Sorter devices using modified output images, and related methods

Abstract

A sorter device includes an infeed system, a detection system including at least one radiation emitting device and at least one optical sorter, an ejector, and a computing device operably coupled to the detection system and the ejector. The computing device includes instructions thereon that, when executed by at least one processor, cause an image processing system to generate a first set image data, a second set of image data, and a third set of third image data, each of the first set of image data, the second set of image data, and the third set of image data including an intensity of electromagnetic radiation having a different spectral band and at least one of transmitted through or reflected from the stream of bulk product, and cause the image processing system to generate multilayer output image data. Related sorter devices and methods are also disclosed.

Description

TITLESORTER DEVICES USING MODIFIED OUTPUT IMAGES, AND RELATED METHODSCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of the filing date of EP Application No. 23425046.2, filed September 1, 2023, the disclosure of which is hereby incorporated herein in its entirety by this reference.FIELD

[0002] Embodiments of the present disclosure relate generally to optical bulk sorter devices. More particularly, embodiments of the present disclosure relate to a bulk sorter devices configured to sort a bulk product based on image data obtained at more than one spectral band, and to related systems and methods.BACKGROUND

[0003] Automatic sorter devices are conventionally utilized to sort bulk products. In particular, sorter devices are typically utilized to separate specific pieces (e.g., grains) from a bulk product in order to be sorted and / or discarded. Sorter devices generally include a conveyor system to create a stream of the bulk product, which may include nuts, grain, seeds, or plastic pieces. The sorter device typically includes optical detection systems arranged for acquiring and analyzing images of the stream of the bulk product. The detection systems are typically configured to provide the image data to a controller, which, based on information determined from the acquired images, sends control signals to an expulsion device to remove selected pieces (e.g., grains) from the bulk product, such as with air jets produced by air nozzles.BRIEF SUMMARY

[0004] According to embodiments of the disclosure, a sorter device includes an infeed system configured to provide a stream of bulk product within the sorter device, a detection system including at least one radiation emitting device, and at least one optical sensor, an ejector configured to direct air to the stream of bulk product, and a computing device operably coupled to the detection system and the ejector. The computing device includes at least one processor,and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the computing device to cause an image processing system to generate first image data, second image data, and third image data, each of the first image data, the second image data, and the third image data including an intensity of electromagnetic radiation having a different spectral band and at least one of transmitted through or reflected from the stream of bulk product, and cause the image processing system to generate multilayer output image data, each layer of the multilayer image individually including a difference between two of image data selected from the group consisting of the first image data, the second image data, and the third image data.

[0005] The computing device may include instructions thereon that, when executed by the at least one processor, cause the at least one radiation emitting device to direct first electromagnetic radiation having a wavelength within a first spectral band to the stream of bulk product during a first duration, direct second electromagnetic radiation wavelength within a second spectral band to the stream of bulk product during a second duration, and direct second electromagnetic radiation wavelength within a third spectral band to the stream of bulk product during a third duration.

[0006] The computing device may include instructions thereon that, when executed by the at least one processor, cause the image processing system to determine a difference between an intensity of each pixel of the first image data and an intensity of corresponding pixels of the second image data. In some embodiments, the computing device includes instructions thereon that, when executed by the at least one processor, cause the image processing system to generate each of the first image data, the second image data, and the third image data based on sequential exposure of the stream to electromagnetic radiation from the at least one emitting device.

[0007] The computing device may include instructions thereon that, when executed by the at least one processor, cause the image processing system to generate the multilayer output image data including a first layer including a difference between the first image data and the second image data, a second layer including a difference between the first image data and thethird image data, and a third layer including a difference between the second image data and the third image data.

[0008] The instructions may cause the image processing system to generate the multilayer output image data including a first layer including a difference between the first image data and the second image data divided by a sum of the first image data and the second image data, a second layer including a difference between the first image data and the third image data divided by a sum of the first image data and the third image data, and a third layer including a difference between the second image data and the third image data divided by a sum of the second image data and the third image data.

[0009] In some embodiments, the instructions may cause the image processing system to generate the first image data including an intensity of electromagnetic radiation having a first spectral band received by the at least one optical sensor, the second image data including an intensity of electromagnetic radiation having a second spectral band received by the at least one optical sensor, and the third image data including an intensity of electromagnetic radiation having a third spectral band received by the at least one optical sensor. In some embodiments, the first layer includes a difference between the intensity of the first image data and the intensity of the second image data, the second layer includes a difference between the intensity of the first image data and the intensity of the third image data, and the third layer includes a third layer including a difference between the intensity of the second mage data and the intensity of the third image data.

[0010] The computing device may include instructions thereon that, when executed by the at least one processor, cause the at least one radiation emitting device to emit electromagnetic radiation within a first spectral band within the infrared region at the stream of bulk product, emit electromagnetic radiation within a second spectral band within the infrared region at the stream of bulk product, and emit electromagnetic radiation within a third spectral band within the infrared region at the stream of bulk product

[0011] The computing device may include instructions thereon that, when executed by the at least one processor, cause the ejector to separate a portion of the stream of bulk product based on the multilayer output image data.

[0012] In one or more embodiments, a method of operating a sorter device includes causing an emitting device to emit electromagnetic radiation within each of a first spectral band during a first duration, a second spectral band during a second duration, and a third spectral band during a third duration, measuring, with at least one optical sensor, each of first electromagnetic radiation during the first duration, second electromagnetic radiation during the second duration, and third electromagnetic radiation during the second duration. The method further includes causing an image processing system to generate multilayer image data including a first layer including a combination of the first electromagnetic radiation and the second electromagnetic radiation, a second layer including a combination of the first electromagnetic radiation and the third electromagnetic radiation, and a third layer including a combination of the second electromagnetic radiation and the third electromagnetic radiation.

[0013] Causing an image processing system to generate multilayer image data may include causing the image processing system to generate a first layer including a difference between an intensity of the first electromagnetic radiation and an intensity of the second electromagnetic radiation.

[0014] Measuring each of the first electromagnetic radiation, the second electromagnetic radiation, and the third electromagnetic radiation may include measuring first electromagnetic radiation, the second electromagnetic radiation, and the third electromagnetic within an infrared region of the electromagnetic spectrum.

[0015] Causing an emitting device to emit electromagnetic radiation within each of a first spectral band during a first duration, a second spectral band during a second duration, and a third spectral band during a third duration may include causing the emitting device to emit the electromagnetic radiation within the second spectral band during a second duration immediately after the first duration.

[0016] In some embodiments, the method further includes causing an ejector to sort an object from a stream of bulk product based on the multilayer image data.

[0017] In some embodiments, a sorter device includes at least one emitting device, at least one optical sensor, at least one ejector, and a computing device operably coupled to the at least one ejector, the computing device including at least one processor, and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the computing device to cause the at least one emitting device to emit electromagnetic radiation at a stream of bulk product, cause the at least one optical sensor to generate first image data including an intensity of measured electromagnetic radiation while the at least one optical sensor emits electromagnetic radiation within a first spectral band, second image data including an intensity of measured electromagnetic radiation while the at least one optical sensor emits electromagnetic radiation within a second spectral band, and third image data including an intensity of measured electromagnetic radiation while the at least one optical sensor emits electromagnetic radiation within a third spectral band. The instructions may also cause the at least one ejector to sort the bulk product based, at least in part, on a difference between the first image data and each of the second image data and the third image data.

[0018] The computing device may include instructions thereon that, when executed by the at least one processor, cause the at least one ejector to sort the bulk product based on a difference between the second image data and the third image data.

[0019] The instructions may cause an image processing system to generate multilayer output image data including a first layer including a difference between the first image data and the second image data, a second layer including a difference between the first image data and the third image data, and a third layer including a difference between the second image data and the third image data.

