Device and method for sorting bulk material

Abstract

The invention relates to a sorting device (20) for sorting bulk material (S) comprising at least one conveying apparatus (21) for conveying the bulk material (S) in a conveying direction from a bulk material receptacle (23) to a discharge edge (24) and at least one detection system (31) for detecting the bulk material (S) and at least one sorting mechanism (40). At least one camera (33) of the detection system (31) is spatially offset with respect to the conveying apparatus (21) such that the image plane of the at least one camera (33) is tilted with respect to an object plane in the region of the conveying apparatus (21), wherein at least one optical unit of the at least one camera (33) and / or the at least one camera (33) can be positioned in such a way that the Scheimpflug principle is fulfilled.

Description

[0001] P400138WO_202500910 V1.0 Page 1 | 33

[0002] Sorting device and a method for sorting bulk goods

[0003] The present invention relates to a sorting device for sorting bulk material according to claim 1 and a method for sorting bulk material according to claim 23.

[0004] Technological background

[0005] The detection and subsequent sorting of bulk materials using cameras is a common method used on an industrial scale.

[0006] Prior art EP1518611 A2 discloses a device for sorting individual test pieces using image processing, which are fed by a feeding device. A conveyor section is provided between the feeding device and a position for image processing to influence the transport movement of the individual test pieces. The individual test pieces are fed individually to a discharge device via a curved sliding table.

[0007] A disadvantage of this known solution is that the individual test specimens are inserted into a recess of the curved sliding table and are transported in a fixed position in at least two directions along the conveyor track before they slide off the curved sliding table due to gravity. This makes sorting bulk material in large throughput quantities impossible.

[0008] Prior art patent US 2007 / 057164 A1 discloses an imaging system for capturing images of an inclined object comprising a lens with an optical axis, a detector arrangement and a normalizer positioned between the lens and a detector arrangement to realign the light passing through it so that the Scheimpflug condition is met with respect to the inclined object to be imaged and the light strikes the detector arrangement in a substantially normal orientation.

[0009] A disadvantage of the known solution is that the normalizer is an additional optical component which becomes dirty during operation of a sorting system, thus rendering object recognition insufficient for the sorting process. P400138WO_202500910 V1.0 Page 2 | 33

[0010] Prior art patent RU 2468872 C1 is known. The proposed device comprises a loading container, a feeder connected to an inclined trough, an optical detector with two video cameras, a grain detection area, a grain quality control device, and collection containers for rejected grain. A black conveyor belt is arranged beneath the inclined trough. The optical detector uses digital video cameras. One of the cameras is positioned beneath the conveyor belt such that the optical axis of the camera lens is perpendicular to the plane of the belt. The second camera is positioned at an angle to the plane of the belt. The video cameras are connected via a central processor to a control unit for a stepper motor, which is mounted in a carriage arranged perpendicular to the conveyor belt.The carriage is equipped with a vacuum pump, which includes a vacuum head connected via a flexible hose to an electrically driven vacuum pump. The collection container for the rejected grain is located below the valve.

[0011] A disadvantage of this known solution is that the objects must be on a black conveyor belt in order to be detected by the camera. Furthermore, the objects can only be assessed to a limited extent.

[0012] The prior art is known from WO 2018 / 176160 A1. A multi-camera imaging system comprises several imaging subsystems. Each subsystem includes imaging optics, an optical filter, an optional shutter, a digital image sensor, and an analog-to-digital converter. After optional scaling, image shifting, keystone correction, and other corrections, the acquired images are aligned to obtain a multi-layered registered image. Subsequently, the illumination metrics of the individual pixels of the registered image are calculated. The spatial distribution of the optical illumination properties of planar objects is measured, including colorimetric, photometric, radiometric, and spectroradiometric characterization and calibration of digital image displays and radiation scenes.

[0013] From the prior art, US Patent 5,526,458 A is known. A light-guiding element used in a Scheimpflug system comprises an array of densely packed optical fibers configured as a plate with substantially parallel entry and exit sides, wherein the axis of each fiber in the array is substantially perpendicular to the exit side and at a first oblique angle (gamma) to the normal of the entry side, the normal of the entry side at a second oblique angle (alpha) to the first axis; such that each fiber receives light from the first optical system, each fiber being curved between the entry and exit sides. Oblique objects can be viewed in real time with electronic detectors that receive the light emitted from the exit side. Objects P400138WO_202500910 V1.0 Page 3 | 33 with topographic features can be considered by providing the entry side with an optically conjugated topographic surface.

[0014] WO / 9831477 A1 is known from the prior art. This discloses a sorting apparatus for granular materials with a transport device to which the materials are fed from a vibrating table. The device has an inclined distribution surface over which the materials move, and a detection system and a sorting system for removing foreign bodies or inferior components from the material flow leaving the surface are connected to this surface. The surface is completely smooth and has no channels in the direction of fall of the materials for guiding them. The surface has a curvature in this direction that is slightly less than the curvature of the path the materials would follow in free fall on the surface.

[0015] A disadvantage of this known solution is that the area in question is the surface of a plate, onto which the sorted material is already disturbed by the vibrating table and the bulk material slides or rolls from the horizontal to the vertical on the surface of the plate.

[0016] Description of the invention

[0017] One object of the invention is to avoid at least one of the disadvantages of the prior art. In particular, an improved sorting device for sorting bulk materials is to be created, whereby contamination of the cameras of a recognition device or of the optical components of the cameras is minimized in order to maintain high quality in the sorting of bulk materials, especially foodstuffs. An improved method for sorting bulk materials is to be created.

[0018] This problem is solved by the features of the independent patent claims. Advantageous developments are set out in the figures and in the dependent patent claims.

[0019] An inventive sorting device for sorting bulk materials, in particular foodstuffs, comprises at least one conveying device for conveying the bulk material in a conveying direction from a bulk material intake to a discharge edge and at least one detection system for detecting the bulk material, wherein the detection system has several cameras, as well as at least one sorting mechanism. At least one camera of the detection system is arranged spatially offset from the conveying device such that the image plane of the at least one camera is tilted relative to an object plane in the area of ​​the conveying device, wherein the at least one camera can be positioned in such a way as to P400138WO_202500910 V1.0 Page 4 | 33

[0020] To fulfill the Scheimpflug condition. Alternatively or additionally, at least one optic or camera can be positioned in such a way as to fulfill the Scheimpflug condition.

[0021] The recognition system and multiple cameras are designed to ensure that at least the surfaces of the bulk material are clearly identifiable from all sides, enabling improved sorting using the images from the multiple cameras. The sorting device according to the invention prevents contamination of the optical components of the at least one camera and, alternatively or additionally, of the lens of the at least one camera. The at least one camera and its optical components, such as camera lenses or the objective lens, are positioned offset from the conveying device in such a way that particles of the bulk material, which are typically present in the humid air surrounding the sorting device, do not directly strike the at least one camera or its lens when the bulk material is discharged, and thus cannot accumulate there.In order for the bulk material to be sharply imaged by a camera spatially offset from the conveying device, and thus for high-quality sorting of the bulk material to be possible using the images produced by the at least one camera, the at least one camera and, alternatively or additionally, the optics of the at least one camera must be positionable such that the Scheimpflug condition is met. The faster the bulk material is transported on the conveying device, the more particles are thrown into the surrounding area when the bulk material is discharged from the discharge edge. With typical sorting devices, these particles accumulate in the surrounding area and on the components of the sorting device. The positioning of the at least one camera and, alternatively or additionally, the optics of the at least one camera according to the invention reduces the accumulation of particles on these components.This allows the conveyor system to move at a conveying speed of at least 5 meters per second, or even faster, so that hardly any deposits form on the camera (or, alternatively or additionally, on the camera's optics). This enables the sorting of bulk goods, such as French fries, at a throughput of up to 25 tons per hour with high quality, without requiring the sorting system to be shut down for maintenance or unscheduled cleaning of its components. The food product in question is, in particular, raw or frozen.

