Abstract: A collaborative-manipulation robotic arm for kitchen waste and a working method thereof are provided. The robotic arm includes: a base, including a transverse first mounting seat and a second mounting seat connected to the first mounting seat and extending downward; a driving mechanism, disposed at an end of the first mounting seat away from the second mounting seat; a front guide claw, an upper end of the front guide claw being connected to the driving mechanism; a fixed blade, disposed on a side of the second mounting seat facing the front guide claw; and a retractable finger, disposed at a lower end on the side of the second mounting seat facing the front guide claw. The fixed blade, the retractable finger, and the second mounting seat form a rear cutting claw.

Abstract: In computer vision systems that need to decode machine-readable indicia from captured imagery, it is critical to select imaging parameters (e.g., exposure interval, exposure aperture, camera gain, intensity and duration of supplemental illumination) that best allow detection of subtle features from imagery. In illustrative embodiments, a Shannon entropy metric or a KL divergence metric is used to guide selection of an optimal set of imaging parameters. In accordance with other aspects of the technology, different strategies identify which spatial locations within captured imagery should be successively examined for machine readable indicia, in order to have a greatest likelihood of success, within a smallest interval of time. A great variety of other features and arrangements are also detailed.

Abstract: Feedback information is an important aspect in all machine learning systems. In robot systems that are picking objects from a plurality of objects this has been arranged by acquiring images of objects that have been picked. When images are acquired after picking they can be imaged accurately and the information about picking and also dropping success can be improved by using acquired images as a feedback in the machine learning arrangement being used for controlling the picking and dropping of objects.

Abstract: A system for processing fruit or vegetable products of the type of blueberries and the like, includes a first unit, in its turn having in series at least one loading station, at least one pre-sizing station, at least one pre-selection station and at least one first alignment station. The system further includes a second unit, in its turn having in series at least one second alignment station, at least one optical sizing station and at least one distribution station. Each of the first unit and the second unit has dimensions and space occupation compatible with its accommodation and transport in a single container.

Abstract: Multiple shafts are aligned along a frame and configured to rotate in a direction causing paper products to move along a separation screen. The shafts are configured with a shape and spacing so that substantially rigid pieces of the paper products move along the screen while non-rigid pieces of the paper products slide down between adjacent shafts. In one embodiment, the screen includes at least one vacuum shaft that has a first set of air input holes configured to suck air and retain the non-rigid paper products. A second set of air output holes are configured to blow out air to dislodge the paper products retained by the input holes.

Abstract: According to one embodiment, a limpness detecting device includes a transmitting unit to irradiate an acoustic wave towards a conveyed sheet to excite a Lamb wave, a first receiving unit to detect a leaky wave of the Lamb wave emitted from a front surface of the sheet, a second receiving unit to detect a leaky wave of the Lamb wave emitted from a back surface of the sheet, a comparison data calculating unit to calculate comparison data based on the signal detected by the first receiving unit and the signal detected by the second receiving unit, and an intactness judgment unit to compare the comparison data calculated by the comparison data calculating unit with a preset standard value and judge whether the sheet is an intact bill or not, based on a result of the comparison.

Abstract: An apparatus for separating particles from a medium includes a capillary defining a flow path therein that is in fluid communication with a medium source. The medium source includes engineered acoustic contrast capture particle having a predetermined acoustic contrast. The apparatus includes a vibration generator that is operable to produce at least one acoustic field within the flow path. The acoustic field produces a force potential minima for positive acoustic contrast particles and a force potential minima for negative acoustic contrast particles in the flow path and drives the engineered acoustic contrast capture particles to either the force potential minima for positive acoustic contrast particles or the force potential minima for negative acoustic contrast particles.

