieve this, it is important to know when the corresponding object passes the second longitudinal position P2, P2' so as to trigger the corresponding emitter unit to emit the object at the correct time when the corresponding object reaches the second longitudinal position P2, P2'. Thus, the timing signal corresponds to the transport speed of the object between the first aperture and the second longitudinal position. The time when an emitter unit should be triggered can be calculated in various ways.

[0015] For this purpose, at least one second aperture 122 can be provided at a third longitudinal position P3, which according to Fig. 2 is arranged downstream of the first longitudinal position P1 but upstream of the second longitudinal position P2, P2', which second aperture 122 is operatively coupled to the object measuring unit 13 to allow the calculation of the conveying speed. There can be not only one, but several second apertures 122, through which the combined information can be used to calculate said speed.

[0016] Here, the object measuring unit 13 may be arranged to optically detect an object O passing through the first aperture 121 at an associated first time T1 and an object O passing through the second aperture 122 at an associated second time T2. The transport speed of the object may then be calculated by dividing the distance between the first longitudinal position P1 and the third longitudinal position P3 by the time span between said second time and said first time.

[0017] Therefore, using the commonly known relationship between velocity, distance and time, s=v×T, v = (P3-P1) / (T2-T1) It is.

[0018] Therefore, the time T when the object passes the second longitudinal position ACT Using the same formula, T=(T ACT -T1)=s / v=(P2-P1) / v = (P2-P1)(T2-T1) / (P3-P1), so T ACT =(P2-P1)(T2-T1) / (P3-P1)+T1 It can be calculated as:

[0019] Therefore, the timing of a timing signal is determined by the time t ACT Depends on.

[0020] Alternatively, or in combination, the conveying speed may be calculated using measurements from the first aperture only, where the object measuring unit 13 is arranged to optically detect an object O entering the first aperture 121 at a first associated time T1' and an object exiting the first aperture 121 at a second associated time T2'. Similarly, using the formula s=v×T, the conveying speed of the object may be calculated using a time span defined by the difference between the second time T2' and the first time T1' and the known size of the first aperture 121. It should be understood that the object measuring unit may detect a first time T1' when the front end of the object enters the upstream end of the first aperture and a second time T2' when the front end of the object reaches the downstream end of the first aperture. Instead of calculating the velocity and / or acceleration of the object, a camera can be used to continuously track the change in longitudinal position of the object and provide an appropriate signal for its ejection, or in a similar manner to determine the appropriate time for ejection.

[0021] The third longitudinal position P3 may optionally be the same as the first longitudinal position P1 such that the velocity is calculated through the same aperture through which the optical measurements related to the object properties are calculated.

[0022] 3-6, each channel 11 includes a longitudinally extending base 111 and a pair of side walls 112, 113 disposed along each lateral side of the base 111 to limit movement of the object O in a lateral direction as it is conveyed longitudinally along the base 111. This lateral confinement results in T ACT The manner in which the calculation of is significantly improved, and further, each object is aligned with a second downstream longitudinal position from which the object is selectively released.

[0023] As depicted in FIGS. 2-6, the first aperture 121 and / or the second aperture 122 may be disposed through the base 111 .

[0024] To further reduce the risk of accidentally releasing an unwanted object that is in the vicinity of an object to be released because it has a measured characteristic, each channel may be provided with a different length. Thus, as shown with respect to Figures 5 and 6, a first channel 11a of the guide plate 10 may have a first length and a second channel 11b of the guide plate 10 may have a second length different from the first length.

[0025] This means that, as shown in Figures 5 and 6, the second longitudinal position P2a, P2'a of the first channel 11a of the guide plate 10 can be arranged downstream or upstream of the second longitudinal position P2b, P2'b of the second channel 11b of the guide plate 10.