[0022] The Scheimpflug condition is met when the plane of focus, the lens plane, and the image plane of at least one camera intersect in a common line, the Scheimpflug line. In a typical, simple camera, the image plane (film or image sensor) and the lens plane are parallel to each other. Consequently, the sharply focused object plane (also called the plane of focus) is parallel to both. The common line of intersection can be imagined at infinity. If the lens plane and the image plane are not parallel, when focusing, the plane of focus is rotated by a Scheimpflug angle, i.e., the angle between the image plane and the lens plane, instead of simply being translated along the lens axis. The axis of rotation is the intersection of the front focal plane of the lens with a plane through the center of the lens that is parallel to the image plane.

[0023] Some publications refer to the possible tilting about two axes as the double Scheimpflug, in contrast to the simple Scheimpflug, where the focal plane is tilted only about the horizontal or vertical axis. Geometrically, the double Scheimpflug is a simple tilting about an oblique axis. The Scheimpflug principle makes no statement about the direction of the line of intersection between the three planes and therefore also includes the double Scheimpflug.

[0024] In other words, with the inventive arrangement of the at least one camera or the optics of the at least one camera, it is possible to obtain a detailed image of at least the relevant section of the bulk material, wherein the at least one camera is configured to view the bulk material at a defined Scheimpflug angle. The disadvantage of known devices is that when viewing the bulk material at an angle, focus can only be achieved on a single point, or that although a small aperture allows a large depth of field, less light reaches the image sensor, resulting in a poorer signal-to-noise ratio.

[0025] For example, at least one camera can be used to focus on a specific plane, thereby increasing the aperture. This offers significant advantages in terms of the amount of light reaching at least one camera. Additionally, this blurs all objects outside the relevant area, allowing the background and any dirt to be more effectively masked.

[0026] A further advantage of the arrangement according to the invention is that at least two sides of the bulk material can be sharply imaged with the at least one camera. If, for example, a camera is positioned directly above the bulk material, usually only the surface of the top side will be clearly visible in the image. Other sides or surfaces of the bulk material are only visible at a very unfavorable angle with the at least one camera. Therefore, such images are of limited use for sorting in a sorting device with high sorting quality. The at least one camera described here detects at least the surface of a first side as well as the surface of a second side of the bulk material, so that defects or foreign objects on at least two sides of the bulk material can be detected with only one camera.This provides a sorting device with a recognition system that achieves the same sorting quality with fewer cameras than comparable commercially available recognition systems in sorting devices. This conserves resources and makes the sorting device more cost-effective to manufacture. P400138WO_202500910 V1.0 Page 6 | 33.

[0027] Preferably, the at least one camera is positioned such that a line of sight in which the bulk material is analyzed lies behind the discharge edge of the conveying device. The image plane of the at least one camera is tilted relative to an object plane of the bulk material positioned behind the discharge edge of the conveying device. This prevents contamination or damage to the conveying device from being located in the image area of ​​the at least one camera, which would negatively affect the sorting result. In operational use, the at least one camera has a field of view, with at least one line of sight within this field of view along which the bulk material can be imaged with the desired depth of field.

[0028] Preferably, at least one camera is positioned so that the line of sight in which the bulk material is analyzed lies on the conveying device, for example, on the conveyor belt of a belt conveyor. This allows the bulk material to be identified even before it is discharged from the conveyor belt and subsequently taken into account in the evaluation of the images. This improves the detection of bulk material with a large longitudinal extent, for example, which is arranged in the conveying direction. This results in a longer time period that can be used for calculating and processing the data from the images. The conveying speed could thus be increased, for example, when dealing with longer bulk material, while the sorting unit, and therefore the sorting accuracy, can remain in the same position.Preferably, the at least one camera of the recognition system is spatially offset from the conveying device such that the image plane of the at least one camera is tilted at 20° to 65° relative to the object plane in the area of ​​the conveying device. This allows the images of the bulk material on the conveyor belt to be reliably detected on at least two sides of the material and sorted with the desired quality. Preferably, the image plane of the at least one camera is tilted at 45° ± 5° relative to the object plane in the area of ​​the conveying device. This allows the images of the bulk material on the conveyor belt to be further improved, enabling reliable detection on at least two sides of the material and sorting with the improved quality.

[0029] Preferably, a first positioning unit is provided on which the at least one camera can be positioned relative to the at least one conveying device. The positioning unit can include a rail system with adjustment means, such as adjusting screws, which allows the first positioning unit, and thus the at least one camera, to be rotated about its axis. Furthermore, the first positioning unit allows the at least one camera to be tilted. The at least one camera is thus set to the desired position once and subsequently only needs to be repositioned during maintenance work. It is also possible to use the positioning unit to improve the positioning of the at least one camera based on the dimensions or size of the bulk material to be sorted. The positioning unit thus enables not only the one-time setting of the at least one camera. P400138WO_202500910 V1.0 Page 7 | 33

[0030] The camera is not focused on the sorting conditions of a bulk material, but is variably adjustable to different bulk material dimensions.

[0031] Alternatively or additionally, a further positioning unit is provided on which at least one lens of at least one camera can be positioned relative to at least one conveyor device. For example, the lens is arranged to be linearly displaceable in several spatial directions and can be tilted or rotated on the further positioning unit. The further positioning unit can be used to fine-tune the camera's line of sight and to adjust the Scheimpflug angle for the at least one camera.

[0032] In particular, the Scheimpflug angle is between 1° and 3° and can be adjusted to 0.1°, for example, using the first or second positioning unit. For a sharp image of the bulk material, the Scheimpflug angle should be set so precisely that the image plane, the lens plane, and the object plane / focus plane intersect in a common line. This ensures that at least two sides of the bulk material can be captured sharply by at least one camera across the entire width of the conveyor belt, achieving the desired image quality and enabling reliable, high-quality sorting of the bulk material.

[0033] Preferably, a computing unit is provided which is connected to at least one camera. The computing unit receives the images from the at least one camera and can process them easily and quickly, so that the sorting mechanism can operate with reproducible accuracy.

[0034] In particular, the computing unit is designed to generate data to correctly position at least one camera, and alternatively or additionally, at least one lens of the at least one camera, so that the Scheimpflug conditions are met and a sharp image can be produced. For example, a reference image is stored in a memory of the computing unit, against which a current image can be compared. Furthermore, a control command could be generated by the computing unit based on the reference image, which can be transmitted to a control unit of the at least one camera to implement a displacement or tilt of the at least one camera or the at least one lens.

[0035] In particular, the computing device is designed to correct optical distortions in the image plane of the at least one camera. Due to the tilt of the at least one camera and the associated tilt of the line of sight, a difference in resolution occurs across the working width of the conveying device. Bulk material, at the point where the at least one camera is closer P400138WO_202500910 V1.0 Page 8 | 33

[0036] The end of the object line is displayed in higher resolution than the bulk material at the end of the object line furthest from at least one camera. In other words, one pixel on at least one camera corresponds to a greater distance along the conveying system. This difference in resolution can be corrected using a software application on the computer system, so that, despite an inclined line of sight, an undistorted image of the bulk material can be obtained from at least two sides of the material using only one camera.

[0037] Preferably, a neural network is present, which is connected to or integrated within the computing device. By arranging the at least one camera, the depth of field can be reduced such that the image from the at least one camera can be focused precisely on the line of sight or the object plane. This eliminates the need for an actively illuminated background with backlighting in the camera's field of view. In the known prior art, backlighting is necessary to actively illuminate the area of ​​the field of view beyond the line of sight, for example with a blue LED light, so that the bulk material or defects in the bulk material are distinguishable from the background. This focusing on the desired bulk material plane allows background segmentation based on blur to be performed using the neural network or dynamic background correction.The non-actively illuminated background is detected by incorporating the neural network and its integrated artificial intelligence (AI) or a specially designed algorithm, and corrected from the information for the sorting mechanism. AI-based algorithms enable background segmentation by detecting blurriness, rather than relying on active, dirt-prone backlighting as was previously the case. The major advantage is that an actively illuminated background is no longer necessary, making the detection system less susceptible to dirt. This saves energy and eliminates the need for regular cleaning of the sorting system.