Abstract: Multiple shafts are aligned along a frame and configured to rotate in a direction causing paper products to move along a separation screen. The shafts are configured with a shape and spacing so that substantially rigid pieces of the paper products move along the screen while non-rigid pieces of the paper products slide down between adjacent shafts. In one embodiment, the screen includes at least one vacuum shaft that has a first set of air input holes configured to suck air and retain the non-rigid paper products. A second set of air output holes are configured to blow out air to dislodge the paper products retained by the input holes.

Abstract: Multiple shafts are aligned along a frame and configured to rotate in a direction causing paper products to move along a separation screen. The shafts are configured with a shape and spacing so that substantially rigid pieces of the paper products move along the screen while non-rigid pieces of the paper products slide down between adjacent shafts. In one embodiment, the screen includes at least one vacuum shaft that has a first set of air input holes configured to suck air and retain the non-rigid paper products. A second set of air output holes are configured to blow out air to dislodge the paper products retained by the input holes.

Abstract: Apparatus for separating agricultural produce from stones and clods including at least one generally cylindrical separation assembly arranged to be impinged upon by a mixture of agricultural produce and at least one of stones and clods, the at least one generally cylindrical separation assembly including a plurality of generally mutually contiguous curved impact portions and a mounting assembly supporting the plurality of generally mutually contiguous curved impact portions, the mounting assembly including a metal principal support and at least one intermediate metal support element fixed to the metal principal support and to at least some of the plurality of generally mutually contiguous curved impact portions, the at least one intermediate metal support element having a resiliency greater than a resiliency of the metal principal support.

Abstract: Multiple shafts are aligned along a frame and configured to rotate in a direction causing paper products to move along a separation screen. The shafts are configured with a shape and spacing so that substantially rigid pieces of the paper products move along the screen while non-rigid pieces of the paper products slide down between adjacent shafts. In one embodiment, the screen includes at least one vacuum shaft that has a first set of air input holes configured to suck air and retain the non-rigid paper products. A second set of air output holes are configured to blow out air to dislodge the paper products retained by the input holes.

Abstract: An apparatus for separating particles from a medium includes a capillary defining a flow path therein that is in fluid communication with a medium source. The medium source includes engineered acoustic contrast capture particle having a predetermined acoustic contrast. The apparatus includes a vibration generator that is operable to produce at least one acoustic field within the flow path. The acoustic field produces a force potential minima for positive acoustic contrast particles and a force potential minima for negative acoustic contrast particles in the flow path and drives the engineered acoustic contrast capture particles to either the force potential minima for positive acoustic contrast particles or the force potential minima for negative acoustic contrast particles.

Abstract: A device for the separation of waste materials in accordance with their densities is provided and includes a vat which is fillable with a fluid for the separation of detritus by means of floatation and decantation. Conveyer belts are provided for the removal of the supernatant and decanted materials. A vibrating sieve is provided for the pre-separation of debris prior to introduction into the vat. The vibrating sieve extracts large materials and small materials which tend to produce silt in the vat. Means are provided for the removal of the decanted sludge.

Abstract: An apparatus for inspecting sealed packages having volumetric dimensions includes a frame having an inlet and an outlet side, conveyor means for conveying packages along a path of transport from the inlet side through said frame towards said outlet side, and first inspection means disposed adjacent to said conveyor means and pivotally connected to said frame, such that upon being contacted by a package located on said conveyor means said first inspection means are pivoted around at least a first pivoting point. The first inspection means includes first counteracting means for applying a first load on said package urging said first inspection means against said package to be tested, and means for generating a first indication of the volumetric dimensions of said package.

Abstract: A launcher (17, 50, 60) and an associated process for compressible materials (42) includes a frame (22), at least one upper roller (1), at least one lower roller (2) located below the at least one upper roller (1) within the frame (22), a transport mechanism (9) for transporting feed material between the at least one upper roller (1) and the at least one lower roller (2) and a rotational mechanism that is operatively connected to the at least one upper roller (1) and the at least one lower roller (2).

