WO2017042760A1 - System for grain sorting - Google Patents
System for grain sorting Download PDFInfo
- Publication number
- WO2017042760A1 WO2017042760A1 PCT/IB2016/055818 IB2016055818W WO2017042760A1 WO 2017042760 A1 WO2017042760 A1 WO 2017042760A1 IB 2016055818 W IB2016055818 W IB 2016055818W WO 2017042760 A1 WO2017042760 A1 WO 2017042760A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- conveyor belt
- grain
- grains
- sorting
- linked
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
Definitions
- the present invention refers to a system for grain sorting comprising a mobile robotic structure capable of performing processes for detecting, selecting and sorting grains which are in a conveyor belt. Particularly, this system is designed for sorting hulled coffee beans. BACKGROUND OF THE INVENTION
- these delta robots comprise three arms linked to a universal articulation at the base of the delta robot.
- a camera and a microprocessor with a pattern recognition algorithm can be usually found in this base.
- this delta robot may be applied for selecting several products or food being contained in containers.
- This process is considered important for the industries dedicated to coffee processing, especially for gourmet coffee.
- the staff works a certain number of hours and fatigue and tiredness may impair grain sorting.
- the grain being sorted at this point is auctioned and sold to the gourmet enterprises.
- the present invention describes a system for grain sorting which comprises a mobile robotic structure capable of performing processes for detecting, selecting and sorting grains which are in a conveyor belt.
- the mobile robotic structure comprises: an image capturing device which totally covers the conveyor belt width in order to take images of the grains being conveyed by the conveyor belt, an actuation device comprising a suction mechanism capable of capturing grains, a guiding device linked to the actuator for providing it with movement, which only moves over a plane, parallel to the conveyor belt, in a horizontal axis and a vertical axis, and an electronic control device, linked to the visualizing device, actuation device and the guiding device.
- the electronic control device comprises: a comparing unit for differentiating, from the images taken by the image capturing device, the shape, size and colour of each grain, and compare it with a range of standard programmable values, and a control unit for control of the guiding device, such that when the shape, size or colour of one of the grains is different to the range of standard programmable values, the guiding device is positioned over the selected grain and by means of the suction mechanism captures the selected grain so as to remove it from the conveyor belt.
- the mobile robotic structure comprises a locomotion device which in turn comprises two sets of wheels, each one located along the sides of the mobile robotic structure so as to provide it with linear movement over the conveyor belt.
- the locomotion device comprises a motor in each one of the sets of wheels being linked to the electronic control device, which by means of the control unit is capable of modifying the position thereof along the conveyor belt.
- the guiding device is linked to a first guide that moves in a first horizontal axis by means of a first motor, and to a second guide that moves in the vertical axis by means of a second motor.
- these motors are electric step motors and/or servomechanisms, which, together with computer tools comprised in the control unit, achieve an optimum and efficient positioning of the actuator over the selected grain.
- a piston moves downwards having a pneumatic suction cup, which is included in the suction mechanism, and is in charge of holding the grain so as to take it to and deposit it into a receptacle. This is repeated indefinitely until the conveyor belt is free of grains the characteristics of which (shape, colour, size) are different to the range of standard programmable values.
- This system acts fast keeping standards during the period of time the grain sorting takes.
- the quality of the grain is related to the size, shape and colour thereof; these are decisive factors in the worldwide market when buying grains, which makes a given buyer pay a high price for the high quality of the product; if the grain quality is considered a very good one the price can be risen involving higher income, profit and competitiveness.
- This invention seeks to contribute with the good standards for grain quality, guaranteeing quality standards being higher than the current ones, in a cheaper and faster manner.
- Figure 1 It shows a schematic top view of the mobile robotic structure located over a grain conveying belt.
- Figure 2. It shows a schematic front view of the mobile robotic structure.
- Figure 3 It shows a side schematic view of the mobile robotic structure.
- the grain sorting system comprises a mobile robotic structure, as a rectangular frame (5), which by means of an actuation device (1) is capable of performing processes for detecting, selecting and sorting grains, particularly hulled coffee beans, which are on a conveyor belt (8).
- the rectangular frame (5) is provided, in the upper part thereof, with a guiding device comprising a first guide (7) in the horizontal axis which is overlapping a second guide (11) in the vertical axis, being both guides (7, 1 1) linked to the actuation device (1), and respectively with a first and second motor (3a, 3b).
