CN115815150A - High-speed sorting unit based on three-dimensional detection and spectral detection - Google Patents

Abstract

The invention discloses a high-speed sorting device based on three-dimensional detection and spectral detection, and relates to the technical field of sorting devices. The invention comprises a conveying device, a feeding device and a removing device which are respectively arranged at the head end and the tail end of the conveying device, and a digital image acquisition device arranged above the conveying device; the conveying device, the digital image acquisition device and the removing device are all connected with a central processing unit; the digital image acquisition device comprises an ultraviolet fluorescence detection module, a spectrum detection module and a three-dimensional detection module. When the device is used, materials are uniformly distributed on the conveying device, the digital image acquisition device is used for acquiring the reflection and scattering image information of the materials, simultaneously acquiring three-dimensional contour signals, ultraviolet fluorescence signals and visible light infrared signals of the materials, integrating the characteristic information according to the selected requirements, performing label classification on the materials through a multi-classification identification algorithm, and driving the rejecting module to separate the materials if the materials belong to the characteristic labels.

Description

A high-speed sorting device based on three-dimensional detection and spectral detection

technical field

The invention belongs to the technical field of sorting devices, in particular to a high-speed sorting device based on three-dimensional detection and spectrum detection.

Background technique

With the development of society, the population is exploding, and the recycling and recycling of resources has become extremely important. From waste to treasure, treasure to waste, continuous utilization, resource conservation, starting from reducing pollutant emissions, and implementing The purpose of scientific development, the construction of a green environment society has become of great significance.

According to the survey, only 14% of waste plastics are recycled, and the remaining 86% are discarded, buried, or incinerated. Of the part recycled and reused, only 2% is used for same-grade recycling. In the past, most plastic bottles and household garbage were sorted manually. In recent years, with the advancement of technology, high-speed online sorting devices have been introduced on the market, which improves the sorting efficiency and accuracy.

Traditional high-speed online sorting devices are generally based on visible light and infrared sorting technology, sorting through the color and infrared spectrum of the bottle, and its limitations are as follows: 1. The sorting accuracy is greatly affected by the transparency of the bottle, and the bottle is easy to blend into the background , was misjudged as the background 2, unable to sort materials with fluorescent characteristics 3, unable to distinguish materials with the same color and material as the background 4, unable to sort special-shaped materials with differences in height and shape. Therefore, existing common high-speed sorting devices have the problems of narrow sorting range and low precision.

Contents of the invention

The purpose of the present invention is to provide a high-speed sorting device based on three-dimensional detection and spectral detection. The purpose is to improve the applicability of the high-speed sorting device, expand the application range of resource recovery, and solve the problem of narrow selection range and low precision of ordinary high-speed sorting devices. The problem.

In order to solve the problems of the technologies described above, the present invention is achieved through the following technical solutions:

The present invention is a high-speed sorting device based on three-dimensional detection and spectral detection, which includes a digital image acquisition device arranged above the conveying device, and a rejecting device arranged at the end of the conveying device; the digital image collecting device includes an ultraviolet fluorescence detection module, The spectral detection module and the three-dimensional detection module also include a central processing unit connected with the conveying device, the digital image acquisition device and the rejecting device.

Further, it also includes a feeding device arranged at the head end of the conveying device.

Further, an arc-shaped slideway is also provided between the feeding device and the conveying device.

Further, the rejecting device is a high-pressure nozzle assembly.

Further, the ultraviolet fluorescence detection module includes an ultraviolet lamp and a fluorescent camera; the ultraviolet lamp is an ultraviolet LED or a mercury lamp with a spectrum of 200-410nm; the fluorescent camera is a line scan camera or an area scan camera.

Further, the fluorescent camera is facing the upper surface of the conveying belt of the conveying device, and the two ultraviolet lamps are symmetrically distributed on both sides of the fluorescent camera; and the angle between the light source of the ultraviolet fluorescent detection module and the normal line is 10°-45°.

Further, the three-dimensional detection module includes a line laser detection module and an area array structured light detection module.

Further, the line laser three-dimensional detection module includes a line laser and an area array camera, the area array camera is facing the upper surface of the conveying belt of the conveying device, and the angle between the line laser and the area array camera is 3-15°; The wavelength of the laser is 700-1000nm. The area array camera is a black and white CMOS camera. There is a filter in front of the area array camera. The filter is consistent with the spectrum of the line laser.

Further, the spectral detection module includes a visible light LED, an infrared light source, and a spectral camera, wherein the imaging spectral range of the spectral camera is 400-2500nm, the visible light LED is a white light LED, and the infrared light source has a spectrum of 900-2500nm.