[0026] At the second longitudinal position P2, P2' a third aperture 123 for receiving the fluid jet can be arranged. The third aperture 123 can be arranged within the boundary of each channel 11, meaning that each channel 11 has a separate third aperture 123. In this way the fluid jet can be focused on each object O to be discharged. As mentioned above, the second longitudinal position P2' can be arranged downstream of the second end 11b of each channel, as shown in FIG. 5, or it can be arranged upstream of the second end 11b of each channel, as shown in FIG. 6.

[0027] Although not shown, the third aperture 123 may be tapered to form an ejection channel having a decreasing cross-sectional area through the base 111 of the guide plate 10 towards the object in use.

[0028] Depending on the circumstances, it may be useful to arrange the second longitudinal position as close as possible downstream of the optional second aperture, or as close as possible to the first aperture if the second aperture is not arranged, upstream of the second end of the channel, since this reduces the risk of the object being subjected to changes in velocity after the velocity has been calculated, thereby reducing the time T defining when the object passes the second longitudinal position. ACT This is because the calculation method of is improved.

[0029] The timing signal is generated when the injection flow is exactly at the time T ACT T ACT can be adjusted to compensate for selective delays in the emitter units.

[0030] Each channel 11 may have a width dimensioned to receive a single object.

[0031] The channels in the figures have a rectangular shape, but other shapes are possible. For example, the side walls 112, 113 do not have to be parallel in order for the object O to be self-centering in the channel 11. In such a case, at least one of the side walls 112, 113, such as both side walls 112, 113, is inclined in use with respect to the vertical or with respect to a generally normal line to the guide plate 10. For example, each channel may be V-shaped in transverse cross section, in which case the junction of the side walls 112, 113 at the bottom forms the base 111 and the side walls 112, 113 are inclined. In a V-shaped channel, the risk of the object becoming stuck in the channel when conveyed is reduced and the object is self-centering regardless of its size, while also improving the longitudinal alignment of the object O in the channel 11. Similarly, each channel may be, for example, U-shaped in transverse cross section. In another alternative, each channel has an independent shape, the same or different from the other channels in the guide plate 10. For example, one channel may be V-shaped while the other channels are U-shaped or rectangular. Similarly, the longitudinal extent of the channels 11 may vary in a given direction, such as with a curvature in the lateral or vertical direction of the channel 11. These differences in a given direction may affect and control the relative velocity of the object O. The differences in a given direction may result in a single or multiple channels O forming an S-shape in the horizontal and / or vertical plane.

[0032] The ejector unit 14 can be a fluid jet unit, an electromagnetically actuated membrane, or a piezoelectric punch / thrust.

[0033] The object transport system 100 may comprise a control unit 20 operatively connected to the emitter unit 14 and / or the object measuring unit 13. The control unit thus determines the time instant T calculated for each object that is definitively recognized as having a characteristic measured by the object measuring unit 13. ACTThe control unit 20 may be arranged to activate each emitter unit 14 based on a timing signal associated with the object measuring unit 13. R Based on information about a particular object, it can be arranged to release that object.

