[0001] The present disclosure generally relates to separation systems and, particularly, relates to robotic separation systems. The present disclosure, more particularly, relates to a system for separating and removing lightweight impurities from an impure mixture.

BACKGROUND ART

[0002] Nowadays, robots may be used for different fields such as medical, military, rehabilitation, engineering and manufacturing, and agriculture. For example, in medical filed, robots with machine vision may be used for simple or sensitive and complicated surgeries., In rehabilitation filed, the robots may be used to assist disabled patients. In agricultural field, the robots may be used from planting and harvesting to packing. For example, agricultural products may be sorted using machine vision system, then using appropriate robots, poor agricultural products may be separated from desired ones.

[0003] In engineering filed, robots may be used in electronic engineering, mechanical engineering, mechatronic engineering, civil engineering, and etc. For example, in electronic field, there are robots having suction end effector to hold PCB board and place elements, so that assembly machines may mount electronic elements on PCB board surface. Many robots with end effector may be used to do special tasks.

[0004] In most systems with an end effector, the end effector with different size may be mounted on a special robot such as arm robots and finger robots, while having various applications such as holding tools or materials like PCB board or agriculture products, or moving light and heavy items. However, there is still a need for a system that is able to separate and remove lightweight impurities from an impure mixture. This impure mixture may be an amount of articles such as precious stones, saffron or organic drugs.

SUMMARY OF THE DISCLOSURE

[0005] This summary is intended to provide an overview of the subject matter of the present disclosure, and is not intended to identify essential elements or key elements of the subject matter, nor is it intended to be used to determine the scope of the claimed implementations. The proper scope of the present disclosure may be ascertained from the claims set forth below in view of the detailed description below and the drawings.

[0006] In one general aspect, the present disclosure describes a system for separating and removing lightweight impurities from an impure mixture. In an exemplary embodiment, the disclosed system may include a chassis, a Cartesian robot, a belt conveyor system, and a pickup mechanism. In an exemplary embodiment, the Cartesian robot may be mounted on the chassis. In an exemplary embodiment, the belt conveyor system may be mounted on the chassis. In an exemplary embodiment, the belt conveyor system may include a conveyor belt. In an exemplary embodiment, the conveyer belt may be configured to receive an amount of the impure mixture onto a top surface of the conveyor belt.

[0007] In an exemplary embodiment, the pick-up mechanism may be configured to lift and remove a lightweight impurity from the amount of the impure mixture. In an exemplary embodiment, the pick-up mechanism may include a lifting mechanism, and a discharge mechanism. In an exemplary embodiment, the lifting mechanism may be mounted onto the Cartesian robot. In an exemplary embodiment, the Cartesian robot may be configured to move the lifting mechanism along a first axis and a second axis. In an exemplary embodiment, the first axis may be perpendicular to the second axis. [0008] In an exemplary embodiment, the lifting mechanism may include a suction mechanism and a pneumatic system. In an exemplary embodiment, the suction mechanism may be placed to a bottom end of the lifting mechanism. In an exemplary embodiment, the suction mechanism may be configured to attract the lightweight impurity from the amount of the impure mixture. [0009] In an exemplary embodiment, the suction mechanism may include a first hollow tube, a second hollow tube, a first washer, a second washer, a spring and an interface pipe. In an exemplary embodiment, the second hollow tube may be disposed slidably inside a bottom end of the first hollow tube. In an exemplary embodiment, the first washer may be disposed inside the first hollow tube and around the second hollow tube. In an exemplary embodiment, the first washer may be attached fixedly to an inner surface of the first hollow tube. In an exemplary embodiment, the second hollow tube may be disposed slidably inside the first washer.

[0010] In an exemplary embodiment, the second washer may be attached fixedly to a bottom end of the second hollow tube. In an exemplary embodiment, the spring may be disposed between the first washer and the second washer. In an exemplary embodiment, a top end of the spring may be attached to the first washer. In an exemplary embodiment, a bottom end of the spring may be attached to the second washer.

[0011] In an exemplary embodiment, the interface pipe may be attached to a top end of the first hollow tube. In an exemplary embodiment, the interface pipe may be connected to a first vacuum pump. In an exemplary embodiment, the first hollow tube may be in fluid communication with the first vacuum pump through the interface pipe. In an exemplary embodiment, the second hollow tube may be in fluid communication with the first hollow tube.