[0020] The instructions may cause the at least one emitting device to emit electromagnetic radiation within a short-wave infrared region (SWIR) at the stream of bulk product. In addition, the instructions may cause the at least one ejector to sort the bulk product based on the difference between the first image data and the second image data divided by a sum of the first image data and the second image data.BRIEF DESCRIPTION OF THE DRAWINGS

[0021] While the specification concludes with claims particularly pointing out and distinctly claiming what are regarded as embodiments of the present disclosure, various featuresand advantages may be more readily ascertained from the following description of example embodiments when read in conjunction with the accompanying drawings, in which:

[0022] FIG. 1 is a simplified schematic representation of a sorter device, according to one or more embodiments of the disclosure;

[0023] FIG. 2 is a simplified schematic of an example system for generating modified output image data with an image processing system and of operating the sorter device of FIG. 1, in accordance with one or more embodiments of the disclosure;

[0024] FIG. 3 is a simplified example decision tree for sorting an object, in accordance with one or more embodiments of the disclosure;

[0025] FIG. 4 is a simplified schematic of an example system for generated a modified output image data with an image processing system and of operating the sorter device of FIG. 1, in accordance with additional embodiments of the disclosure;

[0026] FIG. 5 is a simplified flow chart illustrating a method of operating an agricultural machine, in accordance with one or more embodiments of the disclosure; and

[0027] FIG. 6 is a schematic of a computer-readable storage medium including processor-executable instructions configured to embody one or more of the methods of determining at least one flow condition within a flow channel of an agricultural machine.DETAILED DESCRIPTION

[0028] The illustrations presented herein are not actual views of any agricultural machine or portion thereof, but are merely idealized representations to describe example embodiments of the present disclosure. Additionally, elements common between figures may retain the same numerical designation.

[0029] The following description provides specific details of embodiments. However, a person of ordinary skill in the art will understand that the embodiments of the disclosure may be practiced without employing many such specific details. Indeed, the embodiments of the disclosure may be practiced in conjunction with conventional techniques employed in the industry. In addition, the description provided below does not include all elements to form a complete structure or assembly. Only those process acts and structures necessary to understand the embodiments of the disclosure are described in detail below. Additional conventional actsand structures may be used. The drawings accompanying the application are for illustrative purposes only, and are thus not drawn to scale.

[0030] As used herein, the terms "comprising," "including," "containing," "characterized by," and grammatical equivalents thereof are inclusive or open-ended terms that do not exclude additional, unrecited elements or method steps, but also include the more restrictive terms "consisting of" and "consisting essentially of" and grammatical equivalents thereof.

[0031] As used herein, the term "may" with respect to a material, structure, feature, or method act indicates that such is contemplated for use in implementation of an embodiment of the disclosure, and such term is used in preference to the more restrictive term "is" so as to avoid any implication that other, compatible materials, structures, features, and methods usable in combination therewith should or must be excluded.

[0032] As used herein, the term "configured" refers to a size, shape, material composition, and arrangement of one or more of at least one structure and at least one apparatus facilitating operation of one or more of the structure and the apparatus in a predetermined way.

[0033] As used herein, the singular forms following "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0034] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0035] As used herein, spatially relative terms, such as "beneath," "below," "lower," "bottom," "above," "upper," "top," "front," "rear," "left," "right," and the like, may be used for ease of description to describe one element's or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Unless otherwise specified, the spatially relative terms are intended to encompass different orientations of the materials in addition to the orientation depicted in the figures.

[0036] As used herein, the term "substantially" in reference to a given parameter, property, or condition means and includes to a degree that one of ordinary skill in the art would understand that the given parameter, property, or condition is met with a degree of variance,such as within acceptable manufacturing tolerances. By way of example, depending on the particular parameter, property, or condition that is substantially met, the parameter, property, or condition may be at least 90.0% met, at least 95.0% met, at least 99.0% met, or even at least 99.9% met.

[0037] As used herein, the term "about" used in reference to a given parameter is inclusive of the stated value and has the meaning dictated by the context (e.g., it includes the degree of error associated with measurement of the given parameter).

[0038] As used throughout, ranges are used as shorthand for describing each and every value that is within the range. Any value within the range can be selected as the terminus of the range.

[0039] As used herein, the term "spectral band" means and includes a range of wavelengths of the electromagnetic spectrum. Spectral bands may overlap with one another and / or spectral bands may include non-overlapping ranges of wavelengths. Non-limiting examples of spectral bands include infrared spectral bands (e.g., with wavelengths ranging from about 0.7 pm to about 1.0 mm), the far-infrared region (e.g., with wavelengths ranging from about 10 pm to about 1.0 mm), the mid-infrared region (e.g., with wavelengths ranging from about 2.5 pm to about 10 pm), the near-infrared region (e.g., with wavelengths ranging from about 700 nm to about 2.5 pm), short-wave infrared (IR) region (e.g., with wavelengths ranging from 900 nm to about 1.7 pm, or from about 700 nm to about 2.5 pm), the ultraviolet region (e.g., with wavelengths ranging from about 10 nm to about 400 nm). When referring to a "spectral band" herein, the spectral band is made with reference to a band of electromagnetic radiation having a wavelength falling within a particular range of wavelengths.

[0040] According to embodiments described herein, a sorter device is configured to sort a bulk product (e.g., grain, seeds, rice, plastic) by selectively removing undesired components from the bulk product. The sorter device includes at least one radiation emitting device (also referred to as an "emitter" or an "emitting device") configured to expose a stream of the bulk product to electromagnetic radiation, and at least one optical sensor configured to measure electromagnetic radiation reflected from and / or transmitted through the stream while exposing the stream to the electromagnetic radiation from the at least one emitting device. The sorterdevice further includes an ejector configured to selectively introduce pulses of air (e.g., air jets) to the stream to selectively remove undesired components from the stream and to sort the bulk product.

[0041] The sorter device further includes a computing device in operable communication with the ejector and with an image processing system. The image processing system is configured to receive image data from the at least one optical sensor (e.g., an intensity of electromagnetic radiation measured by the at least one optical sensor). The image data may include one or more sets of image data, each set of image data corresponding to electromagnetic radiation received by the optical sensor during an exposure of the stream to one or more particular spectral bands. In some embodiments, the image data may be generated by the at least one optical sensor responsive to exposure (e.g., sequential exposure) to the stream to different spectral bands of electromagnetic radiation, such as to electromagnetic radiation within the infrared region (e.g., within the SWIR spectrum) and may include an image of the stream. By way of non-limiting example, in some embodiments, the image data includes sets of image data, such as first image data (e.g., a first image), second image data (e.g., a second image), and third image data (e.g., a third image), each of the first image data, the second image data, and the third image data obtained during exposure of the stream to different spectral bands of electromagnetic radiation. The sets of image data may be provided to the image processor as packets, each including multiple sets of image data, each set of image data including a single channel image; or as packets including one set of image data including multichannel image data obtained during sequential exposures of the stream to different spectral bands.

[0042] The image processing system may generate output image data, which may include modified output image data (and a modified output image), based on the sets of image data obtained during exposure of the stream to the different spectral bands of electromagnetic radiation. In some embodiments, the modified output image data includes a multilayer image. In some embodiments, each layer of the multilayer image is a false image based on at least two sets of image data, each set obtained during exposure of the stream to different (e.g., distinct) spectral bands. Each layer of the multilayer image may be based on a difference between two sets of image data (e.g., each pixel of the layer may be defined as a difference between theintensity of the two sets of image data defining the layer). For example, a first layer of the multilayer image may be based on (e.g., include) a difference between the first image data and the second image data; a second layer may be based on a difference between the first image data and the third image data; and a third layer may be based on a difference between the second image data and the third image data. In some embodiments, the image processing system outputs the modified output image and displays the modified output image on a display of the computing device. In other embodiments, the sorter device includes a user interface configured to receive one or more operator commands and configured to display the modified output image responsive to receiving an input from the user on the user interface.

[0043] In some embodiments, the sorter device is configured to generate additional output image data (in addition to the modified output image data) (also referred to as an "unmodified output image data") based on the sets of image data and different than the modified output image data. By way of non-limiting example, the additional output image data may include a multilayer image data, each of the layers of the multilayer image data individually based on one of the sets of image data (e.g., each layer based on the measured electromagnetic radiation during exposure to a single spectral band).

[0044] Based on the modified output image data, the ejector may be configured to receive control signals from the computing device, such as from the image processing system, to selectively introduce pulses of air (e.g., air jets) to the stream of bulk product to selectively remove undesired components from the stream. In other embodiments, the control signals are based on the additional output image data (rather than the modified output image data) and the modified output image may be displayed on a display of the sorter device responsive to receiving a user input. In some such embodiments, the control signals received by the ejector may be based on the unmodified output image data.