Further, a light-shielding baffle is provided on the peripheral side of the optical path of the ultraviolet fluorescence detection module.

The present invention has the following beneficial effects:

1. When the present invention is used, the material is evenly distributed on the conveying device, and the reflection and scattering image information of the material is collected through the digital image acquisition device, and the three-dimensional contour signal, ultraviolet fluorescence signal, and visible light infrared signal of the material are obtained at the same time. Dimensional data images are processed for data fusion processing and analysis, which can distinguish the material from the background, and obtain the fluorescence characteristics, color characteristics, and material characteristics of the material. According to the selected requirements, the above characteristic information is integrated, and the multi-classification recognition algorithm can be used to classify the label of the material. If it belongs to the characteristic label, the elimination module will be driven to separate the material.

2. The high-speed belt of the conveying device in the present invention is a pattern of a plane profile or a specific periodic profile. For materials of the same color and material as the belt, the difference in color and infrared is very small, but the height information is significantly different. The 3D profile of the material is used to distinguish the material from the background of the belt, especially for materials similar to the belt.

Of course, any product implementing the present invention does not necessarily need to achieve all the above-mentioned advantages at the same time.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings that are required for the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. Those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative effort.

Fig. 1 is the control system figure of embodiment 1 of the present invention;

Fig. 2 is a schematic structural diagram of a high-speed sorting device in Embodiment 1 of the present invention;

Fig. 3 is a schematic structural diagram of a high-speed sorting device in Embodiment 2 of the present invention;

Fig. 4 is a schematic structural diagram of a high-speed sorting device in Embodiment 3 of the present invention;

Fig. 5 is a schematic structural diagram of a high-speed sorting device in Embodiment 4 of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Example 1,

As shown in Figure 1-2, a high-speed sorting device based on three-dimensional detection and spectral detection includes a conveying device 1, a feeding device 4 and a rejecting device 3 respectively arranged at the head and end of the conveying device 1, and 1 above the digital image acquisition device 2; and the conveying device 1, the digital image acquisition device 2 and the rejecting device 3 are all connected to a central processing unit 7; wherein the digital image acquisition device 2 includes an ultraviolet fluorescence detection module 2a, a spectrum detection module 2b, a three-dimensional The detection module 2c, the ultraviolet fluorescence detection module 2a, obtains the ultraviolet scattering and reflection fluorescence images of the material, the spectral detection module 2b, obtains the scattering and reflection spectrum data of the visible light to the infrared light of the material, and the three-dimensional detection module 2c obtains the three-dimensional profile image of the material; And the rejecting device 3 is a high-pressure nozzle assembly.

When in use, the detected object spreads the material evenly on the conveying device 1 through the feeding device 4, and the material passes through the digital image acquisition device 2 to obtain the fluorescent signal, three-dimensional contour signal, and visible light infrared signal of the material, and the central processing unit 7 pairs the data. For analysis, when the object to be removed passes through the high-pressure nozzle assembly, the high-pressure nozzle assembly sprays high-pressure gas to separate the material to be removed.

At the same time, an arc-shaped slideway 5 is also arranged between the feeding device 4 and the conveying device 1, through which the initial velocity of the material entering the conveying device 1 is increased, so that the material speed reaches the expected speed; through the conveying device 1 The high-speed conveying device is used to provide the material conveying medium, so that the material passes through the digital image acquisition device 2 at a uniform speed.

Example 2,

As shown in Figure 3, on the basis of Embodiment 1; wherein the ultraviolet fluorescence detection module 2a is arranged at the front end of the three-dimensional detection module 2c and the spectral detection module 2b; and the detection viewpoint of the three-dimensional detection module 2c and the spectral detection module 2b is at the same position; at the same time The detection positions of the ultraviolet fluorescence detection module 2a, the three-dimensional detection module 2c and the spectral detection module 2b are parallel, and the magnification ratios of the three are basically the same, and the horizontal and left-right positions are aligned.

The ultraviolet fluorescence detection module 2a includes an ultraviolet lamp and a fluorescent camera; the ultraviolet lamp is an ultraviolet LED with a spectrum of 365nm; the fluorescent camera is a line scan camera. The fluorescent camera is facing the upper surface of the conveying belt of the conveying device 1, two ultraviolet lamps are symmetrically distributed on both sides of the fluorescent camera, and the angle between the light source of the ultraviolet fluorescent detection module 2a and the normal line is 15°.