In an exemplary embodiment, the first vacuum pump may be configured to provide suction at the bottom end of the second hollow tube. [0012] In an exemplary embodiment, the pneumatic system may be attached to the interface pipe. In an exemplary embodiment, the pneumatic system may be attached to the Cartesian robot. In an exemplary embodiment, the pneumatic system may be configured to raise and lower the suction mechanism along a third axis. In an exemplary embodiment, the third axis may be perpendicular to the first axis and the second axis.

[0013] In an exemplary embodiment, the discharge mechanism may be mounted fixedly onto the Cartesian robot. In an exemplary embodiment, the discharge mechanism may include a second vacuum pump and an L-shaped hollow tube. In an exemplary embodiment, a top end of the hollow shaped tube may be connected to the second vacuum pump. In an exemplary embodiment, a bottom end of the L-shaped hollow tube may be placed next to the bottom end of the first hollow tube. In an exemplary embodiment, the second vacuum pump may be configured to provide suction at the bottom end of the L-shaped hollow tube.

[0014] In an exemplary embodiment, the Cartesian robot may be configured to position the bottom end of the second hollow tube above the lightweight impurity by moving the lifting mechanism along the first axis and the second axis. In an exemplary embodiment, the pneumatic system may be configured to position the bottom end of the second hollow tube near to the lightweight impurity by lowering the suction mechanism along the third axis.

[0015] In an exemplary embodiment, the first vacuum pump may be configured to attract the lightweight impurity from the amount of the impure mixture to the bottom end of the second hollow tube. In an exemplary embodiment, the pneumatic system may further be configured to position the bottom end of the second hollow tube with the lightweight impurity near to the bottom end of the L-shaped hollow tube by raising the suction mechanism along the third axis. [0016] In an exemplary embodiment, the second vacuum pump may be configured to attract the lightweight impurity from the bottom end of the second hollow tube to the bottom end of the L-shaped hollow tube and then remove the lightweight impurity through the L-shaped hollow tube.

[0017] In an exemplary embodiment, the system may further include one or more processors. In an exemplary embodiment, the one or more processors may be in connection with the belt conveyor system, the Cartesian robot, and the pneumatic system. In an exemplary embodiment, the one or more processors may be configured to control movements of the conveyor belt, control movements of the lifting mechanism along the first axis and the second axis, and control movements of the suction mechanism along the third axis.

[0018] In an exemplary embodiment, the one or more processors may further be configured to control movements of the conveyor belt by sending a first set of commands to the belt conveyor system. In an exemplary embodiment, the first set of commands may be associated with movement of the conveyor belt. In an exemplary embodiment, the one or more processors may also be configured to control movements of the lifting mechanism along the first axis and the second axis by sending a second set of commands to the Cartesian robot. In an exemplary embodiment, the second set of commands may be associated with movements of the lifting mechanism along the first axis and the second axis.

[0019] In an exemplary embodiment, the one or more processors may be configured to control movements of the suction mechanism by sending a third set of commands to the pneumatic system. In an exemplary embodiment, the third set of commands may be associated with movements of the suction mechanism along the third axis.

[0020] In an exemplary embodiment, the system may further include a machine vision system in connection with the one or more processors. In an exemplary embodiment, the machine vision system may be configured to provide an image of the amount of the impure mixture and send the image to the one or more processors. [0021] In an exemplary embodiment, the one or more processors may further be configured to receive the image from the machine vision system, identify a position of the lightweight impurity between the amount of the impure mixture through image processing, send the first set of commands to the belt conveyor system based on the position of the lightweight impurity, send the second set of commands to the Cartesian robot based on the position of the lightweight impurity, and send the third set of commands to the pneumatic system based on the position of the lightweight impurity.

[0022] In an exemplary embodiment, the machine vision system may be attached to the chassis. In an exemplary embodiment, the machine vision system may further include a plurality of lamps and at least one camera. In an exemplary embodiment, the plurality of lamps may be configured to provide lighting to the amount of the impure mixture. In an exemplary embodiment, the camera may be configured to capture the image from the amount of the impure mixture.

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawing figures depict one or more implementations in accord with the present teachings, by way of example only, not by way of limitation. In the figures, like reference numerals refer to the same or similar elements.