[0045] Generating the modified output image data provides advantages over conventional sorter devices. For example, conventional sorter devices may sort the stream of bulk product based on measured electromagnetic radiation reflected from and / or transmitted through the stream within particular spectral bands. However, some materials may be difficult to sort (e.g., separate) based solely on differences in electromagnetic radiation reflected fromand / or transmitted through the stream. By sorting the bulk product based on the modified output image data, the sorter devices described herein may facilitate improved sorting (e.g., separation) of materials. In some embodiments, since each layer of the modified output image data is based on two or more sets of image data obtained during exposure of the stream to two or more distinct spectral bands, the modified output image data may facilitate identifying differences between product that should be separated and product that should not be separated from the bulk stream that may not otherwise be determined based only on individual sets of image data alone. In addition, in some embodiments, the modified output image data may be facilitate performing the separation of product from bulk product streams of different types of bulk products. In other words, different types of bulk products may be separated based on different types of differences in the electromagnetic radiation reflected from and / or transmitted through the stream of the bulk product and the modified output image data may facilitate using the sorter device to sort different types (e.g., classes) of bulk products. In addition, in some embodiments, a user may identify a feature (e.g., shading, reflection, intensity) of an object in the displayed modified output image to determine a quality of components of the bulk product and / or a quality of the sorting operation.

[0046] FIG. 1 shows a sorter device 100, according to one or more embodiments of the disclosure. The sorter device 100 may include a support frame 102 supporting an infeed system 104, at least one detection system 106, at least one ejector 108, and a plurality of collection bins 110. Furthermore, the sorter device 100 may include a computing device 112 (also referred to as a "system controller") to which the infeed system 104, the at least one detection system 106, and the at least one ejector 108 are operably coupled. The computing device 112 includes an image processing system 114 and an ejector controller 115 operably coupled to the image processing system 114.

[0047] The sorter device 100 may be utilized to sort bulk product (e.g., granular product) 118 such as, for example, nuts, seeds, grain, plastic pieces, etc. The sorter device 100 may sort the pieces of the bulk product 118 (referred to hereinafter as "grains") based on one or more of the quality, size, shape, color, type, chemical characteristics, or materials of the grains. In particular, the sorter device 100 may sort the grains of the bulk product 118 according topreselected sorting criteria. As a non-limiting example, the sorter device 100 may be utilized to sort grain based on the quality of the grain, which, in some instances, may be determined by a color of the grain. As another non-limiting example, the sorter device 100 may be utilized to sort bulk plastic pieces based on plastic type.

[0048] The infeed system 104 of the sorter device 100 may include a hopper 119 and a chute and / or belt 120. The hopper 119 may define a pathway to the chute and / or belt 120, and in some embodiments, the hopper 119 may include one or more vibrators (e.g., a vibrator feeder), augers, or other feeders to feed the bulk product 118 from the hopper 119 to the chute and / or belt 120. The chute and / or belt 120 may be sized, shaped, and oriented to cause the bulk product 118 to descend due to gravity and / or a conveyor belt in order to pass in front of the at least one detection system 106. For instance, the chute and / or belt 120 may be configured to produce a stream 122 of the bulk product 118 to pass in front of the at least one detection system 106 according to a selected velocity (e.g., speed).

[0049] The at least one detection system 106 may include a plurality of emitting devices 124, one or more background elements 126, one or more optical sensors 128, a plurality of intensity sensors 130, and a plurality of reference elements 132. The plurality of emitting devices 124 may be configured to emit electromagnetic radiation at the stream 122 of the bulk product 118 as the stream 122 passes in front of the at least one detection system 106. For example, the plurality of emitting devices 124 may include one or more light-emitting-diodes (LEDs) for emitting light. In some embodiments, the plurality of emitting devices 124 may emit one or more of visible light, short-wave infrared light (SWIR light), near infrared light (NIR light), infrared (IR) light, or ultra-violet (UV) light. In one or more embodiments, the plurality of emitting devices 124 are configured to emit light within a specific (e.g., selected) spectral band of the electromagnetic spectrum. In some embodiments, the plurality of emitting devices 124 includes at least four emitting devices. In one or more embodiments, at least one of the at least four emitting devices 124 is configured to emit a first type of electromagnetic radiation (e.g., UV light), and at least one of the at least four emitting devices is configured to emit a second type of electromagnetic radiation (e.g., NIR light). In yet other embodiments, each of the emittingdevices 124 is configured to emit electromagnetic radiation within a different spectral band within the infrared (I R) region.

[0050] By way of non-limiting example, the emitting devices 124 may individually be configured to emit electromagnetic radiation within a particular spectral band within the infrared (IR) region (such as within the IR-A band having wavelengths within the range of from about 1.4 pm to about 3.0 pm). In some embodiments, one or more of the emitting devices 124 is configured to emit electromagnetic radiation within the short-wave IR (SWIR) spectrum, such as within the range of from about 900 nm to about 2.5 pm. In some embodiments, each of the emitting devices 124 is configured to emit electromagnetic radiation within the IR spectrum (e.g., each of the emitting devices 124 emits within the SWIR spectrum, or at least some of the emitting devices 124 emit electromagnetic radiation within the IR spectrum and at least other emitting devices 124 emit electromagnetic radiation within the IR spectrum and outside of the SWIR spectrum).

[0051] The one or more optical sensors 128 may include one or more of a charged- coupled device (CCD) camera, an IR camera, a UV camera, or an RGB camera. During use and operation, the one or more optical sensors 128 may be oriented and configured to detect (e.g., capture) electromagnetic radiation reflected from the stream 122 and / or electromagnetic radiation transmitted through the stream 122 of the bulk product 118 due to the plurality of emitting devices 124. For instance, the field of view of the one or more optical sensors 128 may include at least a portion of the stream 122 of bulk product 118. In one or more embodiments, the at least one detection system 106 may further include one or more optical filters for filtering (e.g., narrowing) the reflected light being detected (e.g., captured) by the one or more optical sensors 128. In some embodiments, the one or more optical filters may narrow the reflected light into specific (e.g., selected) wavelengths that may accentuate sorting criteria (e.g., criteria distinguishing grades or types of bulk products).

[0052] As a non-limiting example, in some embodiments, the sorter device 100 includes a monochromatic sorter device and the at least one detection system 106 includes a single optical filter between the stream 122 of the bulk product 118 and a respective optical sensor 128. The single optical filter may produce, for example, a light / dark separation. As another non-limitingexample, in some embodiments, the sorter device 100 includes a bi-chromatic sorter device, the at least one detection system 106 includes two optical filters between the stream 122 of bulk product 118 and a respective optical sensor 128. For example, the at least one detection system 106 may include any two conventional optical filters.

[0053] As noted above, the at least one detection system 106 may include one or more background elements 126, and the one or more background elements 126 may be disposed and oriented behind the stream 122 relative to the one or more optical sensors 128. The background elements 126 may facilitate better detection and imaging of the individual grains of the bulk product 118 compared to sorter devices 100 not including the background elements 126. The one or more background elements 126 may include any known background elements used in sorter devices.

[0054] The plurality of intensity sensors 130 may be oriented relative to the plurality of emitting devices 124 such that the plurality of intensity sensors 130 may be utilized to measure an intensity of the electromagnetic radiation emitted by the plurality of emitting devices 124. Furthermore, and as noted above, the at least one detection system 106 may include a plurality of reference elements 132. Each reference element 132 may be disposed within a field of view of at least one optical sensor 128. The intensity sensors 130 and the reference elements 132 may individually be substantially similar to (e.g., the same as) the respective intensity sensors and reference sensors described in European Patent Application No. EP23425017.3, "[]Sorter Devices, Detection [] Systems of Sorter Devices, and Related Methods," filed April 28, 2023. In addition, the sorter device may include a plurality of current sensors, as described in European Patent Application No. EP23425017.3.