Abstract: Measuring the limpness of a note is necessary to separate a worn note out of circulation. Several methods are disclosed which can be used either alone or in combination to test for limpness. One method measures the note's ability to reflect light or transmit the light. Another method measures the response of the note to an acoustic wave. Another method measures the note's deflection to a pressure or force. Yet another method measures the dielectric value of the note when placed between the plates of a capacitor. A final method involves measuring the thermal conductivity of the note. In each case, a limp note will produce distinguishable results from a stiff note.

Abstract: Measuring the limpness of a note is necessary to separate a worn note out of circulation. Several methods are disclosed which can be used either alone or in combination to test for limpness. One method measures the note's ability to reflect light or transmit the light. Another method measures the response of the note to an acoustic wave. Another method measures the note's deflection to a pressure or force. Yet another method measures the dielectric value of the note when placed between the plates of a capacitor. A final method involves measuring the thermal conductivity of the note. In each case, a limp note will produce distinguishable results from a stiff note.

Abstract: A material mixture is separated into components of different flowability using a perforated drum mounted in a housing and supported by a detachable mounted portion. The drum is partially wrapped by a presser belt with is pressed against the drum by an adjustable pressure roller. The housing is formed as a parallelepiped-shaped shaft with a dividing wall to separate the drive section from the service section. The presser belt is guided to form an angle of 20.degree. to 30.degree. with respect to the drum and the drum is driven to have a peripheral speed of two to six percent higher than that of the presser roller.

Abstract: The apparatus of the invention for discriminating mail in a paper envelope from mail in a plastics envelope makes use of a pneumatic technique. In particular, the apparatus comprises a pneumatic system suitable for deforming the envelope to be inspected by applying suction and for measuring variation in pressure associated with said deformation, whereby the inspected envelope is detected as being a paper envelope or as being a plastics envelope. This pneumatic detector may be associated with a detector operating by means of an optical effect for the purpose of controlling a labelling device in equipment for processing flat articles.

Abstract: An apparatus for separating mixed material of different flowability comprises a hollow drum driven to rotate and having a perforated outer drum surface, about a portion of which is wrapped an endless compression belt adapted to apply pressure onto the hollow drum. For stripping material which remains on the outer surface of the hollow drum after compression, a stripping blade is provided which is arranged to float essentially radially with respect to the drum.

Abstract: The invention relates to a separating apparatus for separating a mixture of materials of different flowability for preparing foodstuffs. The apparatus includes a hollow drum having a perforated circumferential surface around a portion of which is wrapped an endless presser belt forming a compression zone for the material to be processed. The belt is pressed against the drum by a presser roller having a hub body around which a tubular cylindrical body forms the roller surface. The cylindrical body is supported in its middle portion by spherical supporting element mounted on the hub body. Thus when the belt is subjected to non-uniform stresses due to the uneven consistency of fed material which in turn causes the deformation and unparallel rotation of the drum and the presser roller, the cylindrical body automatically adjusts its position on said spherical supporting element to restore parallel motion.

Abstract: The field of the invention is that of manufacturing non-destructive measurement equipment suitable for fitting to devices for handling and conveying objects on a continuous basis, e.g. for the purpose of monitoring the ripeness and/or the dimensions of fruit and vegetables. The invention provides apparatus for non-destructive measurement in real time of fragile objects moving continuously on a conveyor system of the type including object-receiving cells in which said objects are placed and conveyed one by one along a given directional plane. The apparatus includes at least one support arm hinged at one end and carrying a shoe at its other end, with the bottom surface of the shoe being cylindrical in shape having generator lines that are perpendicular to said plane. Each of said objects rolls beneath and against said surface with relative rotary motion, and at least one sensor performs a non-destructive measurement of a parameter of each of said objects.

Abstract: An apparatus having a pair of rollers disposed below an input hopper so that beverage bottles having caps thereon will be pulled between these rollers as they rotate in opposite directions, thereby compressing the bottles, and at the same time exploding the top off of the bottle. A screen is provided below the rollers for receiving the bottles and caps and the screen has openings therein larger than the caps and smaller than the bottles, whereby the caps will be collected below the screen and the bottles can pass on to a separate collection area.