The three-dimensional detection module 2c includes a line laser detection module; the line laser three-dimensional detection module 2c includes a line laser and an area array camera, the area array camera is facing the upper surface of the conveyor belt of the conveying device 1, and the angle between the line laser and the area array camera is 8° ; The wavelength of the line laser is 850nm, the area array camera is a black and white CMOS camera, and there is a filter in front of the area array camera. The filter has the same spectrum as the line laser and is an 850nm bandpass filter.

The spectrum detection module 2b includes a visible light LED, an infrared light source, and a spectrum camera, wherein the imaging spectrum range of the spectrum camera is 400-2500nm, the visible light LED is a white light LED, the infrared light source is a halogen lamp, and its spectrum is 900-2500nm.

Figure 2 shows a structure of a visible-infrared multi-spectral camera, which uses a dichroic mirror or a half-mirror, and the visible light camera and the infrared camera are aligned horizontally, left-right, and in magnification.

Example 3

As shown in Figure 4, on the basis of Example 1, the ultraviolet fluorescent module, the three-dimensional detection module 2c and the spectral detection module 2b are sequentially arranged along the conveying direction of the conveying device 1, and the materials pass through the ultraviolet fluorescent module in turn under the action of the conveying device 1 during use. , the three-dimensional detection module 2c and the spectrum detection module 2b, and at the same time, the detection positions of the ultraviolet fluorescence detection module 2a, the three-dimensional detection module 2c and the spectrum detection module 2b are parallel, and the magnifications of the three are basically the same, and the horizontal and left and right positions are aligned.

The ultraviolet fluorescence detection module 2a includes an ultraviolet lamp and a fluorescent camera; the ultraviolet lamp is an ultraviolet LED with a spectrum of 365nm; the fluorescent camera is a line scan camera. The fluorescent camera is facing the upper surface of the conveying belt of the conveying device 1, two ultraviolet lamps are symmetrically distributed on both sides of the fluorescent camera, and the angle between the light source of the ultraviolet fluorescent detection module 2a and the normal line is 15°.

The three-dimensional detection module 2c includes a line laser detection module; the line laser three-dimensional detection module 2c includes a line laser and an area array camera, the area array camera is facing the upper surface of the conveyor belt of the conveying device 1, and the angle between the line laser and the area array camera is 8° ; The wavelength of the line laser is 850nm, the area array camera is a black and white CMOS camera, and there is a filter in front of the area array camera. The filter has the same spectrum as the line laser and is an 850nm bandpass filter.

Further, the spectral detection module 2b includes a visible light LED, an infrared light source, and a spectral camera, wherein the imaging spectral range of the spectral camera is 400-2500nm, the visible light LED is a white light LED, and the infrared light source is a halogen lamp with a spectrum of 900-2500nm.

Example 4,

As shown in Figure 5, on the basis of Example 1, the detection points of the ultraviolet fluorescence module, the three-dimensional detection module 2c and the spectral detection module 2b are located at the same position, the magnification ratios of the three sets of modules are basically the same, and the horizontal and left-right positions are aligned.

The ultraviolet fluorescence detection module 2a includes an ultraviolet lamp and a fluorescent camera; the ultraviolet lamp is an ultraviolet LED with a spectrum of 365nm; the fluorescent camera is a line scan camera. The fluorescent camera is facing the upper surface of the conveying belt of the conveying device 1, two ultraviolet lamps are symmetrically distributed on both sides of the fluorescent camera, and the angle between the light source of the ultraviolet fluorescent detection module 2a and the normal line is 15°.

The three-dimensional detection module 2c includes a line laser detection module; the line laser three-dimensional detection module 2c includes a line laser and an area array camera, the area array camera is facing the upper surface of the conveyor belt of the conveying device 1, and the angle between the line laser and the area array camera is 8° ; The wavelength of the line laser is 850nm, the area array camera is a black and white CMOS camera, and there is a filter in front of the area array camera. The filter has the same spectrum as the line laser and is an 850nm bandpass filter.

Further, the spectral detection module 2b includes a visible light LED, an infrared light source, and a spectral camera, wherein the imaging spectral range of the spectral camera is 400-2500nm, the visible light LED is a white light LED, and the infrared light source is a halogen lamp with a spectrum of 900-2500nm.

In addition, the spectral camera is a visible infrared multi-spectral camera, and the spectral camera and the fluorescence camera are both line scan cameras. The camera acquires ultraviolet fluorescence data and visible light data sequentially in the form of time-sharing exposure.