[0055] As is described briefly above, each of the infeed system 104, the at least one detection system 106, and the at least one ejector 108 may be operably coupled to and at least partially operated by the computing device 112. For example, the computing device 112 may be configured to provide control signals to the infeed system 104 to cause the infeed system 104 to feed the bulk product 118 to the chute and / or belt 120 of the sorter device 100 and to cause the chute and / or belt 120 of the sorter device 100 to generate the stream 122 of the bulk product 118. Furthermore, the computing device 112 may be configured to provide control signals to theplurality of emitting devices 124 and the optical sensors 128 to control operation of the plurality of emitting devices 124 and the optical sensors 128. Furthermore, the computing device 112 may include the image processing system 114 that may receive image data (e.g., sets of image data) from the plurality of optical sensors 128, analyze the image data, and generate output image data (e.g., modified output image data, unmodified output image data, both) and control signals that cause the ejector controller 115 to cause the at least one ejector 108 to operate (e.g., selectively open one or more nozzles thereof to selectively remove one or more pieces of the bulk product 118 as the bulk product 118 passes by the respective one or more nozzles based at least partially on the analysis of the modified output image data and / or unmodified output image data). For example, based on the analyzed image data, the ejector controller 115 may provide control signals to the ejector 108 to substantially remove undesired portions of the bulk product 118 from the stream 122.

[0056] FIG. 2 is an example system 200 for generating modified output image data with the image processing system 114 and of operating the sorter device 100 (FIG. 1), in accordance with one or more embodiments of the disclosure. As shown in FIG. 2, the image processing system 114 may include an elaborator 201 and an image processor 202. The image processing system 114 (e.g., the elaborator 201) may be configured to receive image data 204 from the optical sensors 128, which may also be referred to as "raw image data" or "optical sensor data". The image data 204 may include data measured with the optical sensors 128 during use and operation of the sorter device 100, such as during exposure of the stream 122 to electromagnetic radiation having varying spectral bands and may include an intensity of electromagnetic radiation measured with the optical sensors 128 that is reflected and / or transmitted from the stream 122. As used herein, electromagnetic radiation received (e.g., measured) by the optical sensors 128 from the stream 122 of bulk product 118 means and includes electromagnetic radiation that is reflected and / or transmitted through the stream 122 of bulk product 118. In other words, reference to electromagnetic radiation measured by the optical sensors 128 means and includes electromagnetic radiation that is reflected and / or transmitted through the stream 122 of bulk product 118.

[0057] The image data 204 may include packets 206 of one or more sets image data 208 provided to the image processing system 114, such as to the elaborator 201. In some embodiments, each set of image data 208 may correspond to the electromagnetic radiation measured with the optical sensors 128 during exposure of the stream 122 to a particular spectral band of electromagnetic radiation. Each set of image data 208 may correspond to an intensity of electromagnetic radiation measured by the optical sensors 128 during exposure of the stream 122 to electromagnetic radiation within a spectral band, and each pixel of the set of image data 208 may be defined by an intensity value of the measured electromagnetic radiation. In some embodiments, the packets 206 include a plurality of discrete sets of image data 208 (e.g., discrete images), each discrete set of image data 208 of a particular packet 206 corresponding to a particular duration of time (e.g., a substantially instantaneous duration of time) during which the bulk product 118 remains in substantially the same location within the sorter device 100. For example, each packet 206 of sets of image data 208 may include a consecutive sequence of sets of image data 208 obtained during consecutive sequential exposure of the stream 122 to different spectral bands of electromagnetic radiation and the electromagnetic radiation measured by the optical sensors 128 over a duration during which movement of the bulk product 118 within the stream 122 is substantially negligible with respect to the frequency at which the sets of image data 208 are received (e.g., measured) by the optical sensors 128. In other words, each packet 206 may be generated by sequentially exposing the stream 122 of bulk product 118 to electromagnetic radiation (e.g., by activating one or more of the emitting devices 124) within different spectral bands and measuring the electromagnetic radiation from the stream 122 with one or more of the optical sensors 128 and sequentially generating sets of image data 208 corresponding to each sequential exposure and measurement of the electromagnetic radiation from the stream 122.

[0058] in some embodiments, each packet 206 includes multiple individual distinct sets of image data 208, each set of image data 208 within a packet 206 including image data at a unique spectral band with respect to the other sets of image data 208 of the packet 206. In addition, each packet 206 may include a same number of sets of image data 208 as the other packets 206, and each set of image data 208 within packet 206 may be within the same spectralband as a corresponding set of image data 208 of the other packets 206. In some embodiments, each packet 206 is offset in time from neighboring packets 206 (e.g., packets 206 of the image data 204 immediately preceding and immediately following one another). As used herein, when referring to the sets of image data 208, the sets of image data 208 may refer to image data (e.g., intensity of electromagnetic radiation) used to generate images. In other words, a set of image data 208 does not imply a visual image, but may also refer to the image data (e.g., the pixel data, such as intensity data) that is processed to display an image.

[0059] A packet of sets of image data 208 may include, for example, first image data 208A (a first set of image data 208), second image data 208B (a second set of image data 208), and third image data 208C (a third set of image data 208), each of the first image data 208A, the second image data 208B, and the third image data 208C corresponding to image data 204 during a duration of exposure of the stream 122 to a particular spectral band of electromagnetic radiation. The first image data 208A, the second image data 208B, and the third image data 208C may collectively be referred to herein as "sets of image data 208 " and individually as a "set of image data 208." In some embodiments, the first image data 208A is within a first spectral band, the second image data 208B is within a second spectral band, and the third image data 208C is within a third spectral band, each of the first spectral band, the second spectral band, and the third spectral band within a different range of wavelengths (e.g., each within the SWIR range, but within a different band of the SWIR range). In other embodiments, each packet 206 individually includes more than three sets of image data 208, depending on, for example, the quantity of unique spectral bands to which the stream 122 is exposed by the emitting devices 124. In some embodiments, the stream 122 is exposed to electromagnetic radiation within a particular spectral band (e.g., within a first IR band) and the electromagnetic radiation is measured with one or more of the optical sensors 128 to generate the first image data 208A. After exposing the stream 122 to the electromagnetic radiation within the first spectral band, the electromagnetic radiation within the first spectral band may be stopped, the stream 122 may be exposed to electromagnetic radiation having a second spectral band, and electromagnetic radiation may be measured with the one or more of the optical sensors 128 to form the second image data 208B. After receiving the electromagnetic radiation with the one or more optical sensors 128, theelectromagnetic radiation within the second spectral band may be stopped, the stream 122 may be exposed to electromagnetic radiation having a third spectral band, and electromagnetic radiation may be measured with the one or more of the optical sensors 128 to form the third image data 208C.

[0060] In some embodiments, the process of sequentially exposing the stream 122 to electromagnetic radiation having different spectral bands and measuring the electromagnetic radiation with the optical sensor(s) 128 may be performed substantially continuously to obtain packets 206 of the sets of image data 208 substantially continuously and to image the stream 122 as the bulk product 118 falls from the chute and / or belt 120. In some embodiments, sequentially exposing the stream 122 to different spectral bands of wavelengths facilitates separation of the packets of image data 208 into corresponding spectral bands without using, for example, optical sensors 128 including hyperspectral cameras, dichroic mirrors, or other device configured to separate the received electromagnetic radiation into separate spectral bands.

[0061] During generation of a packet 206, the emitting devices 124 and the optical sensors 128 may operate at a frequency such that the stream 122 of bulk product 118 experiences substantially negligible movement with respect to the frequency of the sequential exposures to the electromagnetic radiation from the emitting devices 124 and measurement of the electromagnetic radiation with the optical sensors 128. For example, the sequential exposure of the stream 122 to different spectral bands of electromagnetic radiation may be performed at a frequency greater than (e.g., substantially greater than) the rate (e.g., velocity) at which the stream 122 falls from the chute and / or belt 120 such that the bulk product 118 within the stream 122 travels less than about 0.5 mm, such as less than about 0.25 mm, less than about 0.10 mm, or less than about 0.05 mm between sequential exposures (and thus, sequential packets of image data 208) of the same packet 206. By way of non-limiting example, the frequency of exposure of the stream 122 to the electromagnetic radiation having different spectral bands may be within a range of from about 15 kHz to about 25 kHz, while the velocity of the stream 122 may be within a range of from about 3 m / s to about 5 m / s. Accordingly, the offset in time at which each individual packet 206 of packets of image data 208 is obtained from the sequential exposure of the stream 122 may be relatively small compared to the distance traveled by the stream 122.