[0034] The control unit 20 may further be arranged to ensure that objects with certain characteristics to be released are released by the release unit 14 at the second longitudinal position P2, P2' by receiving information from at least one object sensor 21 (not shown) monitoring each object between the first longitudinal position P1 and the second longitudinal position P2, P2'. The sensor 21 may be a camera. Alternatively, said sensor may be arranged to detect the speed of each object being transported along each channel. Thus, the release time T ACT can be calculated by the control unit based on the conveying speed derived from the sensor 21. The present disclosure also includes the following inventions. In a first aspect, a guide plate (10) having at least one channel (11) for conveying an object (O) between a first end (11a) and a second end (11b) of the corresponding channel (11), the at least one channel (11) having a first aperture (121) arranged in a first longitudinal position (P1) thereof; an object measuring unit (13) for performing optical measurements related to a property of the object through the first aperture (121) as the object passes through the first aperture (121) towards the second end (11b); and at least one ejector unit (14) arranged to eject the object conveyed on the corresponding channel when it reaches a second longitudinal position (P2, P2') on the guide plate (10) arranged downstream of the first opening (121) based on a measured characteristic of the object and a timing signal related to a conveying speed of the object being conveyed along the channel (11). In a second aspect, The object conveying system (100) is an object conveying system (100) in a first aspect, further comprising a second aperture (122) arranged at a third longitudinal position (P3) located downstream of the first longitudinal position (P1), the second aperture (122) being operatively connected to the object measuring unit (13) to allow calculation of the conveying speed. In a third aspect, The object measuring unit (13) optically detects the object (O) passing through the first aperture (121) at a related first time point (T1) and the object (O) passing through the second aperture (122) at a related second time point (T2) to determine the time point (T ACT ) using the above-mentioned times (T1) and (T2), the distance between the first longitudinal position (P1) and the third longitudinal position (P3), and the distance between the first longitudinal position (P1) and the second longitudinal position (P2). In a fourth aspect, The object measuring unit (13) optically detects the object (O) entering the first aperture (121) at a related first time point (T1) and the object exiting the first aperture (121) at a related second time point (T2) to determine the time point (T ACT ) using the times (T1) and (T2), the size of the first aperture, and the distance between the first longitudinal position (P1) and the second longitudinal position (P2). In a fifth aspect, The at least one channel (11) is an object transport system (100) in the first or second aspect, comprising a longitudinally extending base (111) and a pair of side walls (112, 113) arranged along each side of the base (111) to limit lateral movement of the object (O) when transported longitudinally along the base (111). In a sixth aspect, The first aperture (121) and / or the second aperture (122) are disposed through the base (111), in the object transport system (100) of the fifth aspect combined with the second aspect. In a seventh aspect, The object transport system (100) of any one of the first to sixth aspects, wherein the first channel (11a) of the guide plate (10) has a first length, and the second channel (11b) of the guide plate (10) has a second length different from the first length. In an eighth aspect, This is an object conveying system (100) in any one of the first to seventh aspects, wherein the second longitudinal position (P2a, P2'a) of the first channel (11a) of the guide plate (10) is arranged downstream or upstream of the second longitudinal position (P2b, P2'b) of the second channel (11b) of the guide plate (10). In a ninth aspect, In the object transport system (100) according to any one of the first to eighth aspects, a third aperture (123) that receives a fluid jet is disposed in the second position (P2, P2'). In a tenth aspect, The second longitudinal position (P2') is disposed downstream of the second end (11b) of the at least one channel (11), in the object transport system (100) of any one of the first to ninth aspects. In an eleventh aspect, Each channel (11) has a width dimensioned to receive a single object, the object transport system (100) according to any one of the first to tenth aspects. In a twelfth embodiment, The object transport system (100) according to any one of the first to eleventh aspects, wherein the emitter unit (14) is a fluid jet unit. In a thirteenth aspect, In a ninth aspect of the object transport system (100), the third opening (123) is tapered to form a discharge channel having a cross-sectional area that decreases toward the object in use through the base (111) of the guide plate (10). In a fourteenth aspect, The object transport system (100) of any one of the first to thirteenth aspects further comprises a control unit (20) arranged to control operation of the emitter unit (14) and / or the object measurement unit (13). In a fifteenth aspect, The control unit (20) is further arranged to release the object based on specific object information obtained from the object measuring unit (13). In a sixteenth aspect, The object transport system (100) of the 14th or 15th aspect, wherein the control unit (20) is further arranged to ensure that an object having certain characteristics to be released is released by the release unit (14) at the second longitudinal position (P2, P2') by receiving information from at least one object sensor (21) monitoring each object between the first longitudinal position (P1) and the second longitudinal position (P2, P2'). In a seventeenth aspect, In a sixteenth aspect of the object transport system (100), the sensor (21) is at least one camera.