Abstract: The invention relates to an apparatus (2) for assessing the stiffness of a sheet (4), such as a currency note, by measuring the extent and rate of movement of the trailing edge of the sheet (4) away from a feed path for the sheet. Such movement is part of a straightening movement of the sheet (4) upon disengagement of the trailing edge from constraining means (34) when a leading portion of the sheet (4) is in a bent condition.

Abstract: A trash bag for recyclable waste which will eliminate a second collection of recyclables and having color or another type of code thereon to permit the bag to be identified and separated from trash bags containing ordinary trash, and a system and method for collecting recyclable waste. The trash bag is designed to be placed in the normal trash collection stream along with bags of ordinary trash and to be delivered to an existing landfill or incinerator or to another separation location at which identification and separation of the bags from the bags of ordinary trash is accomplished. According to the invention, identification and separation of the bags of recyclable trash can be performed manually or in an automated manner at the landfill, incinerator, or other separation location.

Abstract: A sectioning method is described for accurately and objectively classifying individual wheat kernels as hard or soft wheat. A kernel is cut to obtain a section having a thickness in the range of about 1.3 to 4.8 microns; if the section remains intact, the kernel is classified as hard, and if the section does not remain intact, the kernel is classified as soft. The method finds particular use for detection of lots of wheat where hard and soft varieties have been intermixed and for classifying breeding selections.

Abstract: A separating apparatus employs a foraminous drum with a resilient belt forming a nip therebetween. A take-up roller upstream of the nip is rotatably supported about a center of rotation that is parallel to, but offset from a central axis of the take-up roller. As the wobbling roller rotates, it constantly changes the point on the circumference of the foraminous drum at which contact is made with the resilient belt. This overcomes a tendency for entering items to bridge the nip.

Abstract: A computer-controlled object testing and measuring apparatus having a plurality of stations including a control center for initiating, controlling and terminating each procedure at each station. The control center also controls transport and handling of the objects such as tennis balls, between and at the stations. The plurality of computer controlled test and measuring stations initially condition objects and then test and measure such objects in a controlled and timed manner in a selected sequence. Data is gathered, recorded, processed and stored.

Abstract: A Christmas tree shaker including a base with a horizontal turntable mounted rotatably thereon on a motor driven shaft. A tree trunk receiving receptacle is mounted on the turntable for limited relative rotation with respect thereto. The receptacle is offset from the turntable axis of rotation. A stabilizer link between the base and receptacle limits the amount of relative rotation between the receptacle and turntable as the motor driven shaft rotates the turntable causing the receptacle to travel rapidly in a tight circle.

Abstract: An electronic printer using edge-perforated continuous-form paper is adapted to print and sequentially stack cards that are initially carried by a paper carrier sheet corresponding to continuous-form paper. The printer includes paper tractor means above the printing means for feeding the paper upwardly past the printing means. A card separating attachment includes another paper driving device above the tractor means for drawing the paper carrier rearwardly over a separator bar. This separates the carrier paper from the cards, which are guided by guide means so that they fall face downwardly into a receptacle, thereby providing a stack of cards arranged in the order in which they were printed.

Abstract: A separating machine of a type having a foraminous drum with a resilient belt forming a nip therebetween includes a take-up, roller upstream of the nip, having an axis skewed with respect to an axis of the take-up roller. The wobbling motion of the take-up roller distorts the resilient belt sufficiently to overcome a tendency for entering items to bridge the nip.