[0062] In some embodiments, each set of image data 208 is obtained within a particular spectral band, each set of image data 208 may include a single channel image, also referred to as a "grayscale" image. In other embodiments, each set of image data 208 includes a multichannel image (e.g., and the packet 206 includes a single set of image data 208).

[0063] As described in further detail herein, each of the sets of image data 208 within a packet 206 may form a portion, such as a layer, of modified output image data 210 generated by the image processor 202. In some embodiments, each layer of the modified output image data 210 includes a same number of channels as a number of the sets of image data 208 within the packet 206. In other embodiments, and as described in further detail below, each packet 206 may include a single set of image data 208 including pixel data from exposures of the stream 122 to multiple different spectral bands. The modified output image data 210 may include multilayer image data, each layer including single channel image data. In some such embodiments, the multilayer image data may include multichannel image data (e.g., multispectral image data) since each layer represents different single channel image data.

[0064] As used herein, a channel of an image (and / or image data) means and includes a visual map of a component (e.g., a color (e.g., an intensity of the color), an amount (e.g., brightness) of a particular color, an opacity (such as in RGBA color schemes), etc.) of the image. Each channel of an image has a same quantity of pixels as the image and as other channels of the image. In some embodiments, each channel (and each layer) of the modified output image data 210 corresponds to a specific wavelength and contains spectroscopic information. The attributes of the channels of an image depend on the color space in which the image is displayed, and the number of channels of a particular image corresponds to the number of components used to define each pixel of the image. In other words, the quantity of values (e.g., numbers) defining each pixel in the image corresponds to the number of channels defining the image. By way of non-limiting example, where the sets of image data 208 include a three-channel image, such as an RGB image or a false-color image (e.g., a false-RGB image), each pixel includes three components, each component corresponding to one of the channels. In some embodiments, each of the first image data 208A, the second image data 208B, and the third image data 208C includes a same quantity of pixels.

[0065] The image data 204 and the sets of image data 208 may be in one or more color spaces. Non-limiting examples of color spaces include red, green, blue (RGB); hue saturation value (HSV); LAB (wherein the L channel corresponds to lightness, the A channel corresponds to the red and green values, and the B channel corresponds to the blue and yellow values); YUV (wherein the Y channel correlates with a perceived intensity, and the U and V channels correspond to and provide color information); and CMYK (wherein C channel includes cyan information, the M channel provides magenta information, the Y channel provides yellow information, and the K channel provides black). However, the disclosure is not so limited, and the image data 204 and the sets of image data 208 may be in a color space other than those described.

[0066] With continued reference to FIG. 2, responsive to receiving the packet 206 of the sets of image data 208, the image processor 202 may generate modified output image data 210 (e.g., an output image; also referred to as "output image data" of "first output image data") for each packet 206. In some embodiments, the modified output image data 210 includes a stack of the packets 206. By way of non-limiting example, all of the packets 206 of image data 208 may be stacked to form the modified output image data 210. In some embodiments, each modified output image data 210 is generated based on the sets of image data 208 of one (e.g., the same) packet 206. The modified output image data 210 may include multilayer image data (e.g., multispectral image data, such as image data including a plurality of layers, each layer acquired at a different spectral band and including single channel image data). Each of the layers of the modified output image data 210 may include single channel image data.

[0067] In some embodiments, each layer of the modified output image data 210 is formed from two sets of image data 208 of a single packet 206 of the sets of image data 208. In other words, each layer of the output image data 210 may be formed from a combination of two of the sets of image data 208 of the same packet 206 (e.g., a combination of the measured intensities defining each pixel of the sets of image data 208), the sets of image data 208 generated with the optical sensors 128 during exposure of the stream 122 to different spectral bands (e.g., at different times, which may be immediately adjacent (subsequent) to one another in time). In other words, each layer of the modified output image data 210 may be formed from a set of image data 208 obtained during more than one (e.g., two, three, two or more)measurements with the optical sensors 128 of consecutive exposures of the stream 122 to different spectral band within a particular packet 206. In some embodiments, modified the output image data 210 includes a multilayer image including three layers, each layer including more than one set of image data 208 (two, three, two or more sets of image data 208) from the same packet 206.

[0068] In some embodiments, each layer of the modified output image data 210 is defined by two or more of the sets of image data 208. In some embodiments, each layer of the modified output image data 210 is defined by a first one of the sets of image data 208 subtracted by a second one of the sets of image data 208 of a particular packet 206 (e.g., the intensity values defining each pixel of the first one of the sets of image data 208 substrate by the intensity values defining the pixels of the second one of the sets of image data 208). In some embodiments, corresponding pixels of the sets of image data 208 may be subtracted from one another. In some embodiments, each layer of the modified output image data 210 may be defined by the intensity of the first set of image data 208 subtracted by the intensity of the second set of image data 208 (e.g., each pixel of each layer of the modified output image data 210 defined by an intensity of a corresponding pixel of the first one of the sets of image data 208 subtracted by an intensity of the corresponding pixel of the second one of the sets of image data 208). By way of non-limiting example, in some embodiments, a first layer of the modified output image data 210 is defined by the difference between a first set of image data 208 and a second set of image data 208 of a packet 206; a second layer of the output image data210 is defined by the difference between the second set of image data 208 and a third set of image data 208 of the packet 206; and a third layer of the output image data 210 is defined by the difference between the second set of image data 208 and the third set of image data 208 of the packet 206. As used herein, a difference between a first set of image data and a second set of image data means and includes a difference in the intensity (e.g., pixel by pixel) defining each of the first set of image data and the second set of image data.

[0069] In other embodiments, each layer of the modified output image data 210 is defined as a difference between two of the sets of image data 208 of a packet 206 divided by thesum of the two sets of image data 208 of the packet 206. For example, each layer of the modified output image data 210 may be defined according to Equation (1) below:Lx = (I i-l2) / ( 11+I2); (1) wherein Lxis a particular layer of the output image data, li is a first one of the sets of image data 208, and I2 is a second one of the sets of image data 208 of a particular packet 206. By way of non-limiting example, in some embodiments, a first layer of the modified output image data 210 is defined by the difference between a first set of image data 208 and a second set of image data 208 of a packet 206 divided by the sum of the first set of image data 208 and the second set of image data 208; a second layer of the output image data 210 is defined by the difference between the first set of image data 208 and a third set of image data 208 of the packet 206 divided by the sum of the first set of image data 208 and the third set of image data 208; and a third layer of the output image data 210 is defined by the difference between the second set of image data 208 and the third set of image data 208 of divided by the sum of the second set of image data 208 and the third set of image data 208.

[0070] Although the layers of the modified output image data 210 have been described as being defined by particular combinations of two sets of image data 208 from the same packet 206, the disclosure is not so limited. In other embodiments, each layer of the modified output image data 210 is defined by different combinations of two or more of the sets of image data 208 of a packet 206.

[0071] With continued reference to FIG. 2, the ejector controller 115 receives the modified output image data 210 from the image processor 202. Based on the modified output image 210, the ejector controller 115 may cause the at least one ejector 108 to operate (e.g., to selectively open one or more nozzles thereof to selectively remove one or more pieces of the bulk product 118 as the bulk product 118 passes by the respective one or more nozzles based at least partially on the output image data 210). For example, based on the modified output image data 210, the ejector controller 115 may provide control signals 212 to the ejector 108 to substantially remove undesired portions of the bulk product 118 from the stream 122.