[0038] In particular, the neural network is designed to recognize the separation of at least two objects within the bulk material. This should make it possible to identify, classify, and remove bulk material that is touching as independent objects using a sorting mechanism.

[0039] In particular, the neural network, or algorithm in the conveying system, is designed to detect distortions of the bulk material at its edges and correct them using artificial intelligence, thus ensuring a sharp image of the bulk material at the conveying device. P400138WO_202500910 V1.0 Page 9 | 33

[0040] Preferably, at least one camera is positioned above at least one conveying device. The field of view of the at least one camera extends obliquely from above onto the bulk material towards the discharge edge of the conveying device. The at least one camera described here detects at least the surface of the top surface as well as the surface of at least one side of the bulk material, so that defects or foreign objects on at least two sides of the bulk material can be detected with just one camera.

[0041] Preferably, at least one second camera is provided, which is spatially offset from the conveying device such that the image plane of the at least one additional camera is tilted relative to an object plane in the area of ​​the conveying device, wherein the at least one additional camera can be positioned to fulfill the Scheimpflug conditions. Alternatively or additionally, at least one lens of the second camera can be positioned to fulfill the Scheimpflug condition. With the aid of the detection system and the multiple cameras, at least the surface of the bulk material should be clearly recognizable from as many sides as possible in order to achieve improved sorting using the images from the multiple cameras. The second camera thus enables the bulk material to be recognized from at least three, and advantageously from five, sides in order to identify defects or foreign objects.The sorting device according to the invention ensures that contamination of the optical components of the two cameras or the optics of the two cameras is avoided.

[0042] Preferably, the second camera of the detection system is spatially offset from the conveyor such that the image plane of the second camera is tilted at 20° to 65° relative to the object plane in the area of ​​the conveyor. This allows the images of the bulk material on the conveyor belt to be reliably detected on at least three sides of the material and sorted with the desired quality. Preferably, the image plane of the second camera is tilted at 45° ± 5° relative to the object plane in the area of ​​the conveyor. This further improves the detection of the images of the bulk material on the conveyor belt, allowing them to be reliably detected on at least two additional sides and sorted with the improved quality.The at least one camera and the second camera are advantageously spaced 50° to 140°, preferably 90°, apart, so that the two cameras can detect at least one surface of a side face of the bulk material in their field of view, as well as jointly detect at least the surface of the top of the bulk material. This allows for improved evaluation of the images from the two cameras in the computing unit.

[0043] Preferably, at least one camera is a line scan camera. A line scan camera allows for the simultaneous detection of a larger area on the conveyor system. The detected images can be read quickly and thus processed rapidly. Using a line scan camera has the advantage of detecting a small, but sufficient, area near the discharge edge or on the conveyor system. This reduces the likelihood of contamination on the conveyor belt going undetected, and the device can be built smaller overall.

[0044] In particular, the line scan camera is an RGB camera, meaning that color effects can also be detected. For example, high-resolution RGB prism cameras are used, which can detect color defects on the bulk material at the pixel level and, based on the information from these cameras, enable the sorting device to sort the material object-based according to various criteria (e.g., length of the bulk material). Analyzing the bulk material from all sides is particularly advantageous for the reliable detection of color defects.

[0045] In particular, at least one camera is an area scan camera. An area scan camera can detect a large area on the conveyor system and thus capture a large number of bulk materials in a single image. This may eliminate the need for a second camera. Area scan cameras are relatively inexpensive, as well as small and compact, and can be installed in the machine in a space-saving manner.

[0046] Preferably, at least one camera should be a NIR camera or a UV camera. This allows the bulk material to be analyzed at other wavelengths as well, so that defects or foreign objects are more easily detected. Depending on the type of defect or foreign object, the cameras are more sensitive at these wavelengths, and sorting can be carried out reliably and with high quality.

[0047] A key advantage is that at least one of the multiple cameras is an HSI (hyperspectral) camera, which is capable of analyzing the bulk material solely based on its chemical composition. This results in an extremely high level of reliability in detecting foreign objects, eliminating the need to identify them based on their shape, color, conductivity, or similar characteristics.

[0048] Preferably, a lighting device is provided which has several lighting units to illuminate at least one line of sight located in the area of ​​the conveying device. In particular, one of the several lighting units is arranged in the area of ​​the at least one camera to illuminate a field of view tilted relative to the at least one line of sight. The lighting units are advantageous for clearly seeing the bulk material on the conveying device. It can be advantageous if the lighting units are not arranged directly in the camera's field of view, but outside of it, to illuminate the area around the line of sight. While illumination for recordings with an RGB camera is generally ensured by means of LED lighting, SWIR LED lighting or NIR LED lighting can be used, especially with HSI cameras. The advantage lies not only in the very high energy savings compared to a P400138WO_202500910 V1.Page 11 | 33 of the usual halogen lighting, even with very low maintenance requirements over the entire service life of the sorting device.

[0049] Preferably, the at least one sorting mechanism is arranged downstream of the discharge edge of the at least one conveying device in the conveying direction. An angled discharge of the bulk material from the conveying device is generally more advantageous than a horizontal discharge, as the trajectory of the bulk material is more favorable, resulting in improved sorting and reduced contamination of the multiple cameras. For example, the trajectory is less affected by the mass of the individual items being sorted. Compared to a horizontal discharge, the angled discharge reduces the normal force exerted by the bulk material on the conveying device. This, in turn, facilitates the release of the bulk material from at least one conveyor belt. This results in a predictable discharge of the bulk material from the conveying device and thus improved engagement of the sorting mechanism with the freely falling bulk material, thereby improving the sorting process.

[0050] In particular, the sorting mechanism includes at least one pneumatic sorting unit. This allows the portion of the bulk material to be sorted in free fall simply by means of air pressure or the gas pressure of a medium. Alternatively or additionally, a flap mechanism can be used. Flap mechanisms are reliable sorting mechanisms, for example, for the safe removal of foreign objects. Flap mechanisms are cost-effective to operate. In particular, flap mechanisms are especially efficient for sorting large bulk materials.

[0051] Preferably, at least one additional camera is provided, which is arranged below the at least one conveying device and with which the bulk material in the area after the discharge edge can be observed. The bulk material, which leaves the conveying device in the area of ​​the discharge edge and is moved freely towards the sorting mechanism, can be detected using the at least one additional camera. The at least one additional camera is configured to detect at least that surface of the bulk material which rests on the conveying device during transport and, in particular, also the back side of the bulk material, which is hardly visible to the at least one camera. The surface which rests on the conveying device during transport cannot be detected by either the at least one camera or the second camera.Due to the interaction of at least one camera, a second camera, and at least one additional camera, the bulk material can be viewed from all sides. In contrast, without at least one additional camera, defects or foreign objects on the surface of the material resting on the conveying device cannot be detected. Without at least one additional camera, the sorting performance is therefore technically limited to the industry standard of 75%. This limitation can thus be overcome (P400138WO_202500910 V1.0 Page 12 | 33), and the bulk material can therefore actually be inspected from all sides. Thus, a sharp image of all sides, within the depth of field of the cameras, can be achieved with only three cameras.

[0052] Advantageously, at least one additional camera has a cleaning system. This allows the optical components of at least one additional camera to be cleaned of deposits that can be caused by stirred-up bulk material residues.

[0053] In particular, an airflow can be generated using the cleaning system, and this airflow can be directed in such a way that it prevents foreign particles, especially aerosols, from reaching at least one viewing window. Crucial factors for the functioning of a sorting device with high sorting quality are unobstructed camera views and adequate lighting. To prevent unintentionally high reject rates, all viewing lenses and windows must be kept sufficiently clean throughout the entire sorting process.