- a guiding device comprising a first guide (7) in the horizontal axis which is overlapping a second guide (11) in the vertical axis, being both guides (7, 1 1) linked to the actuation device (1), and respectively with a first and second motor (3a, 3b).
- this rectangular frame (5) comprises a locomotion device which in turn comprises two sets of wheels (10a, 10b) each one located along the sides of the rectangular frame (5) for providing it with a linear movement over the conveyor belt (8).
- This rectangular frame (5) also comprises an image capturing device made up of four video cameras (6a, 6b, 6c, 6d) which capture images of the coffee beans over the conveyor belt (8) from four different angles.
- each of these four video cameras (6a, 6b, 6c, 6d) is installed in an inner corner of the rectangular frame (5) and is focused towards the centre thereof for capturing images of the coffee beans being conveyed by the conveyor belt (8).
- the actuation device (1) comprises a preferred suction mechanism comprising a pneumatic suction cup (2) powered by a flexible tube (4) connected to a pneumatic compressor, not shown. By means of said pneumatic suction cup (2) system, sorting of the selected coffee bean (9) is performed.
- figure 2 shows a general front view of the rectangular frame (5) over the coffee beans conveying belt (8). It shows the guiding device consisting of the guides (7, 11) which provide the actuator (1) with linear movement in the horizontal and vertical axes, so as to position it over the selected coffee bean (9), the video cameras (6a, 6d) capture the images of the coffee beans on the conveyor belt (8), the two sets of wheels (10a, 10b) for linear movement of the rectangular frame (5) over the conveyor belt (8).
- Figure 3 shows a general side view of the rectangular frame (5) over the coffee beans conveying belt (8). More particularly, it shows the actuator (1) having a pneumatic suction cup system (2), the motor (3b) for vertical movement, the guides (7, 1 1) for linear movement of the actuator (1), the flexible tube (4) for grain suction, the rectangular frame (5) provided with the guiding device, the video cameras (6a, 6b), the set of wheels (10a) for linear movement of the rectangular frame (5) over the conveyor belt (8), as well as the part of the receptacle system (12a) having three inlets for the selected coffee beans (9).
- this system comprises an electronic control device, not shown, linked to the image capturing device, the actuation device and the guiding device, wherein the electronic control device in turn comprises: a comparing unit for differentiating, from the images taken by the video cameras (6a, 6b, 6c, 6d), the shape, size and colour of each coffee bean with respect to a range of standard programmable values, and a control unit for control of the actuator (1) position by means of the guides (7, 11), such that when the shape, size or colour of one of the coffee beans is different to the range of standard programmable values, the actuator (1) is positioned over the selected coffee bean (9), and by means of the pneumatic suction cup (2) system the selected coffee bean (9) is captured and removed from the conveyor belt (8), and it is placed in one of the assemblies of receptacles (12a, 12b).
- the electronic control device in turn comprises: a comparing unit for differentiating, from the images taken by the video cameras (6a, 6b, 6c, 6d), the shape, size and colour of each coffee
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Sorting Of Articles (AREA)
Abstract
The present invention refers to a grain sorting system comprising a mobile robotic structure capable of performing the processes for detecting, selecting and sorting grains which are on a conveyor belt. In particular, this system is designed for sorting hulled coffee beans. More particularly, this system comprises four video cameras which capture images of the conveyor belt having grains thereon. These video images are sent to a control unit which processes them and obtains information about the grain colour, size and shape. Thus, when the grain does not meet the quality standards based on the colour, size and shape thereof, it is selected and removed from the conveyor belt, leaving only those grains that meet said standards.
Description
SYSTEM FOR GRAIN SORTING
FIELD OF THE INVENTION The present invention refers to a system for grain sorting comprising a mobile robotic structure capable of performing processes for detecting, selecting and sorting grains which are in a conveyor belt. Particularly, this system is designed for sorting hulled coffee beans. BACKGROUND OF THE INVENTION
In the food industry there are several food and drinks multi-pick systems, using robotic arms which take multiple products at the same time, using final control actuators featuring multiple gripping systems, storing and organizing products in containers, piling up products, being based on parallel robots of the delta type, or on planar robots of the SCARA type, the grip of which is by suction.
Habitually, these delta robots comprise three arms linked to a universal articulation at the base of the delta robot. A camera and a microprocessor with a pattern recognition algorithm can be usually found in this base. Thus, this delta robot may be applied for selecting several products or food being contained in containers.
Likewise, it is known a system for sorting food using a robotic arm which acts along a conveying system, wherein the robot incorporates in the final actuator a selector which allows sorting the food.