Claims

1. 1. A method for sorting a plurality of objects, the plurality of objects comprising objects that are one of grains, granules, nuts, or beans, the method comprising: The method comprises: conveying the plurality of objects along a guide plate having at least two channels between first and second ends of corresponding ones of the at least two channels, the at least two channels having a first aperture disposed at a first longitudinal position thereof and a second aperture disposed at a second longitudinal position on the guide plate downstream of the first aperture; performing optical measurements related to properties of the plurality of objects through the first aperture with an object measuring unit as the objects pass through the first aperture toward the second end; and ejecting the object conveyed on the corresponding channel when the second longitudinal position is reached using at least one ejector unit based on the measured property of the object and a timing signal related to a conveying speed of the object conveyed along the channel; the at least two channels include a longitudinally extending base and a pair of sidewalls disposed along either side of the longitudinally extending base to limit lateral movement of the object as it is conveyed longitudinally along the longitudinally extending base; The second aperture is configured to receive a fluid jet.

2. 2. The method of claim 1, wherein each of the at least two channels further comprises a third aperture disposed at a third longitudinal position downstream of the first longitudinal position and upstream of the second longitudinal position, the third aperture being operatively coupled to the object measuring unit to allow calculation of the conveying speed.

3. performing optical measurements related to properties of the plurality of objects through the first aperture with an object measuring unit as the objects pass through the first aperture toward the second end; optically detecting the object passing through the first aperture at a first associated time point and the object passing through the third aperture at a second associated time point; 3. The method of claim 2, further comprising: calculating a time when the object passes the second longitudinal position by using the first time point, the second time point, a distance between the first longitudinal position and the third longitudinal position, and a distance between the first longitudinal position and the second longitudinal position.

4. performing optical measurements related to properties of the plurality of objects through the first aperture with an object measuring unit as the objects pass through the first aperture toward the second end; optically detecting the object entering the first aperture at a related first time point and the object exiting the first aperture at a related second time point; 2. The method of claim 1, further comprising: calculating a time when the object passes the second longitudinal position by using the first time point, the second time point, a size of the first aperture, and a distance between the first longitudinal position and the second longitudinal position.

5. The method of claim 2 , wherein the first aperture and / or the third aperture are disposed through the longitudinally extending base.

6. The at least two channels include a first channel and a second channel each extending along a longitudinal direction; 2. The method of claim 1, wherein the first channel in the guide plate has a first length along the longitudinal direction and the second channel in the guide plate has a second length along the longitudinal direction that is different from the first length.

7. The at least two channels include a first channel and a second channel each extending along a longitudinal direction; The method of claim 1 , wherein the second longitudinal position of the first channel of the guide plate is spaced along the longitudinal direction from the second longitudinal position of the second channel of the guide plate.

8. The method of claim 1 , wherein each channel of the at least two channels has a width dimensioned to receive a single object.

9. The method of claim 1 , wherein the emitter unit is a fluid jet unit.

10. 2. The method of claim 1, wherein the second aperture is tapered to form a discharge channel having a decreasing cross-sectional area through a base of the guide plate towards an object in use.

11. The method according to claim 1 , wherein a control unit is arranged to control the operation of the emitter unit and / or the object measuring unit.

12. The method of claim 11 , wherein the control unit is further arranged to release the particular object based on information of the particular object obtained from the object measuring unit.

13. 12. The method of claim 11, wherein the control unit is further configured to receive information from at least one object sensor monitoring each object between the first longitudinal position and the second longitudinal position to ensure that objects having certain characteristics to be released are released by the emitter unit at the second longitudinal position.

14. The method of claim 13 , wherein the at least one object sensor comprises at least one camera.

15. The method of claim 1 , wherein the object is a grain.

16. The method of claim 1 , wherein conveying the plurality of objects along the guide plate comprises guiding the plurality of objects in each channel in a single file by the pair of side walls.

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