[0072] Although the sets of image data 208 have been described as each including single channel image data and the packets 206 have been described as each including multiplesets of image data 208, the disclosure is not so limited. In other embodiments, each packet 206 may include a single set of image data 208 and the single set of image data 208 may include single layer multichannel image data wherein subsequent lines of pixels of the image data correspond to image data measured by the optical sensors 128 during different exposures of the stream 122 (e.g., at different times) with different spectral bands. In some such embodiments, the pixel data of the image data 208 includes multispectral pixels (e.g., some of the pixels correspond to measured electromagnetic radiation at a first spectral band, and other pixels correspond to measured electromagnetic radiation at one or more additional spectral bands). In other words, in some such embodiments, the single set of image data 208 may include pixel data from exposures of the stream 122 to multiple different spectral bands. In some such embodiments, the elaborator 201 may process the set of image data 208 provide sets of image data 208 to the image processor 202, each set of image data 208 individually including single channel image data obtained during an exposure of the stream 122 to a single spectral band. In some such embodiments, the elaborator 201 may be configured to process the packets 206 to provide sets of image data 208 each including single channel image data to the image processor 202. Each layer of the modified output image 210 may be defined by image data obtained during exposure to different spectral bands, such as a difference between image data obtained during exposure to different spectral bands. By way of non-limiting example, each layer of the modified output image data 210 may include a difference between image data obtained during exposure to different spectral bands; for example, the modified output image data 210 may include a first layer including a difference first image data obtained during exposure to a first spectral band and second image data obtained during exposure to a second spectral band; a second layer including a difference between the first image data and third image data obtained during exposure to a third spectral band; and a third layer including a difference between the second image data and the third image data.

[0073] FIG. 3 is a schematic illustrating an example decision tree 300 for sorting an object, in accordance with one or more embodiments of the disclosure. The decision tree 300 includes initiating a sorting operation, as illustrated in box 302. Initiating the sorting operationmay include, for example, causing the sorter device 100 to produce a stream 122 of bulk product118.

[0074] Responsive to initiating the sorting operation, the method may include exposing the stream 122 of the bulk product 118 to electromagnetic radiation, as shown at box 304. Exposing the stream 122 to the electromagnetic radiation may include exposing the stream 122 to electromagnetic radiation from the emitting device(s) 124. As described above, the emitting devices 124 may emit electromagnetic radiation having different spectral bands.

[0075] Responsive to exposing the stream 122 to the electromagnetic radiation, the method includes generating image data of electromagnetic measured by the optical sensors 128 during exposure of the stream 122 to the electromagnetic radiation from the emitting device(s) 124, as shown in box 306. Generating the image data may include measuring, with the optical sensor(s) 128, an intensity of the electromagnetic radiation with the optical sensors 128 during the exposure of the stream 122. Measuring the intensity of the electromagnetic radiation may include generating packets 206 of one or more sets of image data 208, such as the first image data 208A, second image data 208B, and third image data 208C, as described above.

[0076] Responsive to measuring the intensity of the electromagnetic radiation, the method may further include generating output image data, as shown in box 308. Generating the output image data may include generating output image data for a multilayer output image (e.g., modified output image data 210, first output image data 410, second output image data 414). For example, generating the output image data may include forming each layer of a multilayer layer output image data to include image data from image data obtained during exposure of the stream 122 to different spectral bands (e.g., from two or more sets of image data). In some embodiments, each layer of the multilayer output image data includes a difference in intensity between a first image data (e.g., a first one of the sets of image data) and a second image data (e.g., a second one of the sets of image data). The multilayer output image data may include a same number of layers as a number of spectral bands to which the stream is exposed (e.g., a number of sets of image data obtained at box 306). By way of non-limiting example, where the number of sets of image data includes three sets of image data, and the multilayer image data includes three layers of image data, a first layer may include a difference (e.g., a difference inintensity) between the first set of image data and the second set of image data; a second layer may include a difference between the first set of image data and the third set of image data; and a third layer may include a difference between the second set of image data and the third set of image data. Each layer may include a same number of pixels as each of the sets of image data defining the layer.

[0077] Responsive to generating the output image data, the decision tree 300 may include determining whether the output image data is greater than a predetermined threshold, as shown in box 310. For example, box 310 may include determining whether the difference between the intensity of electromagnetic radiation in any pixels of a first set of image data and a second set of image data is greater than a predetermined threshold, and / or determining whether a difference between the intensity of any pixels of the first set of image data and the second set of image data are outside of a predetermined range.

[0078] Responsive to determining that the output image data of at least one pixel in the output image data is greater than a predetermined threshold and / or falls outside of a predetermined threshold range, the method may further include determining that an object (e.g., an item of the bulk product 118) defined at least in part by one or more pixels of the output image data greater than the predetermined threshold and / or falling outside of the predetermined threshold range) should be separated from the stream 122 of bulk product 118, as shown in box 310. Responsive to determining that an object is defined by one or more pixels of the output image data is greater than the predetermined threshold and / or falls outside of the predetermined threshold range, the ejector 108 may be caused to remove the object from the stream 122, as shown in box 312. Causing the ejector 108 to remove the object from the stream 122 may include exposing the object to a stream of air from the ejector 116 to separate the object from stream 122 of the bulk product 118. In some embodiments, the sorter device 100 (e.g., the computing device 112) utilizes one or more object detection algorithms to detect boundaries of an object (e.g., grain), and the object may be removed from the stream 122 responsive to determining that one or more pixels within the boundaries of the object is greater than the predetermined value and / or falls outside of the predetermined range.

[0079] With continued reference to FIG. 3, responsive to determining that pixels defining an object are defined by output image data less than the predetermined threshold and / or falling within the predetermined threshold range, the object defined by the pixels an object (e.g., an item of the bulk product 118), the method includes determining that the object should not be separated from the stream 122 of the bulk product 118 (e.g., the object should pass by the ejector 108 without exposing the object to a stream of air to cause the object to be separated from the stream 122), as shown in box 314.

[0080] With continued reference to FIG. 3, the method may further include repeating the sorting process as the stream 122 of bulk product 118 passes over the chute and / or belt 120 to substantially continue sorting the bulk product 118, as shown at arrows 316.

[0081] FIG.4 is an example system 400 for generating a first output image and a second output image with the image processing system 114 and of operating the sorter device 100, in accordance with one or more embodiments of the disclosure. The system 400 may be substantially the same as the system 200 described above with reference to FIG. 2, except that the system 400 may be configured to generate a first output image data 410 received from the image processor 202 and second output image data 414. The second output image data 414 may be displayed as an output image 419 on a graphical user interface (GUI) 418 of a communication interface, such as a display 416 (e.g., a monitor).

[0082] In some embodiments, the second output image data 414 is substantially the same as the modified output image data 210 described above with reference to FIG. 2. For example, the second output image data 414 may include multilayer image data, each layer of the second output image data 414 defined by more than one (e.g., two, three, two or more) of the sets of image data 208 of a packet 206 of sets of image data 208, as described above with reference to the modified output image data 210.

[0083] The first output image data 410 may include a multilayer image, each first output image data 410 based on the sets of image data 208 of a packet 206 of the sets of the image data 208. In some embodiments, while each of the first output image data 410 and the second output image data 414 are individually formed the same packet 206 of sets of image data 208, the first output image data 410 may be different than the second output image data 414. For example, insome embodiments, each layer of the first output image data 410 is individually formed from image data obtained during exposure to only one spectral band (e.g., from only one (e.g., a single) set of image data 208 of a packet 206). In other words, each layer of the first output image data 410 may correspond to one of the sets of image data 208 of a packet 206. Accordingly, the first output image data 410 may include a multilayer image, each layer including one of the sets of image data 208 generated with the optical sensors 128 at a particular time during exposure of the stream 122 with a particular spectral band (e.g., each layer including a single-channel image). In some embodiments, the first output image data 410 includes a multilayer image including three layers, each layer including a different set of image data 208 from the same packet 206 than the other layers of the first output image data 410.

[0084] As described with reference to the modified output image data 210, the ejector controller 115 may receive the first output image data 410 from the image processor 202. Based on the first output image data 410, the ejector controller 115 may cause the at least one ejector 108 to operate, as described above with reference to the modified output image data 210.

[0085] With continued reference to FIG. 4, the GUI 418 may include a menu 420 configured to receive operator input, such as from another communication interface (e.g., a mouse). For example, the menu 420 may include one or more toggles configured to cause the computing device 112 (FIG. 1) to cause the display 416 to display one or more of the second output images 419 based on the second output image data 414. The one or more second output images 419 may be based on second output image data 414 at a particular duration of time (e.g., at a particular timestamp), wherein the layers of the second output images 419 are defined a particular way (e.g., based on the difference between a first set of image data 208 and a second set of image data 208; based on a difference between a first set of image data 208 and a second set of image data 208 divided by the sum of the first set of image data 208 and the second set of image data 208, etc.).