[0054] In particular, the airflow is steerable in such a way that it prevents foreign objects from reaching at least one other camera. To ensure consistently good visibility of the bulk material over an extended period, the optical components of the at least one camera and the lighting unit are installed individually or together in the housing with viewing lenses or windows. However, as soon as these viewing lenses become dirty, the quality of the image recognition can decrease with increasing contamination, or image recognition can fail completely.

[0055] An inventive method for detecting bulk material in a sorting device with at least one conveying unit comprises at least the following steps: the bulk material is conveyed from a bulk material intake in the conveying direction towards a discharge edge of the at least one conveying unit, and the bulk material conveyed on the at least one conveying unit is monitored by at least one camera of the detection system. Furthermore, the at least one camera is spatially offset from the conveying unit such that the image plane of the at least one camera is tilted relative to an object plane on the conveying unit, and at least one optic of the at least one camera can be positioned such that the Scheimpflug condition is met and the conveyed bulk material is sorted by a sorting mechanism at least on the basis of the images from the at least one camera.

[0056] The inventive method prevents contamination of the optical components or the optics of the at least one camera. The at least one camera and / or the optical components, such as camera lenses or the objective lens, are arranged offset from the conveying device (P400138WO_202500910 V1.0 Page 13 | 33) in such a way that particles of the bulk material or aerosols, which are typically present in the humid air surrounding the sorting device, do not directly strike the at least one camera or the optics, such as the objective lens, when the bulk material is discharged, and thus cannot accumulate there.In order for the bulk material to be sharply imaged by a camera spatially offset from the conveying device, and in order for sorting the bulk material to be possible at all using the images produced by the at least one camera, the at least one optic of the at least one camera and, alternatively or additionally, the optic of the at least one camera must be positionable in such a way that the Scheimpflug condition is met.

[0057] Preferably, the bulk material is moved by the at least one conveying device at a conveying speed of at least 3 meters per second. Preferably, the bulk material is moved by the at least one conveying device at a conveying speed of at least 5 meters per second. This allows the throughput of the sorted bulk material to be increased while maintaining the sorting quality and minimizing contamination of the at least one camera.

[0058] Preferably, at least one optical distortion in the image created by the at least one camera is corrected using a computing device. Due to the tilt of the at least one camera and the associated tilt of the line of sight, a difference in resolution occurs in the images across the working width of the conveying device. Bulk material at the end of the object line closer to the at least one camera is displayed with higher resolution than bulk material at the end of the object line farther from the at least one camera. In other words, one pixel on the at least one camera corresponds to a larger distance on the side of the conveying device near the camera. This difference in resolution in the images can be corrected using a software application of the computing device, so that, despite the tilted line of sight, an undistorted image of the bulk material is available on at least two sides of the material.It is advantageous to have multiple cameras that create images of the bulk material. These multiple images can be used by the computer system to evaluate the quality of the bulk material and thus control the sorting mechanism.

[0059] An inventive sorting device for sorting bulk materials, in particular foodstuffs, comprises at least one conveying device for conveying the bulk material in a conveying direction from a bulk material intake to a discharge edge, at least one detection system for detecting the bulk material, wherein the detection system has at least one camera, as well as at least one sorting mechanism and at least one cleaning system. The at least one cleaning system has at least one cleaning device which has at least one airflow inlet and at least one P400138WO_202500910 V1.0 Page 14 | 33

[0060] has an airflow outlet such that an airflow can be generated through the at least one cleaning device, wherein the airflow is steerable in such a way that the airflow prevents foreign bodies, in particular aerosols, from reaching at least one viewing window and, alternatively or additionally, the at least one camera, wherein the airflow can be directed through the at least one cleaning device at an angle of 0° to 90° relative to the at least one viewing window and, alternatively or additionally, relative to the at least one camera.

[0061] Crucial factors for the proper functioning of a sorting system with high sorting quality are unobstructed camera views and minimally impaired lighting conditions. Failure to achieve these conditions results in an unacceptably high reject rate during sorting. To prevent this, all viewing lenses and windows must be kept sufficiently clean throughout the entire sorting process. The viewing window can be protected by the housing of the cleaning unit. The cleaning fluid exits this housing through narrow slots. These slots can be geometrically designed to prevent larger droplets from reaching the viewing window.

[0062] The sorting device according to the invention, with its disclosed cleaning device, actively prevents the contamination of the viewing lenses. This eliminates the need for time-consuming cleaning of the sorting device when the machine is idle. Additional cleaning is only required during planned machine shutdowns. During continuous operation, this approach ensures minimal water consumption for cleaning the viewing areas.

[0063] The airflow can act along the entire length of the narrow slots, thus preventing the ingress of aerosols and the contamination of the viewing windows. Because the airflow acts over a considerable length, the flow rate can be set correspondingly low. For example, with a slot width of 50 mm, a flow rate of 8 meters per second is sufficient to prevent deposits from forming on the viewing lenses and windows. This, in turn, results in a low supplied volume flow. If an additional compressor is used, the air can be directed laterally into the housing and exit through the narrow slots. One or more airflow inlets and outlets can be used in this configuration.

[0064] Preferably, the airflow in the at least one cleaning device is steerable in such a way as to carry away foreign objects moving towards the viewing window and, alternatively or additionally, towards the at least one camera. To ensure consistently good visibility of the bulk material over a longer period, the optical components of the at least one camera are installed individually or together in the housing with viewing lenses or windows. P400138WO_202500910 V1.0 Page 15 | 33

[0065] However, as soon as these lenses become dirty, the quality of image recognition can decrease with increasing contamination, or image recognition may fail completely. Sufficient light intensity in the line of sight is also essential.

[0066] Preferably, a negative pressure can be generated in at least one of the cleaning units. The negative pressure creates a suction-like airflow, allowing the extracted aerosols to be easily collected. To prevent contamination of the surrounding area, the introduced airflow is then extracted. Alternatively, a positive pressure can also be generated in the cleaning unit to prevent the ingress of particles.

[0067] In particular, a radial compressor is used to generate the required vacuum or positive pressure. A radial compressor reliably creates vacuum or positive pressure and is an energy-efficient device compared to conventional compressed air generation. Alternatively, an interface for an extraction system can be provided to reliably remove the aerosols.

[0068] Preferably, a lighting device is provided which includes at least one lighting unit, wherein the airflow is steerable such that it prevents foreign bodies, in particular aerosols, from reaching at least one viewing window and / or the at least one lighting unit, and wherein the airflow can be directed through the at least one cleaning device at an angle of 0° to 90° relative to the at least one viewing window and / or relative to the at least one lighting unit. This prevents foreign bodies from accumulating on the at least one lighting unit. Deposits on the lighting unit cause the images captured by the at least one camera to be underexposed and thus unusable for evaluation during the sorting of bulk materials. This can be prevented by means of the airflow provided in the cleaning device.

[0069] Preferably, the cleaning device includes at least one nozzle for directing the airflow. A cleaning gas, for example dry air, can be introduced via the nozzle to generate the airflow and prevent the foreign particles from reaching at least the viewing window and, alternatively or additionally, the at least one camera.

[0070] Alternatively or additionally, the cleaning device includes several deflection barriers for directing the airflow. In one embodiment, the line of sight of the at least one camera and the light cone of an illumination unit share a viewing window. The air exits this housing through narrow slots. The deflection barriers can be geometrically designed such that larger droplets cannot reach the viewing window. P400138WO_202500910 V1.0 Page 16 | 33

[0071] In particular, at least one nozzle and, alternatively or additionally, several deflection barriers are adjustable within the at least one cleaning unit. This allows a manufacturer of the sorting device to react individually to different environmental conditions, such as dust generation or changes in humidity, and to adjust the cleaning unit to a changing situation.

[0072] Preferably, the cleaning system includes a suction device for removing foreign particles, wherein the suction device is arranged in the area of ​​the discharge edge of the at least one conveying device. It is advantageous if the suction device is arranged as far away as possible from the discharge edge. The suction device efficiently extracts aerosols suspended in the ambient air.