On the other hand, several methods are known being capable of sorting rice grains wherein the grains are photographed and inspected by an electric coupling device. The characteristic parameters of the rice grains being photographed are compared with a stored data base and it is decided which rice grain is sorted, according to the colour, degree of ripeness or degree of anomaly thereof.
In spite of this, systems for hulled coffee beans sorting are currently used being based on a conveyor belt wherein an N amount of people are placed at both sides of the belt
so as to manually remove the grain which, due to imperfections in size, colour and/or shape, are considered defective.
This process is considered important for the industries dedicated to coffee processing, especially for gourmet coffee. Here, the staff works a certain number of hours and fatigue and tiredness may impair grain sorting. The grain being sorted at this point is auctioned and sold to the gourmet enterprises.
DESCRIPTION OF THE INVENTION The present invention describes a system for grain sorting which comprises a mobile robotic structure capable of performing processes for detecting, selecting and sorting grains which are in a conveyor belt.
More particularly the mobile robotic structure comprises: an image capturing device which totally covers the conveyor belt width in order to take images of the grains being conveyed by the conveyor belt, an actuation device comprising a suction mechanism capable of capturing grains, a guiding device linked to the actuator for providing it with movement, which only moves over a plane, parallel to the conveyor belt, in a horizontal axis and a vertical axis, and an electronic control device, linked to the visualizing device, actuation device and the guiding device.
Additionally, the electronic control device comprises: a comparing unit for differentiating, from the images taken by the image capturing device, the shape, size and colour of each grain, and compare it with a range of standard programmable values, and a control unit for control of the guiding device, such that when the shape, size or colour of one of the grains is different to the range of standard programmable values, the guiding device is positioned over the selected grain and by means of the suction mechanism captures the selected grain so as to remove it from the conveyor belt. Preferably, the mobile robotic structure comprises a locomotion device which in turn comprises two sets of wheels, each one located along the sides of the mobile robotic structure so as to provide it with linear movement over the conveyor belt.
Preferably, the locomotion device comprises a motor in each one of the sets of wheels being linked to the electronic control device, which by means of the control unit is capable of modifying the position thereof along the conveyor belt. Preferably, the guiding device is linked to a first guide that moves in a first horizontal axis by means of a first motor, and to a second guide that moves in the vertical axis by means of a second motor.
It should be notices that, preferably, these motors are electric step motors and/or servomechanisms, which, together with computer tools comprised in the control unit, achieve an optimum and efficient positioning of the actuator over the selected grain.
Thus, when the actuator is positioned over the selected grain, a piston moves downwards having a pneumatic suction cup, which is included in the suction mechanism, and is in charge of holding the grain so as to take it to and deposit it into a receptacle. This is repeated indefinitely until the conveyor belt is free of grains the characteristics of which (shape, colour, size) are different to the range of standard programmable values. This system acts fast keeping standards during the period of time the grain sorting takes. The quality of the grain is related to the size, shape and colour thereof; these are decisive factors in the worldwide market when buying grains, which makes a given buyer pay a high price for the high quality of the product; if the grain quality is considered a very good one the price can be risen involving higher income, profit and competitiveness. This invention seeks to contribute with the good standards for grain quality, guaranteeing quality standards being higher than the current ones, in a cheaper and faster manner.
DESCRIPTION OF THE FIGURES
To implement the present description being made and in order to provide a better understanding of the characteristics of the invention, according to a preferred practical embodiment thereof, a set of drawings is attached as part of this description, with an illustrative but not limitative purpose, which represents the following:
Figure 1. It shows a schematic top view of the mobile robotic structure located over a grain conveying belt. Figure 2. It shows a schematic front view of the mobile robotic structure.
Figure 3. It shows a side schematic view of the mobile robotic structure.
DETAILED DESCRIPTION OF THE INVENTION
In a preferred embodiment of the invention, as it is shown in figure 1 , the grain sorting system comprises a mobile robotic structure, as a rectangular frame (5), which by means of an actuation device (1) is capable of performing processes for detecting, selecting and sorting grains, particularly hulled coffee beans, which are on a conveyor belt (8).
More particularly, the rectangular frame (5) is provided, in the upper part thereof, with a guiding device comprising a first guide (7) in the horizontal axis which is overlapping a second guide (11) in the vertical axis, being both guides (7, 1 1) linked to the actuation device (1), and respectively with a first and second motor (3a, 3b). Thus, upon sliding the motors (3a, 3b), the position of the actuation device (1) is modified.