At the same time, the ultraviolet LED and the white LED flash alternately in turn, which are exposed synchronously with the visible line scan camera.

In the above-mentioned embodiments 1-4, the ultraviolet fluorescence signal is that after the material is irradiated by ultraviolet light, the electron absorption ability is excited, thereby emitting photon information, and the wavelength of ultraviolet light can also be selected as 254nm and 405nm; the visible light infrared signal, It is the visible light to near-infrared signal reflected and scattered by the material, with a wave band between 400-2500nm, preferably 400-1700nm, which can be used to distinguish color characteristics and material characteristics through color and infrared spectrum. The color characteristic band is between 400-700nm, and the material characteristic band is between 900-2500nm. According to the differences in the molecular vibration and rotational energy level transitions of different substances, the material characteristics can be distinguished.

At the same time, a light-shielding baffle 6 is provided around the optical path of the ultraviolet fluorescence detection module 2a to prevent external ambient light and the LED and halogen lamp of the spectrum detection module 2b from irradiating the ultraviolet detection viewpoint.

In the description of this specification, descriptions with reference to the terms "one embodiment", "example", "specific example" and the like mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment of the present invention. In an embodiment or example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are only to help illustrate the invention. The preferred embodiments are not exhaustive in all detail, nor are the inventions limited to specific embodiments described. Obviously, many modifications and variations can be made based on the contents of this specification. This description selects and specifically describes these embodiments in order to better explain the principle and practical application of the present invention, so that those skilled in the art can well understand and utilize the present invention. The invention is to be limited only by the claims, along with their full scope and equivalents.

Claims (10)

1. A high-speed sorting device based on three-dimensional detection and spectral detection, characterized in that: comprise a digital image acquisition device (2) arranged on the top of the conveying device (1), a rejecting device (2) arranged at the end of the conveying device (1) 3); The digital image acquisition device (2) includes an ultraviolet fluorescence detection module (2a), a spectrum detection module (2b), and a three-dimensional detection module (2c); It also includes a central processing unit (7) connected with the conveying device (1), the digital image acquisition device (2) and the rejecting device (3). 2. A high-speed sorting device based on three-dimensional detection and spectral detection according to claim 1, further comprising a feeding device (4) arranged at the head end of the conveying device (1). 3. A high-speed sorting device based on three-dimensional detection and spectral detection according to claim 1, characterized in that an arc-shaped slideway is also arranged between the feeding device (4) and the conveying device (1) (5). 4. A high-speed sorting device based on three-dimensional detection and spectral detection according to claim 1, characterized in that the rejecting device (3) is a high-pressure nozzle assembly. 5. a kind of high-speed sorting device based on three-dimensional detection and spectral detection according to any one of claims 1-4, is characterized in that, described ultraviolet fluorescence detection module (2a) comprises ultraviolet lamp, fluorescence camera; The ultraviolet lamp is selected from ultraviolet LED or mercury lamp, and its spectrum is 200-410nm; the fluorescent camera is a line scan camera or an area scan camera. 6. A kind of high-speed sorting device based on three-dimensional detection and spectral detection according to claim 5, characterized in that, the fluorescent camera is facing the upper surface of the conveying belt of the conveying device (1), and the two ultraviolet lamps Symmetrically distributed on both sides of the fluorescence camera. 7. A high-speed sorting device based on three-dimensional detection and spectral detection according to any one of claims 1-4, wherein the three-dimensional detection module (2c) includes a line laser detection module and an area array structured light detection module. 8. A kind of high-speed sorting device based on three-dimensional detection and spectrum detection according to claim 7, characterized in that, said line laser three-dimensional detection module (2c) includes a line laser and an area array camera, and said area array camera The upper surface of the conveying belt facing the conveying device (1), and the angle between the line laser and the area array camera is 3-15°; The wavelength of the line laser is 700-1000nm, and the area array camera is a black and white CMOS camera. There is a filter in front of the area array camera, and the filter is consistent with the spectrum of the line laser. 9. A kind of high-speed sorting device based on three-dimensional detection and spectral detection according to any one of claims 1-4, characterized in that, the spectral detection module (2b) includes a visible light LED, an infrared light source, a spectral camera, Wherein the imaging spectrum range of the spectrum camera is 400-2500nm, the visible light LED is a white light LED, and the spectrum of the infrared light source is 900-2500nm. 10. A high-speed sorting device based on three-dimensional detection and spectral detection according to claim 1, characterized in that a light-shielding baffle is provided on the peripheral side of the optical path of the ultraviolet fluorescence detection module (2a).

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