[0073] Preferably, the cleaning system includes protective barriers positioned in front of the cleaning device. This prevents foreign objects, whether originating directly from the bulk material or being deflected towards the at least one camera by misplaced items, from reaching and potentially damaging the viewing window or the at least one camera.

[0074] An inventive method for detecting bulk material in a sorting device, in particular raw or frozen foodstuffs, with at least one conveying device, comprises at least the following steps: the bulk material is conveyed from a bulk material intake in the conveying direction towards a discharge edge of the at least one conveying device, and the bulk material conveyed on the at least one conveying device is monitored with at least one camera of the detection system.A cleaning system is provided, wherein the cleaning system has at least one cleaning device with which an airflow is generated, wherein the airflow is directed in such a way that the airflow prevents foreign bodies, in particular aerosols, from reaching at least one viewing window and / or the at least one camera, wherein the airflow is directed through the at least one cleaning device at an angle of 0° to 90° relative to the at least one viewing window and / or the at least one camera.

[0075] This ensures that the entire sorting process remains sufficiently clean. The viewing window can be protected by the cleaning unit's housing. The cleaning fluid exits the housing through narrow slots. These slots can be geometrically designed to prevent larger droplets from reaching the viewing window.

[0076] An inventive cleaning adapter for a cleaning system of a sorting device for cleaning a viewing window and / or a camera comprises an airflow inlet and an airflow outlet, such that an airflow through the cleaning adapter can be generated, wherein a connection device, in particular a quick-release fastener, is provided for detachably arranging the cleaning adapter on a cleaning system of a sorting device.

[0077] This ensures that the entire sorting process remains sufficiently clean. Additionally, the cleaning adapter can be removed from the sorting device to allow for manual cleaning of the viewing window. This manual cleaning is particularly useful during maintenance work or scheduled maintenance intervals.

[0078] Further advantages, features and details of the invention will become apparent from the following description, in which exemplary embodiments of the invention are described with reference to the drawings.

[0079] The list of reference numerals, like the technical content of the patent claims and figures, forms part of the disclosure. The figures are described coherently and comprehensively. Identical reference numerals denote identical components; reference numerals with different indices indicate functionally identical or similar components.

[0080] The invention is explained in more detail with reference to exemplary embodiments in the following figures. The list of reference numerals forms part of the disclosure.

[0081] Positional references, such as "top", "bottom", "right" or "left", refer to the corresponding representations and are not to be understood as restrictive.

[0082] Although the invention is illustrated and described in detail by means of the figures and the accompanying description, this illustration and detailed description are to be understood as illustrative and exemplary and not as limiting the invention. It is understood that those skilled in the art may make modifications and adaptations without departing from the scope of the following claims. In particular, the invention also includes embodiments with any combination of features mentioned or shown above with regard to various aspects and / or embodiments.

[0083] The invention also includes individual features in the figures, even if they are shown there in connection with other features and / or are not mentioned above. Furthermore, the expression "comprises" and derivatives thereof does not exclude other elements or steps. Likewise, the indefinite article "a" or "an" and derivatives thereof does not exclude a plurality. The functions of several features listed in the claims can be fulfilled by one unit. The terms "essentially", "approximately", "about", and the like in connection with a property or a P400138WO_202500910 V1.0 Page 18 | 33

[0084] Values, in particular, define precisely the property or the exact value. All reference numerals in the claims are not to be understood as limiting the scope of the claims.

[0085] Character description

[0086] The figures are described in a coherent and comprehensive manner. Identical reference symbols indicate identical components. They show

[0087] Fig. 1: A first embodiment of a sorting device according to the invention for sorting bulk material with a conveying device in a perspective view,

[0088] Fig. 2: the sorting device according to Fig. 1 with a control unit and sensors in a side view,

[0089] Fig. 3: the sorting device according to Fig. 1 in a top view,

[0090] Fig. 4: a schematic view of a camera system of the sorting device according to Fig. 1,

[0091] Fig. 5: a camera system with a lighting device of the sorting device according to Fig. 1 in a schematic view,

[0092] Fig. 6: a second embodiment of a sorting device according to the invention for sorting bulk material with a conveying device in a perspective view,

[0093] Fig. 7: another embodiment of a sorting device according to the invention for sorting bulk material with a conveying device in a perspective view,

[0094] Fig. 8: a cleaning device for a camera of a sorting device according to Fig. 1 or according to Fig. 7 in a perspective view,

[0095] Fig. 9: a cleaning adapter according to the invention for a sorting device according to Fig. 1 or according to Fig. 7 in a side view, and

[0096] Fig. 10: the cleaning adapter according to Fig. 7 in a perspective view.

[0097] Implementation of the invention P400138WO_202500910 V1.0 Page 19 | 33

[0098] Figures 1 to 3 show a first embodiment of the sorting device 20 for sorting bulk material S, comprising a conveying device 21 for conveying the bulk material S in a conveying direction 22 from a bulk material intake 23 towards a discharge edge 24, a detection system 31 for detecting the bulk material S, and at least one sorting mechanism 40. The bulk material intake 23 is located at a first height level of the conveying device 21, and the discharge edge 24 is located at a second height level of the at least one conveying device 21, the first height level being arranged horizontally above the second height level.

[0099] The conveying device 21 comprises a belt conveyor 25 with a conveyor belt 26, the conveyor belt 26 extending along a convex trajectory 27 from the bulk material intake 23 to the discharge edge 24. During the transition from the bulk material intake 23 to the discharge edge 24, the bulk material S overcomes a height difference along the convex trajectory 27. The convex trajectory 27 ensures a continuous change in angle along the length of the conveyor belt 26, with the bulk material S following a straight trajectory at the end of the conveyor belt 26 closest to the discharge edge 24, where the bulk material S is discharged towards the sorting mechanism 40.

[0100] A bulk material transfer device 30 is provided, which transfers the bulk material S horizontally to the bulk material intake 23. The bulk material S is taken over horizontally by the conveyor belt 26 in the area of ​​the bulk material intake 23. The conveyor belt 26 has a straight path in the area of ​​the bulk material intake 23. The bulk material S remains largely in the same position on the conveyor belt 26 until it is discharged from the conveyor belt 26 at the discharge edge 24 at a defined angle, depending on the shape of the convex path 27, towards the base of the sorting device 20 and towards the sorting mechanism 40. The bulk material S is detected by the detection system 31, and at least some of the bulk material S is sorted out in this area by means of the sorting mechanism 40. A large quantity of bulk material S can be conveyed to the sorting mechanism 40 by the sorting device 20 at a conveying speed of up to five meters per second.The sorting mechanism 40 is arranged in the conveying direction after the discharge edge 24 of the conveying device 21, wherein the sorting mechanism 40 has several pneumatic sorting units 41.

[0101] A cleaning unit 45 is provided on the conveying device 21 for cleaning a transport surface 26a of the conveyor belt 26. The transport surface of the conveyor belt 26 is the surface on which the bulk material S rests from the bulk material intake 23 towards the discharge edge 24. This transport surface 26a should be clean when the bulk material is placed on the conveyor belt 26. The conveyor belt 26 extends from the discharge edge 24 towards the P400138WO_202500910 V1.0 Page 20 | 33

[0102] Bulk material intake 23 along a straight conveyor track 27a. The cleaning unit 45 cleans the conveyor belt 26 on the straight conveyor track 27a.

[0103] The detection system 31 comprises a camera system 32 with several cameras 33, 34. The two cameras 33, which are spatially arranged above the conveyor 21, are offset from the conveyor 21 such that the image plane of the two cameras 33 is tilted relative to an object plane in the area of ​​the conveyor 21, with the two cameras 33 being positioned such that the Scheimpflug condition is fulfilled in each case. The cameras 33 enable multidimensional detection of the bulk material S from various sides (top, front, back, side). The field of view 38 of the two cameras 33 extends from obliquely above the bulk material S towards the area of ​​the discharge edge 24 of the conveyor 21. The cameras 33 are arranged such that a line of sight 36 is established beyond the discharge edge 24 of the conveyor belt 26. The two cameras 33 detect at least the surface of the top surface as well as the surface of at least one side of the bulk material S.The two cameras 33 or the optical components, such as the lens 35, are arranged offset from the conveying device 21 in such a way that particles or aerosols of the bulk material S, which are usually present in the moist air in the vicinity of the sorting device 20, do not directly hit the cameras 33 or the lens 35 of these cameras 33 when the bulk material S is dropped, and thus cannot be deposited there.