[0024] FIG. 1A illustrates a front view of a system for separating and removing lightweight impurities from an impure mixture, consistent with one or more exemplary embodiments of the present disclosure.

[0025] FIG. IB illustrates a side view of a system for separating and removing lightweight impurities from an impure mixture, consistent with one or more exemplary embodiments of the present disclosure. [0026] FIG. 1C illustrates a back view of a system for separating and removing lightweight impurities from an impure mixture, consistent with one or more exemplary embodiments of the present disclosure.

[0027] FIG. ID illustrates a side view of a system for separating and removing lightweight impurities from an impure mixture, consistent with one or more exemplary embodiments of the present disclosure.

[0028] FIG. 2A illustrates a view of a pick-up mechanism, consistent with one or more exemplary embodiments of the present disclosure.

[0029] FIG. 2B illustrates a lifting mechanism mounted on a Cartesian robot, consistent with one or more exemplary embodiments of the present disclosure.

[0030] FIG. 3A illustrates a view of a suction mechanism, consistent with one or more exemplary embodiments of the present disclosure.

[0031] FIG. 3B illustrates a section view of a suction mechanism, consistent with one or more exemplary embodiments of the present disclosure. [0032] FIG. 4 illustrates a bottom view of a machine vision system, consistent with one or more exemplary embodiments of the present disclosure.

[0033] FIG. 5 illustrates an exemplary embodiment of a processing unit in which an exemplary embodiment of the present disclosure, or portions thereof, may be implemented as computer- readable code, consistent with one or more exemplary embodiments of the present disclosure.

DESCRIPTION OF EMBODIMENTS

[0034] In the following detailed description, numerous specific details are set forth by way of examples in order to provide a thorough understanding of the relevant teachings. However, it should be apparent that the present teachings may be practiced without such details. In other instances, well known methods, procedures, components, and/or circuitry have been described at a relatively high-level, without detail, in order to avoid unnecessarily obscuring aspects of the present teachings.

[0035] The following detailed description is presented to enable a person skilled in the art to make and use the methods and devices disclosed in exemplary embodiments of the present disclosure. For purposes of explanation, specific nomenclature is set forth to provide a thorough understanding of the present disclosure. However, it will be apparent to one skilled in the art that these specific details are not required to practice the disclosed exemplary embodiments. Descriptions of specific exemplary embodiments are provided only as representative examples. Various modifications to the exemplary implementations will be readily apparent to one skilled in the art, and the general principles defined herein may be applied to other implementations and applications without departing from the scope of the present disclosure. The present disclosure is not intended to be limited to the implementations shown, but is to be accorded the widest possible scope consistent with the principles and features disclosed herein.

[0036] The present disclosure is directed to exemplary embodiments of a system for removing lightweight impurities from an impure mixture. FIG. 1A shows a front view of a system 100 for separating and removing lightweight impurities from an impure mixture, consistent with one or more exemplary embodiments of the present disclosure. FIG. IB shows a side view of system 100 for separating and removing lightweight impurities from an impure mixture, consistent with one or more exemplary embodiments of the present disclosure. FIG. 1C shows a back view of system 100 for separating and removing lightweight impurities from an impure mixture, consistent with one or more exemplary embodiments of the present disclosure. FIG. ID shows a side view of system 100 for separating and removing lightweight impurities from an impure mixture, consistent with one or more exemplary embodiments of the present disclosure.

[0037] As shown in FIG. 1A, FIG. IB, and FIG. 1C, in an exemplary embodiment, system 100 may include a belt conveyor system 101 consisting of a conveyor belt 102. In an exemplary embodiment, system 100 may also include a chassis 103. In an exemplary embodiment, belt conveyor system 101 may be mounted on chassis 103. In an exemplary embodiment, conveyor belt 102 may be configured to receive an amount of the impure mixture onto a top surface 122 of conveyor belt 102. In an exemplary embodiment, conveyor belt 102 may be the carrying medium of belt conveyor system 101 (often shortened to belt conveyor). A belt conveyor system such as belt conveyor system 101 may include two or more pulleys (sometimes referred to as drum), with a closed loop of carrying medium (such as conveyor belt 102) that rotates about them. One or both of pulleys may be powered, moving the belt and the material on the belt (such as the amount of the impure mixture) forward.