Abstract: An impact separator has a V-shaped downwardly angled trough vibratorily mounted at its lower end and fixedly resiliently secured at its upper end which is fed at the upper portion with scallop and residual shell and a small amount of water while being vibratorily driven. The meat of the scallop descends downwardly and absorbs the impact of the vibrations while the shell portion is impacted by the walls of the V and eventually tumbles out over the top and descends to a trash tray positioned beneath the V-shaped trough. The scallop flesh travels the full length of the V-shaped trough to an exit hole for further processing including removal of the viscera. The trough is designed at its lower portion to permit a vibratory drive of between 0.100 inches and 0.300 inches. In one embodiment of the separator the vibrations are imparted orbitally.

Abstract: A device for sorting packagings such as cans having overall dimensions within a pre-determined range as regards length and diameter, comprising a first sorting stage, including a pivoted supporting member for carrying the packagings and a frame with an opening through which the supporting member is movable to the second stage. The second stage includes pressing members cooperating with the supporting member to effect axial compression of the packagings carried by the supporting member. The opening of the frame is of a size which limits the dimension in at least one direction of the packagings passing through the opening. The second stage is provided with a second opening through which compressed packagings pass whereby the second opening maximizes the axial length of the compressed packagings which pass through the second opening and are thereby sorted out.

Abstract: Apparatus for sorting packagings such as cans of a certain type of material from packagings of other types of materials comprising a support member transporting the packagings one by one to a compression station at which are disposed first and second pressing members arranged to move relative to each other to compress the packagings transported by the supporting member. The relative movement of the pressing members and transfer of the packagings when relative movement of the pressing chambers has ceased is controlled by a regulating mechanism such that when compressive forces of a magnitude within a predetermined range required for packagings of the type of material in question allow the pressing members to move towards each other to complete the pressing operations whereby the packagings are compressed to a size before transfer to a collecting device. In the case of compressive forces of a magnitude outside the predetermined range, the packagings are prevented from being transferred to the collecting device.

Abstract: Method and apparatus for detecting and intercepting an irregular product in a product flow are disclosed. The product flow is conveyed along a path from a first, product feed station past other product handling stations. Product flow is singulated and aligned at a guide station. The product then is delivered along a product flow axis and in a single file manner to an inspection station where the product, which may be processed, pitted fruit, is graded for firmness and where extraneous matter, such as fruit pits or portions of pits, is detected. Detection involves probing or otherwise impaling each individual product in the flow with a plurality of spaced, pin-like projections. An irregular product resists such probing and produces a pressure differential between the projections and the conveyor belt by which the irregular product is detected. After inspection, detected irregular products are discharged from the product flow.

Abstract: A system for culling broken packages wherein the packages are transported while maintained between support means and restraining means in the form of narrow conveyor belts in such a manner that broken packages will tip under the influence of gravity and be displaced from the support means while unbroken packages are prevented from doing so.

Abstract: A batch of raisins in which moldy raisins are mixed with sound ones is immersed in a hot water bath, causing the moldy raisins to assume a mushy and sticky texture while leaving the texture of the sound raisins substantially unaffected. The batch of raisins is then dropped onto a laterally inclined conveyor belt. The conveyor belt moves the raisins over a framework which is rapidly moved up and down to slap the underside of the belt, causing the raisins to bounce up and down on the continuously moving conveyor. The sound raisins, which have retained their firm texture, are bounced substantially higher than the moldy raisins, and thus, bounce down off the side of the conveyor as they move along the length of the conveyor. Because of their mushy texture, the moldy raisins do not bounce as high as the sound ones and therefore do not as readily bounce downward off the conveyor. Instead, they are carried along and off the end of the conveyor.

Abstract: Method and apparatus for sorting objects exhibiting identifiable dynamic response to vibrational phenomena, such objects including potatoes, onions, tomatoes and other comestibles. The system utilizes an elongate sorting zone incorporating a surface which oscillates at a predetermined frequency and amplitude which varies from a minimum at the input of the zone to a maximum value at the output thereof. The objects to be sorted move along the zone supported from two positions for a coding interval promoting their dynamic reaction with the oscillatory surface. Objects with higher resilience characteristic are rejected from the zone, while those exhibiting a lesser resilence are transported therethrough. The oscillatory surface is dynamically balanced and readily mounted upon field harvesting devices. By adjustment of frequency of the sorting zone oscillatory surfaces, a multi-stage sorting system is made available.