[0104] The two cameras 33 are each spatially offset from the conveying device 21 such that the image plane of each camera is tilted at 45° ± 5° relative to the object plane in the area of ​​the conveying device 21. The two cameras 33 are spaced 90° apart, so that each camera 33 detects at least one surface of a side face of the bulk material in the field of view 38, and also jointly detects at least the surface of the top of the bulk material S. This allows for improved evaluation of the images from the two cameras 33.

[0105] The two cameras 33 are each mounted on a positioning unit 37, which allows the cameras 33 to be positioned relative to the conveyor 21. The positioning unit 37 can also, alternatively or additionally, adjust the respective lenses 35 relative to the conveyor 21. Using the positioning units 37, the Scheimpflug angle can be adjusted between 1° and 3° with an accuracy of 0.1°.

[0106] A further camera 34 is arranged below the discharge edge 24, with the further camera 34 being oriented towards the discharge edge 24 so that the side of the bulk material S which rests on the conveyor belt 26 during conveying is also visible. The bulk material S, which leaves the conveying device 21 in the area of ​​the discharge edge 24 and is moved freely falling towards the sorting mechanism 40, can be detected more effectively with the help of camera 34. Due to the interaction of cameras 33 and 34, the bulk material S can be viewed from all sides. The further camera 34 has a cleaning unit 45 with which an airflow can be generated, the airflow being steerable in such a way that it prevents foreign bodies, in particular aerosols, from reaching at least one viewing window 48 of the camera 34.

[0107] Figure 4 shows an embodiment of the camera system 32 of the sorting device 20, wherein the cameras 33 fulfill the Scheimpflug condition and the lines of sight 36, 39 of the cameras 33, 34 are arranged in the area after the discharge edge 24. Each of the two cameras 33 sharply images at least two sides of the bulk material. Each of the two cameras 33 detects at least the surface of the top side as well as one surface of a second side of the bulk material S. The respective image plane of one of the cameras 33 is tilted at 45° ± 5° relative to the object plane in the area of ​​the conveying device 21. The Scheimpflug condition is fulfilled when the focal plane SE (object plane), the objective plane OE, and the image plane BE of the at least one camera intersect in a common line, the Scheimpflug line. In Figure 4, the planes SE, OE, and BE extend perpendicular to the figure and are therefore drawn as straight lines, so that the line of intersection is shown as the point of intersection SP.

[0108] Figure 5 shows an embodiment of the camera system 32 of the sorting device 20 with a lighting device 50. The lighting device 50 has several lighting units 52 to illuminate at least one line of sight 36, which is arranged in the area of ​​the conveyor device 21. The several lighting units 52 are arranged in the area of ​​the cameras 33, 34, tilted relative to the line of sight 36, and are not located directly in the field of view 38 of the cameras 33, 34, but outside of it, in order to illuminate the area around the line of sight 36, 39. While illumination for recordings with an RGB camera is generally provided by means of LED lighting, SWIR LED lighting or NIR LED lighting can be used for HSI cameras.

[0109] In the disclosed embodiment of the sorting device 20, the cameras 33 and 34 are RGB line scan cameras that monitor the area after the discharge edge 24. Images of the bulk material P are detected and further processed in a computing unit 47. The sorting device 20 comprises a control unit 46 with the computing unit 47 – see Figure 2. The control unit 46 and the computing unit 47 are connected to the camera system 32 of the detection system 31, the sorting mechanism 40, and the cleaning unit 45. Control data is exchanged to control the detection system 31, the sorting mechanism 40, and the cleaning unit 45. The computing unit 47 comprises a computer and a data storage device. The control data is created and processed in the computing unit 47. P400138WO_202500910 V1.0 Page 22 | 33

[0110] The computing unit 47 receives the images from cameras 33, 34 and can easily process them further, enabling the sorting mechanism 40 to operate with reproducible accuracy. Based on the detected defects and, alternatively or additionally, on the detected foreign objects, the computing unit 47 can generate at least one control command for the sorting mechanism 40. The computing unit 47 is designed to correct optical distortions in the image plane of cameras 33, 34. Due to the tilt of cameras 33, 34 and the associated tilt of the line of sight 36, 39, a difference in resolution occurs across the working width of the conveyor 21. Bulk material S at the end of the object line closer to the cameras 33 is displayed with higher resolution than objects at the end of the object line farther from the cameras 33. In other words, one pixel on cameras 33, 34 corresponds to a larger distance on the conveyor 21.This difference in the triggering can be corrected using a software application of the computing unit 47, so that, despite the inclined line of sight 36, 39, undistorted images of the bulk material S can be detected at the sides of the bulk material S. A neural network is integrated into the computing unit 47. By means of the arrangement of the cameras 33, the depth of field can be reduced such that the camera images are focused precisely on the line of sight 36, 39, i.e., the sorting plane. This eliminates the need for an actively illuminated background with backlighting in the area of ​​the line of sight 36. This focusing on the desired bulk material plane allows background segmentation based on blur to be performed using the neural network.The non-actively illuminated background is detected by incorporating the neural network and its integrated artificial intelligence (AI) and corrected from the information for sorting mechanism 40. Thanks to the AI-based algorithms, background segmentation can be achieved by detecting blurriness, rather than through active, dirt-prone backlighting as was previously the case. Furthermore, the neural network is designed to detect the separation of at least two bulk material S objects. This should make it possible to identify and classify bulk material P that is touching as independent objects and to remove them using sorting mechanism 40.Furthermore, the neural network is trained to detect distortions of the bulk material S at the edges of the bulk material S and to correct them using artificial intelligence in order to obtain a sharp three-dimensional image of the bulk material S at the conveying device 21.

[0111] Furthermore, a method for detecting bulk material S in the sorting device 20 with the conveying device 21 is feasible, the method being disclosed with reference to Figures 1 to 3. The method comprises at least the following steps: the bulk material S is conveyed from a bulk material intake 23 in the conveying direction towards a discharge edge 24 of the conveying device 21, and the bulk material S conveyed on the conveying device 21 is monitored by the cameras 33, 34 of the detection system 31. The cameras 33 are arranged spatially offset from the conveying device 21 such that the respective image plane P400138WO_202500910 V1.Page 23 | 33 of the cameras 33 are tilted relative to an object plane on the conveyor 21, and at least one lens of the cameras 33 can be positioned such that the Scheimpflug condition is met and the conveyed bulk material S is sorted by the sorting mechanism 40 at least on the basis of the images from the cameras 33. The bulk material S is moved by the conveyor 21 at a conveying speed of, for example, 5 meters per second. This allows the throughput of the sorted bulk material S to be increased, while maintaining the sorting quality and minimizing contamination of at least one camera.

[0112] Figure 6 shows a second embodiment of a sorting device 120 for sorting bulk material S, which is structurally and functionally essentially identical to the sorting device 20 according to Figures 1 to 3. In addition to the cameras 33, the sorting device 120 has further cameras 133. The cameras 133, which are arranged spatially above the conveying device 21, are offset from the conveying device 21 such that the image plane of the two cameras 133 is tilted relative to an object plane in the area of ​​the conveying device 21, with the two cameras 133 being positioned such that the Scheimpflug condition is fulfilled. The cameras 33 enable multidimensional detection of the bulk material S from various sides (top, front, back, side). The field of view 138 of the two cameras 133 extends obliquely from above onto the bulk material P towards the conveying device 21.The cameras 133 are arranged such that a line of sight 76 is provided on the conveyor belt 26. The two cameras 133 detect at least the surface of the top surface and the surface of at least one side of the bulk material S. The two cameras 133, or rather their optical components, such as the lens, are arranged offset from the conveyor 21 in such a way that particles of the bulk material S, which are typically present in the humid air surrounding the sorting device 120, do not directly strike the cameras 133 or their lenses when the bulk material S is discharged, and thus cannot be deposited there. The cameras 133 have illumination units and are connected to the screening device 47 – as revealed in the sorting device according to Figures 1 to 5.