Additionally, this rectangular frame (5) comprises a locomotion device which in turn comprises two sets of wheels (10a, 10b) each one located along the sides of the rectangular frame (5) for providing it with a linear movement over the conveyor belt (8).
This rectangular frame (5) also comprises an image capturing device made up of four video cameras (6a, 6b, 6c, 6d) which capture images of the coffee beans over the conveyor belt (8) from four different angles. Preferably, each of these four video cameras (6a, 6b, 6c, 6d) is installed in an inner corner of the rectangular frame (5) and is focused towards the centre thereof for capturing images of the coffee beans being conveyed by the conveyor belt (8).
Finally, the actuation device (1) comprises a preferred suction mechanism comprising a pneumatic suction cup (2) powered by a flexible tube (4) connected to a pneumatic compressor, not shown. By means of said pneumatic suction cup (2) system, sorting of the selected coffee bean (9) is performed.
Additionally, there are two assemblies of receptacles (12a, 12b) having three inlets each, being used for depositing the selected grains (9) by means of the actuator (1).
On the other hand, figure 2 shows a general front view of the rectangular frame (5) over the coffee beans conveying belt (8). It shows the guiding device consisting of the guides (7, 11) which provide the actuator (1) with linear movement in the horizontal and vertical axes, so as to position it over the selected coffee bean (9), the video cameras (6a, 6d) capture the images of the coffee beans on the conveyor belt (8), the two sets of wheels (10a, 10b) for linear movement of the rectangular frame (5) over the conveyor belt (8).
Figure 3 shows a general side view of the rectangular frame (5) over the coffee beans conveying belt (8). More particularly, it shows the actuator (1) having a pneumatic suction cup system (2), the motor (3b) for vertical movement, the guides (7, 1 1) for linear movement of the actuator (1), the flexible tube (4) for grain suction, the rectangular frame (5) provided with the guiding device, the video cameras (6a, 6b), the set of wheels (10a) for linear movement of the rectangular frame (5) over the conveyor belt (8), as well as the part of the receptacle system (12a) having three inlets for the selected coffee beans (9). Finally, this system comprises an electronic control device, not shown, linked to the image capturing device, the actuation device and the guiding device, wherein the electronic control device in turn comprises: a comparing unit for differentiating, from the images taken by the video cameras (6a, 6b, 6c, 6d), the shape, size and colour of each coffee bean with respect to a range of standard programmable values, and a control unit for control of the actuator (1) position by means of the guides (7, 11), such that when the shape, size or colour of one of the coffee beans is different to the range of standard programmable values, the actuator (1) is positioned over the selected coffee bean (9), and by means of the pneumatic suction cup (2) system the selected coffee
bean (9) is captured and removed from the conveyor belt (8), and it is placed in one of the assemblies of receptacles (12a, 12b).
Claims
1. System for grain sorting that comprises a mobile robotic structure capable of performing processes for detecting, selecting and sorting grains which are on a conveyor belt, wherein said mobile robotic structure comprises:
• an image capturing device totally covering the width of the conveyor belt in order to take images of the grains being conveyed by the conveyor belt,
• an actuation device comprising a suction mechanism capable of capturing selected grains,
• a guiding device linked to the actuator for providing it with planar movement, parallel to the conveyor belt, a horizontal axis and a vertical axis, and
• an electronic control device, linked to the image capturing device, the actuation device and the guiding device, wherein the electronic control device in turn comprises:
o a comparing unit for differentiating, from the images taken by the image capturing device, the shape, size and colour of each grain with respect to a range of standard programmable values, and
o a control unit for control of the guiding device, such that when the shape, size or colour of one of the grains is different to the range of standard programmable values, the guiding device is positioned over the selected grain and by means of the suction mechanism captures the selected grain and removes it from the conveyor belt.
2. System according to claim 1 , wherein the mobile robotic structure comprises a locomotion device which in turn comprises two sets of wheels, each located along the sides of the mobile robotic structure for providing it with linear movement over the conveyor belt.
3. System according to claim 2, wherein the locomotion device comprises a motor in each of the sets of wheels which are linked to the electronic control device, which by means of the control unit is capable of modifying the position thereof along the conveyor belt.