[0038] In an exemplary embodiment, a user may pour the amount of the impure mixture onto top surface 122 of conveyor belt 102. In an exemplary embodiment, a robot may be utilized for pouring the amount of the impure mixture onto top surface 122 of conveyor belt 102. In an exemplary embodiment, the amount of the impure mixture may be poured onto top surface 122 of conveyor belt 102 at a first end 112 of belt conveyor system 101. In an exemplary embodiment, belt conveyor system 101 may be configured to carry the amount of the impure mixture from first end 112 of belt conveyor system 101 to second end 114 of belt conveyor system 101. [0039] In an exemplary embodiment, system 100 may further include a pick-up mechanism

104. In an exemplary embodiment, pick-up mechanism 104 may be configured to lift and remove a lightweight impurity from the amount of the impure mixture poured onto top surface 122 of conveyor belt 102. FIG. 2A shows a view of pick-up mechanism 104, consistent with one or more exemplary embodiments of the present disclosure. As shown in FIG. 2A, in an exemplary embodiment, pick-up mechanism 104 may include a lifting mechanism 202 and a discharge mechanism 204. As further shown in FIG. 1A, FIG. IB, and FIG. 1C, in an exemplary embodiment, lifting mechanism 202 may be mounted onto a Cartesian robot 106. In an exemplary embodiment, Cartesian robot 106 may be mounted on chassis 103. FIG. 2B shows lifting mechanism 202 mounted on Cartesian robot 106, consistent with one or more exemplary embodiments of the present disclosure. In an exemplary embodiment, Cartesian robot 106 may be configured to move lifting mechanism 202 along a first axis 161 and a second axis 162. In an exemplary embodiment, fist axis 161 and second axis 162 may be perpendicular to each other. In an exemplary embodiment, lifting mechanism 202 may include a suction mechanism 222.

[0040] FIG. 3A shows a view of suction mechanism 222, consistent with one or more exemplary embodiments of the present disclosure. FIG. 3B shows a section view of suction mechanism 222, consistent with one or more exemplary embodiments of the present disclosure. As shown in FIG. 3A and FIG. 3B, in an exemplary embodiment, suction mechanism 202 may include a first hollow tube 302 and a second hollow tube 304. In an exemplary embodiment, second hollow tube 304 may be disposed slidably inside first hollow tube 302. In an exemplary embodiment, second hollow tube 304 may be disposed slidably inside a bottom end 322 of first hollow tube 302. In an exemplary embodiment, when second hollow tube 304 is disposed slidably inside first hollow tube 302, it may mean that second hollow tube 304 is disposed inside first hollow tube 302 in such a way that second hollow tube 304 is able to move linearly inside first hollow tube 302 and along a main longitudinal axis of first hollow tube 302.

[0041] As further shown in FIG. 3A and FIG. 3B, in an exemplary embodiment, suction mechanism 222 may further include a first washer 306. In an exemplary embodiment, first washer 306 may be disposed inside first hollow tube 302 and around second hollow tube 304. In an exemplary embodiment, first washer 306 may be attached fixedly to an inner surface 324 of first hollow tube 302. In an exemplary embodiment, when first washer 306 is attached fixedly to inner surface 324 of first hollow tube 302, it may mean that first washer 306 is attached to inner surface 324 of first hollow tube 302 in such a way that any relative movement between first washer 306 and first hollow tube 302 is prevented. In an exemplary embodiment, second hollow tube 304 may be disposed slidably inside first washer 306. In an exemplary embodiment, when second hollow tube 304 is disposed slidably inside first washer 306, it may mean that second hollow tube 304 is disposed inside first washer 306 in such a way that second hollow tube 304 is able to move linearly inside first washer 306 and along a third axis 301. For example, an inner diameter of first washer 306 may be greater than an outer diameter of second hollow tube 304 by an amount of 0.1 mm so second hollow tube 304 may be able to move linearly inside first washer 306 and along third axis 301. In an exemplary embodiment, third axis 301 may be perpendicular to first axis 161 and second axis 162.

[0042] As further shown in FIG. 3A and FIG. 3B, in an exemplary embodiment, suction mechanism 222 may further include a second washer 307. In an exemplary embodiment, second washer 307 may be attached fixedly to a bottom end 342 of second hollow tube 304. In an exemplary embodiment, second washer 307 may be attached to an outer surface of second hollow tube 304. In an exemplary embodiment, when second washer 307 is attached fixedly second hollow tube 304, it may mean that second washer 307 and second hollow tube 304 are attached to each other in a way such that any relative movements between second washer 307 and second hollow tube 304 is prevented.