[0113] Figure 7 shows an embodiment of a sorting device 220 for sorting bulk material S, in particular foodstuffs, comprising a conveying device 221 for conveying the bulk material S in a conveying direction 222 from a bulk material intake 223 towards a discharge edge 224, and a detection system 231 for detecting the bulk material S, wherein the detection system 231 has several cameras 233, 234 as well as at least one sorting mechanism 240 and at least one cleaning system 250. The at least one cleaning system 250 has at least one cleaning device 252, which has an airflow inlet 253 and an airflow outlet 254, such that an airflow can be generated through the at least one cleaning device 252, wherein the airflow is such that P400138WO_202500910 V1.Page 24 | 33 The airflow is steerable such that it prevents foreign bodies, in particular aerosols, from reaching at least one viewing window 260 and, alternatively or additionally, the camera 234, wherein the airflow is directed through the at least one cleaning device 252 at an angle of 0° to 90° relative to the at least one viewing window 260 and, alternatively or additionally, relative to the camera 234. In an embodiment not shown, the sorting device 220 can be structurally and functionally essentially identical to the sorting device 20 according to Figures 1 to 3.

[0114] The cleaning device 252 is shown in more detail in Figure 8. The cleaning system

[0115] The cleaning adapter 250 is designed as a cleaning adapter and is shown in detail in Figures 9 and 10. The cleaning system 250 has a connecting device 270 for detachably attaching the cleaning adapter to the camera 234 of the sorting device 220. The viewing window 260 is protected by the housing 253 of the cleaning device 252. The outlet from this housing

[0116] Airflow 251 occurs via narrow slots 255. These slots are geometrically designed to prevent larger droplets from reaching the viewing window 260. Additionally, protective plates or similar devices are to be used to shield against larger droplets. The airflow can act along the entire length of the narrow slots 255, thus preventing the ingress of aerosols and the contamination of the viewing windows 260.

[0117] A radial compressor 265 is provided, which is connected to the airflow inlet 253 and the airflow outlet 254 and generates a negative pressure or positive pressure in the cleaning device 252.

[0118] The housing 251 contains a lighting device 238 which has a lighting unit 239, wherein the airflow is steerable in such a way that the airflow prevents foreign bodies, in particular aerosols, from reaching the viewing window 260, wherein the airflow can be directed at an angle of 0° to 90° relative to the at least one viewing window 160 through the cleaning device 252.

[0119] Several deflection barriers 256 are provided to direct and guide the airflow in the cleaning device 252. The deflection barriers 256 are geometrically designed such that no larger droplets reach the viewing window 260.

[0120] Furthermore, the cleaning system 250 has a suction device 258 for suctioning foreign bodies, wherein the suction device 258 is arranged in the area of ​​the discharge edge 224 of the conveying device 221.

[0121] Furthermore, the cleaning system has 250 protective barriers 259, which are arranged in front of the cleaning device 252. This prevents foreign bodies from being removed directly from the P400138WO_202500910 V1.0 Page 25 | 33

[0122] Bulk material S is prevented from reaching the viewing window 260 and potentially damaging it, either by being misdirected or by being misdirected towards camera 234.

[0123] A method for detecting bulk material S in a sorting device 220, particularly raw or frozen foodstuffs, with at least one conveying device 221, comprises at least the following steps: the bulk material S is conveyed from a bulk material intake 223 in the conveying direction towards a discharge edge 224 of the conveying device 221, and the bulk material S conveyed on the conveying device 221 is monitored by the camera 234 of the detection system. The cleaning system 250 has a cleaning device 252 with which an airflow is generated, wherein the airflow is directed such that the airflow prevents foreign bodies, in particular aerosols, from reaching at least one viewing window 260, wherein the airflow is guided through the cleaning device 252 at an angle of 0° to 90° relative to the viewing window 260.

[0124] P400138WO_202500910 V1.0 Page 26 | 33

[0125] Reference symbol list

[0126] 20 sorting device

[0127] 21 Funding institution

[0128] 22 Direction of conveyance

[0129] 23 Bulk material intake

[0130] 24 Drop edge

[0131] 25 belt conveyors

[0132] 26 Conveyor belt

[0133] 27 convex trajectory

[0134] 27a straight conveyor belt

[0135] 30 Bulk material transfer device

[0136] 31 Recognition system

[0137] 32-camera system

[0138] 33 cameras

[0139] 34 Camera

[0140] 35 lens

[0141] 36 lines of sight out of 33

[0142] 37 Positioning unit

[0143] 38 field of vision

[0144] 39 Line of sight from 34

[0145] 40 sorting mechanism

[0146] 41 sorting units

[0147] 45 cleaning units

[0148] 46 Control unit

[0149] 47 Computing equipment

[0150] 48 viewing windows out of 45

[0151] 50 Lighting equipment

[0152] 52 lighting units

[0153] 120 sorting device

[0154] 133 cameras

[0155] 136 Line of sight from 133

[0156] 138 field of view

[0157] 220 sorting device

[0158] 221 Funding institution

[0159] 222 Direction of conveyance

[0160] 223 Bulk material intake

[0161] 224 Drop edge

[0162] 231 Recognition system

[0163] 233 cameras

[0164] 234 Camera

[0165] 235 Lighting unit 240 Sorting mechanism

[0166] 250 cleaning system

[0167] 251 cases

[0168] 252 Cleaning device 253 Airflow inlet

[0169] 254 Airflow outlet

[0170] 255 slots

[0171] 256 distraction barriers

[0172] 258 Extraction device 259 Protective barrier

[0173] 260 viewing windows

[0174] 270 Connection device

[0175] S Bulk material

[0176] SE focal plane BE image plane OE lens plane

[0177] SP intersection

Claims

1. P400138WO_202500910 V1.0 Page 28 | 33 Patent claims 1. Sorting device (20; 120; 220) for sorting bulk material (S), in particular foodstuffs, comprising at least one conveying device (21; 221) for conveying the bulk material in a conveying direction from a bulk material intake (23; 223) towards a discharge edge (24; 224) and at least one detection system (31; 231) for detecting the bulk material, wherein the detection system (31; 231) comprises several cameras (33, 34; 133; 233, 234) and at least one sorting mechanism (40; 240), characterized in that at least one camera (33; 133; 233) of the detection system (31; 231) is arranged spatially offset from the conveying device (21; 221) such that the image plane of the at least one camera (33; 133; 233) is tilted towards an object plane in the area of ​​the conveying device (21; 221), wherein at least one optic of the at least one camera (33; 133; 233) and / or the at least one camera (33; 133; 233) can be positioned in such a way as to satisfy the Scheimpflug conditions.

2. Sorting device according to claim 1, characterized in that a first positioning unit (45) is provided on which the at least one camera (33; 133; 233) can be adjusted to position relative to the at least one conveying device (21; 221).

3. Sorting device according to claim 1 or 2, characterized in that a further positioning unit is provided on which the at least one optic of the at least one camera (33; 133; 233) can be adjusted to position relative to the at least one conveying device (21 ; 221).

4. Sorting device according to one of the preceding claims, characterized in that the at least one camera (33; 133; 233) is positioned such that a line of sight in which the bulk material (S) is analyzed lies after the discharge edge (24; 224) of the conveying device (21; 221).

5. Sorting device according to one of the preceding claims, characterized in that the at least one camera (33; 133; 233) is positioned such that a line of sight in which the bulk material (s) is analyzed lies on the conveying device (21; 221).