4. System according to claim 1 , wherein the guiding device is linked to a first guide which moves in the horizontal axis by means of a first motor, and a second guide which moves in the vertical axis by means of a second motor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PA9127301 | 2016-07-27 | ||
| PA91273 | 2016-07-27 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2017042760A1 true WO2017042760A1 (en) | 2017-03-16 |
Family
ID=62791427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/IB2016/055818 WO2017042760A1 (en) | 2016-07-27 | 2016-09-29 | System for grain sorting |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2017042760A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210048421A1 (en) * | 2019-08-15 | 2021-02-18 | Manoel Henrique Da Silva | Grain Separation Automation and Processing Equipment and Possible Materials of Identification, Classification and Quantification of the Same; Application of Process and Use of Equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5699724A (en) * | 1992-12-02 | 1997-12-23 | Buhler Ag | Cleaning and sorting bulk material |
| WO2009068792A2 (en) * | 2007-11-07 | 2009-06-04 | Veolia Proprete | Method and device for selectively sorting objects |
| US8882432B2 (en) * | 2010-03-24 | 2014-11-11 | Bastian Solutions, Llc | Robotic automated storage and retrieval system mixed pallet build system |
| WO2015153697A1 (en) * | 2014-03-31 | 2015-10-08 | Intelligrated Headquarters, Llc | Autonomous truck loader and unloader |
-
2016
- 2016-09-29 WO PCT/IB2016/055818 patent/WO2017042760A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5699724A (en) * | 1992-12-02 | 1997-12-23 | Buhler Ag | Cleaning and sorting bulk material |
| WO2009068792A2 (en) * | 2007-11-07 | 2009-06-04 | Veolia Proprete | Method and device for selectively sorting objects |
| US8882432B2 (en) * | 2010-03-24 | 2014-11-11 | Bastian Solutions, Llc | Robotic automated storage and retrieval system mixed pallet build system |
| WO2015153697A1 (en) * | 2014-03-31 | 2015-10-08 | Intelligrated Headquarters, Llc | Autonomous truck loader and unloader |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20210048421A1 (en) * | 2019-08-15 | 2021-02-18 | Manoel Henrique Da Silva | Grain Separation Automation and Processing Equipment and Possible Materials of Identification, Classification and Quantification of the Same; Application of Process and Use of Equipment |
| US11650189B2 (en) | 2019-08-15 | 2023-05-16 | Manoel Henrique Da Silva | Grain separation automation and processing equipment and possible materials of identification, classification and quantification of the same; application of process and use of equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| TWI787529B (en) | Robotic system for picking, sorting, and placing a plurality of random and novel objects | |
| US10124489B2 (en) | Locating, separating, and picking boxes with a sensor-guided robot | |
| CN109955222B (en) | Article transfer device, robot system, and article transfer method | |
| US9789517B2 (en) | Selective sorting method | |
| US9682406B2 (en) | Selective sorting method | |
| US20140277694A1 (en) | Robot system and method for producing to-be-processed material | |
| KR20220165262A (en) | Pick and Place Robot System | |
| US20190344974A1 (en) | Method and system for manipulating articles | |
| RU2719134C1 (en) | Method and device for orientation of fruit with recess, in particular for packing purposes thereof | |
| US20200223064A1 (en) | System and method for adaptive bin picking for manufacturing | |
| JP5403120B2 (en) | Handling method | |
| KR102027040B1 (en) | Object auto arrangement system using image processing algorithm | |
| BE1019786A3 (en) | METHOD FOR MANIPULATING A SERIES OF IDENTICAL WORKS IN FOLLOWING THROUGH A ROBOT, AS WELL AS AN APPARATUS AND A GRIPER THEREOF. | |
| JP7201313B2 (en) | Food transfer system and food gripping device | |
| US20210318251A1 (en) | Auto focus function for vision inspection system | |
| WO2017042760A1 (en) | System for grain sorting | |
| Ibarguren et al. | Particle filtering for industrial 6DOF visual servoing | |
| CN110823925A (en) | Automatic production line and production method of OLED/LCD display screen | |
| JP2019501033A (en) | Method and equipment for composing batches of parts from parts placed in different storage areas | |
| JP5423361B2 (en) | Handling system and parts supply system | |
| CN116175542B (en) | Method, device, electronic equipment and storage medium for determining clamp grabbing sequence | |
| JP6958663B2 (en) | Dismantled object sorting device | |
| KR102027039B1 (en) | Object auto arrangement system using image processing algorithm | |
| EP3786743B1 (en) | Robot gripper for a transfer system for setting a piece in a required orientation | |
| US20230364787A1 (en) | Automated handling systems and methods |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16843802 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 16843802 Country of ref document: EP Kind code of ref document: A1 |