[0086] FIG. 5 is a simplified flowchart illustrating a method 500 of sorting a bulk product (e.g., bulk product 118), according to one or more embodiments of the disclosure. The method 500 includes producing a stream (e.g., stream 122) of a bulk product (e.g., bulk product 118), as shown in act 502. Producing a stream of bulk product may include flowing the bulk product 118from the hopper 119 and onto the chute and / or belt 120 to produce the stream 122. The stream 122 may flow past (e.g., in front of) the emitting devices 124 and the optical sensors 128.

[0087] Responsive to producing the stream 122, the method 500 includes generating sets of image data of the bulk product 118, as shown in act 504. Generating the sets of image data may include passing the stream 122 of bulk product 118 past (e.g., in front of) the emitting devices 124 and the optical sensors 128 and measuring the electromagnetic radiation with the optical sensors 128. In some embodiments, the emitting devices 124 may sequentially expose the stream 122 to various spectral bands of electromagnetic radiation, as described above. Concurrently (e.g., substantially concurrently) the optical sensors 128 may measure the electromagnetic radiation to generate the sets of image data. For example, the optical sensors 128 may measure the intensity of the electromagnetic radiation reflected from and / or transmitted through the stream 122 to generate the image data.

[0088] Responsive to generating the sets of image data of the bulk product 118, the method 500 includes generating output image data (e.g., one or more of modified output image data 210, first output image data 410, and second output image data 414), as shown in act 506. Generating the output image data may include generating the output image data based on the sets of image data 208 obtained during act 504. In some embodiments, act 506 includes generating the output image data from each packet 206 of sets of image data 208.

[0089] In some embodiments, the output image data includes the output image data 210 or the second output image data 414. In some such embodiments, the output image data includes multilayer output image data, each layer defined by two or more of the sets of image data 208, as described above. In some embodiments, the output image data further includes the first output image data 410 including multilayer image data, each layer of the multilayer image data individually defined by only one of the sets of the image data 208, as described above.

[0090] Responsive to generating the output image data, the method 500 includes operating the ejector 108, as shown in act 508. In some embodiments, operating the ejector 108 includes operating the ejector 108 based on output image data, wherein each layer of the output image data is defined by two or more sets of the image data 208 (e.g., based on the output image data 210 or the second output image data 414). In other embodiments, the ejector 108 isoperated based on the output image data, wherein each layer of the output image data is individually defined by only one of the sets of the image data 208.

[0091] Operating the ejector 108 may include receiving, with the ejector 108, a control signal (e.g., control signal 212) from the ejector controller 115. Responsive to receiving the control signal 212, the ejector 108 may provide one or more streams of air to portions of the stream 122 to separate undesired portions of the bulk product 118 from the stream 122 as the stream 122 passes by (e.g., in front of) a corresponding nozzle of the ejector 108.

[0092] With continued reference to FIG. 5, in some embodiments, the method 500 further includes generating a modified output image, as shown in act 510. In some embodiments, such as where the ejector 108 is operated based on output image data, wherein each layer of the output image data is individually defined by only one of the sets of the image data 208 (e.g., the first output image data 410), the method 500 includes generating the modified output image (e.g., with the modified output image data 210, the second output image data 414). In some embodiments, the modified output image is based on output image data different than the output image data used to operate the ejector in act 508. In some embodiments, the output image data to generate the modified output image is based on output image data, wherein each layer of the output image data is defined by two or more sets of the image data 208 (e.g., based on the output image data 210 or the second output image data 414). Responsive to generating the modified output image, the modified output image may be stored in a memory of the computing device 112.

[0093] Responsive to generating the modified output image, the method 500 further includes displaying the modified output image, as shown in act 512. In some embodiments, the modified output image is displayed responsive to receiving an input from a user, such as on a display 416 of the computing device 112. In some embodiments, the modified output image is displayed after the sorting operation has been completed (e.g., after performing act 508).

[0094] FIG. 6 is a schematic view of a computer device 602, in accordance with embodiments of the disclosure. In some embodiments, the computing device 112 (FIG. 1) includes a computer device such as the computer device 602 of FIG. 6. The computing device 602 may include a communication interface 604, at least one processor 606, a memory 608, a storagedevice 610, an input / output device 612, and a bus 614. The computing device 602 may be used to implement various functions, operations, acts, processes, and / or methods disclosed herein, such as the method 500.

[0095] The communication interface 604 may include hardware, software, or both. The communication interface 604 may provide one or more interfaces for communication (such as, for example, packet-based communication) between the computing device 602 and one or more other computing devices or networks (e.g., a server). As an example, and not byway of limitation, the communication interface 604 may include a network interface controller (NIC) or network adapter for communicating with an Ethernet or other wire-based network or a wireless NIC (WNIC) or wireless adapter for communicating with a wireless network, such as a Wi-Fi.

[0096] The at least one processor 606 may include hardware for executing instructions, such as those making up a computer program. By way of non-limiting example, to execute instructions, the at least one processor 606 may retrieve (or fetch) the instructions from an internal register, an internal cache, the memory 608, or the storage device 610 and decode and execute them to execute instructions. In some embodiments, the at least one processor 606 includes one or more internal caches for data, instructions, or addresses. The at least one processor 606 may include one or more instruction caches, one or more data caches, and one or more translation look aside buffers (TLBs). Instructions in the instruction caches may be copies of instructions in the memory 608 or the storage device 610.

[0097] The memory 608 may be coupled to the at least one processor 606. The memory 608 may be used for storing data, metadata, and programs for execution by the processor(s). The memory 608 may include one or more of volatile and non-volatile memories, such as Random- Access Memory ("RAM"), Read-Only Memory ("ROM"), a solid state disk ("SSD"), Flash, Phase Change Memory ("PCM"), or other types of data storage. The memory 608 may be internal or distributed memory.

[0098] The storage device 610 may include storage for storing data or instructions. As an example, and not by way of limitation, storage device 610 may include a non-transitory storage medium described above. The storage device 610 may include a hard disk drive (HDD), Flash memory, an optical disc, a magneto-optical disc, magnetic tape, or a Universal Serial Bus(USB) drive or a combination of two or more of these. The storage device 610 may include removable or non-removable (or fixed) media, where appropriate. The storage device 610 may be internal or external to the storage device 610. In one or more embodiments, the storage device 610 is non-volatile, solid-state memory. In other embodiments, the storage device 610 includes read-only memory (ROM). Where appropriate, this ROM may be mask programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or Flash memory or a combination of two or more of these.

[0099] The storage device 610 may include machine-executable code stored thereon. The storage device 610 may include, for example, a non-transitory computer-readable storage medium. The machine-executable code includes information describing functional elements that may be implemented by (e.g., performed by) the at least one processor 606. The at least one processor 606 is adapted to implement (e.g., perform) the functional elements described by the machine-executable code. In some embodiments the at least one processor 606 may be configured to perform the functional elements described by the machine-executable code sequentially, concurrently (e.g., on one or more different hardware platforms), or in one or more parallel process streams.

[0100] When implemented by the at least one processor 606, the machine-executable code is configured to adapt the at least one processor 606 to perform operations of embodiments disclosed herein. For example, the machine-executable code may be configured to adapt the at least one processor 606 to perform at least a portion or a totality of the method 500 of FIG. 5. As another example, the machine-executable code may be configured to adapt the at least one processor 606 to perform at least a portion or a totality of the operations discussed for the spreader sorter device 100 of FIG. 1. As a specific, non-limiting example, the machine-executable code may be configured to adapt the at least one processor 606 to cause the computing device 112 of the sorter device 100 to display sort the bulk product 118 based on the image data and / or to display an output image based on the image data, as described above with reference to the method 500 of FIG. 5.

[0101] The input / output device 612 may allow an operator of the sorter device 100 to provide input to, receive output from, the computing device 602. The input / output device 612 may include a mouse, a keypad or a keyboard, a joystick, a touch screen, a camera, an optical scanner, network interface, modem, other known I / O devices, or a combination of such I / O interfaces. The input / output device 612 may include one or more devices for the operator to toggle between various displays of the output image.