6. Sorting device according to one of the preceding claims, characterized in that a Scheimpflug angle is between 1° and 3° and is adjustable to 0.1°.

7. Sorting device according to one of the preceding claims, characterized in that a computing device (47) is provided which is connected to the at least one camera (33; 133; 233). P400138WO_202500910 V1.0 Page 29 | 33 8. Sorting device according to claim 7, characterized in that the computing device (47) is designed to correct optical distortions in the image plane of at least one camera (33; 133; 233).

9. Sorting device according to claim 7 or 8, characterized in that a neural network is present which is connected to the computing device (47).

10. Sorting device according to one of claims 7 to 9, characterized in that the computing device (47) is configured to generate data in order to correctly position the at least one camera (33; 133; 233), and / or the at least one optic of the at least one camera (33; 133; 233), so that the Scheimpflug conditions can be met and thus a sharp image can be produced.

11. Sorting device according to one of the preceding claims, characterized in that the at least one camera (33; 133; 233) is arranged above the at least one conveyor device (21; 221).

12. Sorting device according to one of the preceding claims, characterized in that the at least one camera (33; 133; 233) is a line scan camera.

13. Sorting device according to one of the preceding claims, characterized in that the at least one camera (33; 133; 233) is an area scan camera, and preferably a color camera, a NIR camera or a UV camera.

14. Sorting device according to one of the preceding claims, characterized in that at least a second camera (33; 133; 233) is provided, which is spatially offset from the conveying device (21; 221) such that the image plane of the at least one further camera (33; 133; 233) is tilted relative to an object plane in the area of ​​the conveying device (21; 221), wherein at least one optic of the at least one further camera (33; 133; 233) and / or the at least one further camera (33; 133; 233) can be positioned in such a way as to satisfy the Scheimpflug conditions.

15. Sorting device according to claim 14, characterized in that the second camera (33; 133; 233) of the recognition system is arranged spatially offset from the conveyor device (21; 221) such that the image plane of the second camera (33; 133; 233) is tilted 20° to 65° to the object plane in the area of ​​the conveyor device (21; 221).

16. Sorting device according to one of the preceding claims, characterized in that a lighting device (50; 238) is provided which provides several P400138WO_202500910 V1.0 Page 30 | 33 has lighting units (52; 239) to illuminate at least one line of sight which is located in the area of ​​the conveying device (21; 221).

17. Sorting device according to claim 16, characterized in that one of the several lighting units (52; 239) is arranged in the area of ​​the at least one camera (33; 133; 233) in order to illuminate a viewing area tilted to the at least one line of sight.

18. Sorting device according to one of the preceding claims, characterized in that the at least one sorting mechanism (40; 240) is arranged in the conveying direction after the discharge edge (24; 224) of the at least one conveying device (21 ; 221).

19. Sorting device according to one of the preceding claims, characterized in that the sorting mechanism (40; 240) comprises at least one pneumatic sorting unit (41).

20. Sorting device according to one of the preceding claims, characterized in that at least one further camera (34; 234) is provided, which is arranged below the at least one conveying device (21; 221) and with which the bulk material in the area of ​​the discharge edge (24; 224) can be observed.

21. Sorting device according to claim 20, characterized in that the at least one further camera (34; 234) has a cleaning system (45).

22. Sorting device according to claim 21, characterized in that an airflow can be generated using the cleaning system (45), wherein the airflow can be directed in such a way that the airflow prevents foreign bodies, in particular aerosols, from reaching at least one viewing window, and in particular the at least one further camera (34; 234).

23. Method for detecting bulk material in a sorting device, in particular raw or frozen foodstuffs, with at least one conveying device (21; 221), wherein the bulk material is conveyed from a bulk material intake (23; 223) in the conveying direction towards a discharge edge (24; 224) of the at least one conveying device (21; 221), and the bulk material conveyed on the at least one conveying device (21; 221) is monitored with at least one camera (33; 133; 233) of the detection system (31; 231), characterized in that the at least one camera (33; 133; 233) is arranged spatially offset from the conveying device (21; 221) such that the image plane of the at least one camera (33; 133; 233) is tilted relative to an object plane on the conveying device (21; 221), and at least one optic which at least one camera (33; 133; 233) can be positioned in such a way that the Scheimpflug conditions are met and the promoted P400138WO_202500910 V1.0 Page 31 | 33 Bulk material is sorted using a sorting mechanism (40; 240) at least on the basis of the images of at least one camera (33; 133; 233).

24. Method according to claim 23, characterized in that the bulk material (S) is moved with the at least one conveying device (21 ; 221) at a conveying speed of at least 3 meters per second.

25. Method according to claim 23 or 24, characterized in that at least one optical distortion in the image produced with the at least one camera (33; 133; 233) is corrected by means of a computing device (47).

26. Sorting device (20; 120; 220) for sorting bulk material (S), in particular foodstuffs, comprises at least one conveying device (21; 221) for conveying the bulk material in a conveying direction (21; 221) from a bulk material intake (23; 223) towards a discharge edge (24; 224), at least one detection system (31; 231) for detecting the bulk material, wherein the detection system (31; 231) comprises at least one camera (33, 34; 133; 233, 234) and at least one sorting mechanism (40;240) and at least one cleaning system (250), characterized in that at least one cleaning system (250) has at least one cleaning device (252) which has at least one airflow inlet and at least one airflow outlet, such that an airflow can be generated through the at least one cleaning device (252), wherein the airflow is steerable in such a way that the airflow prevents foreign bodies, in particular aerosols, from reaching at least one viewing window (260) and / or the at least one camera (33, 34; 133; 233, 234), wherein the airflow can be directed through the at least one cleaning device (252) at an angle of 0° to 90° relative to the at least one viewing window (260) and / or relative to the at least one camera (33, 34; 133; 233, 234).

27. Sorting device according to claim 26, characterized in that the airflow in the at least one cleaning device (252) is steerable in such a way as to carry away foreign bodies which move in the direction of the viewing window and / or the at least one camera.

28. Sorting device according to claim 26 or 27, characterized in that a lighting device is provided which has at least one lighting unit, wherein the airflow is steerable such that the airflow prevents foreign bodies, in particular aerosols, from reaching at least one viewing window and / or the at least one lighting unit, wherein the airflow is directed at an angle of 0° to P400138WO_202500910 V1.0 Page 32 | 33 90° relative to at least one viewing window (260) and / or relative to at least one lighting unit through which at least one cleaning device (252) can be directed.

29. Sorting device according to one of claims 26 to 28, characterized in that the cleaning device (252) comprises at least one nozzle for directing the airflow and / or the cleaning device (252) comprises several deflection barriers for directing the airflow.

30. A method for detecting bulk material in a sorting device, in particular raw or frozen foodstuffs, with at least one conveying device (21; 221), comprises at least the following steps: the bulk material is conveyed from a bulk material intake in the conveying direction (21; 221) towards a discharge edge (24; 224) of the at least one conveying device (21; 221), and the bulk material conveyed on the at least one conveying device is monitored with at least one camera (33, 34; 133; 233, 234) of the detection system, characterized in that a cleaning system (250) is provided, wherein the cleaning system (250) has at least one cleaning device (252) with which an airflow is generated, wherein the airflow is directed in such a way that the airflow prevents foreign bodies, in particular aerosols, from entering at least one viewing window (260) and / or the at least one camera (33, 34; 133;233, 234) to achieve the airflow being directed through the at least one cleaning device (252) at an angle of 0° to 90° relative to the at least one viewing window (260) and / or the at least one camera (33, 34; 133; 233, 234).

31. Cleaning adapter for a cleaning system (250) of a sorting device for cleaning a viewing window (260) and / or a camera (33, 34; 133; 233, 234) comprising an airflow inlet (253) and an airflow outlet (254) such that an airflow can be generated through the cleaning adapter, wherein a connecting device (270), in particular a quick-release fastener, is provided for detachably arranging the cleaning adapter on a cleaning system (250) of a sorting device.

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