Abstract: Apparatus for discarding leaky packages from a row of filled sealed packages on a conveyor belt comprising means for exerting pressure on the packages while on the belt and means for removing packages from the belt which appear to be leaky when subjected to said pressure, wherein said means for exerting pressure comprises the conveyor belt and a member located above said belt that in cooperation exert pressure on a package on the belt, either one of said member or belt being movable with respect to the other and the smallest distance between said belt and said member being chosen so that only a tight package is clamped therebetween while a leaky package is not, and said means for removing the leaky packages comprises a nozzle that blows air agains the packages in the space between said belt and member, whereby unclamped leaky packages will be removed from the conveyor belt.

Abstract: Method, apparatus and system for sorting objects exhibiting identifiable dynamic response to vibrational phenomena, such objects including tomatoes and other comestibles. The system utilizes an elongate sorting zone incorporating a surface which oscillates at a predetermined frequency and amplitude which varies from a minimum at the input of the zone to a maximum value at the output thereof. Conveyor belts transport the objects to be sorted along the zone for a coding interval promoting their dynamic reaction with the oscillatory surface. Objects with higher resilience characteristic are rejected from the zone, while those exhibiting a lesser resilience are transported therethrough. The oscillatory surface is dynamically balanced and readily mounted upon field harvesting devices. By adjustment of frequency of the sorting zone oscillatory surfaces, a multi-stage sorting system is made available.

Abstract: Method, apparatus and system for sorting objects exhibiting identifiable dynamic response to vibrational phenomena, such objects including tomatoes and other comestibles. The system utilizes an elongate sorting zone incorporating a surface which oscillates at a predetermined frequency and amplitude which varies from a minimum at the input of the zone to a maximum value at the output thereof. Conveyor belts transport the objects to be sorted along the zone for a coding interval promoting their dynamic reaction with the oscillatory surface. Objects with higher resilience characteristic are rejected from the zone, while those exhibiting a lesser resilience are transported therethrough. The oscillatory surface is dynamically balanced and readily mounted upon field harvesting devices. By adjustment of frequency of the sorting zone oscillatory surfaces, a multistage sorting system is made available.

Abstract: Method and apparatus for sorting objects exhibiting identifiable dynamic response to vibrational phenomena, such objects including potatoes, onions, tomatoes and other comestibles. The system utilizes an elongate sorting zone incorporating a surface which oscillates at a predetermined frequency and amplitude which varies from a minimum at the input of the zone to a maximum value at the output thereof. The objects to be sorted move along the zone supported from two positions for a coding interval promoting their dynamic reaction with the oscillatory surface. Objects with higher resilience characteristic are rejected from the zone, while those exhibiting a lesser resilience are transported therethrough. The oscillatory surface is dynamically balanced and readily mounted upon field harvesting devices. .[.By adjustment of frequency of the sorting zone oscillatory surfaces, a multi-stage sorting system is made available..].

Abstract: A batch of raisins in which moldy raisins are mixed with sound ones is immersed in a hot water bath, causing the moldy raisins to assume a mushy and sticky texture while leaving the texture of the sound raisins substantially unaffected. The batch of raisins is then dropped onto a laterally inclined conveyor belt. The conveyor belt moves the raisins over a framework which is rapidly moved up and down to slap the underside of the belt, causing the raisins to bounce up and down on the continuously moving conveyor. The sound raisins, which have retained their firm texture, are bounced substantially higher than the moldy raisins, and thus, bounce down off the side of the conveyor as they move along the length of the conveyor. Because of their mushy texture, the moldy raisins do not bounce as high as the sound ones and therefore do not as readily bounce downward off the conveyor. Instead, they are carried along and off the end of the conveyor.