[0102] In some embodiments, the bus 614 (e.g., a Controller Area Network (CAN) bus, an ISOBUS (ISO 11783 Compliant Implement Control)) may include hardware, software, or both that couples components of computing device 602 to each other and to external components.

[0103] All references cited herein are incorporated herein in their entireties. If there is a conflict between definitions herein and in an incorporated reference, the definition herein shall control.

[0104] While the present disclosure has been described herein with respect to certain illustrated embodiments, those of ordinary skill in the art will recognize and appreciate that it is not so limited. Rather, many additions, deletions, and modifications to the illustrated embodiments may be made without departing from the scope of the disclosure as hereinafter claimed, including legal equivalents thereof. In addition, features from one embodiment may be combined with features of another embodiment while still being encompassed within the scope as contemplated by the inventors. Further, embodiments of the disclosure have utility with different and various machine types and configurations.

Claims

CLAIMSWhat is claimed is:

1. A sorter device, comprising: an infeed system configured to provide a stream of bulk product within the sorter device; a detection system comprising: at least one radiation emitting device; and at least one optical sensor; an ejector configured to direct air to the stream of bulk product; and a computing device operably coupled to the detection system and the ejector, the computing device comprising: at least one processor; and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the computing device to: cause an image processing system to generate first image data, second image data, and third image data, each of the first image data, the second image data, and the third image data comprising an intensity of electromagnetic radiation having a different spectral band and at least one of transmitted through or reflected from the stream of bulk product; and cause the image processing system to generate multilayer output image data, each layer of the multilayer image individually comprising a difference between two of the image data selected from the group consisting of the first image data, the second image data, and the third image data.

2. The sorter device of claim 1, wherein the computing device comprises instructions thereon that, when executed by the at least one processor, cause the at least one radiation emitting device to: direct first electromagnetic radiation having a wavelength within a first spectral band to the stream of bulk product during a first duration; direct second electromagnetic radiation wavelength within a second spectral band to the stream of bulk product during a second duration; and direct second electromagnetic radiation wavelength within a third spectral band to the stream of bulk product during a third duration.

3. The sorter device of claim 1 or claim 2, wherein the computing device comprises instructions thereon that, when executed by the at least one processor, cause the image processing system to determine a difference between an intensity of each pixel of the first image data and an intensity of corresponding pixels of the second image data.

4. The sorter device of claim 3, wherein the computing device comprises instructions thereon that, when executed by the at least one processor, cause the image processing system to generate each of the first image data, the second image data, and the third image data based on sequential exposure of the stream to electromagnetic radiation from the at least one emitting device.

5. The sorter device of any one of claims 1 through 4, wherein the computing device comprises instructions thereon that, when executed by the at least one processor, cause the image processing system to generate the multilayer output image data comprising: a first layer comprising a difference between the first image data and the second image data; a second layer comprising a difference between the first image data and the third image data; and a third layer comprising a difference between the second image data and the third image data.

6. The sorter device of any one of claims 1 through 5, wherein the computing device comprises instructions thereon that, when executed by the at least one processor, cause the image processing system to generate the multilayer output image data comprising: a first layer comprising a difference between the first image data and the second image data divided by a sum of the first image data and the second image data; a second layer comprising a difference between the first image data and the third image data divided by a sum of the first image data and the third image data; and a third layer comprising a difference between the second image data and the third image data divided by a sum of the second image data and the third image data.

7. The sorter device of any one of claims 1 through 6, wherein the computing device comprises instructions thereon that, when executed by the at least one processor, cause the image processing system to generate: the first image data comprising an intensity of electromagnetic radiation having a first spectral band received by the at least one optical sensor; the second image data comprising an intensity of electromagnetic radiation having a second spectral band received by the at least one optical sensor; and the third image data comprising an intensity of electromagnetic radiation having a third spectral band received by the at least one optical sensor.

8. The sorter device of claim 7, wherein the computing device comprises instructions thereon that, when executed by the at least one processor, cause the image processing system to generate the multilayer output image data comprising: a first layer comprising a difference between the intensity of the first image data and the intensity of the second image data; a second layer comprising a difference between the intensity of the first image data and the intensity of the third image data; and a third layer comprising a difference between the intensity of the second image data and the intensity of the third image data.

9. The sorter device of any one of claims 1 through 8, wherein the computing device comprises instructions thereon that, when executed by the at least one processor, cause the at least one radiation emitting device to: emit electromagnetic radiation within a first spectral band within the infrared region at the stream of bulk product; emit electromagnetic radiation within a second spectral band within the infrared region at the stream of bulk product; and emit electromagnetic radiation within a third spectral band within the infrared region at the stream of bulk product.

10. The sorter device of any one of claims 1 through 9, wherein the computing device comprises instructions thereon that, when executed by the at least one processor, cause the ejector to separate a portion of the stream of bulk product based on the multilayer output image data.

11. A method of operating a sorter device, the method comprising: causing an emitting device to emit electromagnetic radiation within each of a first spectral band during a first duration, a second spectral band during a second duration, and a third spectral band during a third duration; measuring, with at least one optical sensor, each of: first electromagnetic radiation during the first duration; second electromagnetic radiation during the second duration; and third electromagnetic radiation during the second duration; and causing an image processing system to generate multilayer image data comprising: a first layer comprising a combination of the first electromagnetic radiation and the second electromagnetic radiation; a second layer comprising a combination of the first electromagnetic radiation and the third electromagnetic radiation; anda third layer comprising a combination of the second electromagnetic radiation and the third electromagnetic radiation.

12. The method of claim 11, wherein causing an image processing system to generate multilayer image data comprises causing the image processing system to generate a first layer comprising a difference between an intensity of the first electromagnetic radiation and an intensity of the second electromagnetic radiation.

13. The method of claim 11 or claim 12, wherein measuring each of the first electromagnetic radiation, the second electromagnetic radiation, and the third electromagnetic radiation comprises measuring first electromagnetic radiation, the second electromagnetic radiation, and the third electromagnetic within an infrared region of the electromagnetic spectrum.

14. The method of any one of claims 11 through 13, wherein causing an emitting device to emit electromagnetic radiation within each of a first spectral band during a first duration, a second spectral band during a second duration, and a third spectral band during a third duration comprises causing the emitting device to emit the electromagnetic radiation within the second spectral band during a second duration immediately after the first duration.

15. The method of any one of claims 11 through 14, further comprising causing an ejector to sort an object from a stream of bulk product based on the multilayer image data.

16. A sorter device, comprising: at least one emitting device; at least one optical sensor; at least one ejector; and a computing device operably coupled to the at least one ejector, the computing device comprising:at least one processor; and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the computing device to: cause the at least one emitting device to emit electromagnetic radiation at a stream of bulk product; cause the at least one optical sensor to generate: first image data comprising an intensity of measured electromagnetic radiation while the at least one optical sensor emits electromagnetic radiation within a first spectral band; second image data comprising an intensity of measured electromagnetic radiation while the at least one optical sensor emits electromagnetic radiation within a second spectral band; and third image data comprising an intensity of measured electromagnetic radiation while the at least one optical sensor emits electromagnetic radiation within a third spectral band; and cause the at least one ejector to sort the bulk product based, at least in part, on a difference between the first image data and each of the second image data and the third image data.

17. The sorter device of claim 16, wherein the computing device comprises instructions thereon that, when executed by the at least one processor, cause the at least one ejector to sort the bulk product based on a difference between the second image data and the third image data.

18. The sorter device of claim 16 or claim 17, wherein the computing device comprises instructions thereon that, when executed by the at least one processor, cause an image processing system to generate multilayer output image data comprising:a first layer comprising a difference between the first image data and the second image data; a second layer comprising a difference between the first image data and the third image data; and a third layer comprising a difference between the second image data and the third image data.

19. The sorter device of any one of claims 16 through 18, wherein the computing device comprises instructions thereon that, when executed by the at least one processor, cause the at least one emitting device to emit electromagnetic radiation within a short-wave infrared region (SWIR) at the stream of bulk product.

20. The sorter device of any one of claims 16 through 19, wherein the computing device comprises instructions thereon that, when executed by the at least one processor, cause the at least one ejector to sort the bulk product based on the difference between the first image data and the second image data divided by a sum of the first image data and the second image data.

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