[0043] In an exemplary embodiment, suction mechanism 222 may further include a spring 308. In an exemplary embodiment, spring 308 may be disposed between first washer 306 and second washer 307. In an exemplary embodiment, a top end 382 of spring 308 may be attached to first washer 306. In an exemplary embodiment, a bottom end 384 of spring 308 may be attached to second washer 307. In an exemplary embodiment, spring 308 may be interconnected between first washer 306 and second washer 307 in such a way that first washer and second washer are able to move relative to each other but do not detach from each other. In an exemplary embodiment, it may be understood that the configuration of first washer 306, second washer 307, and spring 308 may provide flexibility for suction mechanism 222. In an exemplary embodiment, when bottom end 342 of second hollow tube 304 hits the conveyor belt 102, the elements of suction mechanism 222 may be prevented from breaking or bending due to the flexibility of suction mechanism 222.

[0044] In an exemplary embodiment, suction mechanism 222 may further include an interface pipe 309 attached to a top end 326 of first hollow tube 302. In an exemplary embodiment, interface pipe 309 may be connected to a first vacuum pump 303 through a first vacuum port 392. In an exemplary embodiment, first hollow tube 302 may be in fluid communication with first vacuum pump 303 through interface pipe 309 and first vacuum port 392. In an exemplary embodiment, second hollow tube 304 may be in fluid communication with first hollow tube 302. In an exemplary embodiment, first vacuum pump 303 may be configured to provide suction at bottom end 342 of second hollow tube 304.

[0045] With further reference to FIG. 2A and FIG. 2B, in an exemplary embodiment, lifting mechanism 202 may further include a pneumatic system 224. In an exemplary embodiment, pneumatic system may be attached to Cartesian robot 106 and interface pipe 309. In an exemplary embodiment, pneumatic system 224 may be interconnected between Cartesian robot 106 and suction mechanism 222. In an exemplary embodiment, pneumatic system 224 may be configured to raise and lower suction mechanism 222 along third axis 301.

[0046] In an exemplary embodiment, discharge mechanism 204 may include an L-shaped hollow tube 242 and a second vacuum pump 244. In an exemplary embodiment, a top end 2422 of L-shaped hollow tube 242 may be connected to second vacuum pump 244. In an exemplary embodiment, a bottom end 2424 of L-shaped hollow tube 242 may be placed next to bottom end 322 of first hollow tube 302. In an exemplary embodiment, second vacuum pump 244 may be configured to provide suction at bottom end 2424 of discharge mechanism 204.

[0047] In an exemplary embodiment, Cartesian robot 106 may be configured to position bottom end 342 of second hollow tube 304 above the lightweight impurity by moving lifting mechanism 202 along first axis 161 and second axis 162. In an exemplary embodiment, Cartesian robot 106 may be controller manually by an operator or automatically by a controller. For example, an operator, by knowing the position of the lightweight impurity, may urge Cartesian robot 106 to move lifting mechanism 202 along first axis 161 and second axis 162 in order to place bottom end 342 of second hollow tube 304 above the lightweight impurity. In an exemplary embodiment, a controller may urge Cartesian robot 106 to move lifting mechanism 202 along first axis 161 and second axis 162 in order to place bottom end 342 of second hollow tube 304 above the lightweight impurity.

[0048] In an exemplary embodiment, pneumatic system 224 may be configured to position bottom end 342 of second hollow tube 304 near to the lightweight impurity by lowering suction mechanism 222 along third axis 301. In an exemplary embodiment, first vacuum pump 303 may be configured to attract the lightweight impurity from the amount of the impure mixture to bottom end 342 of second hollow tube 304. In an exemplary embodiment, pneumatic system

224 may further be configured to position bottom end 342 of second hollow tube 304 with the lightweight impurity near to bottom end 2424 of L- shaped hollow tube 242 by raising suction mechanism 222 along third axis 301.

[0049] In an exemplary embodiment, second vacuum pump 244 may be configured to attract the lightweight impurity from bottom end 342 of second hollow tube 304 to bottom end 2424 of L-shaped hollow tube 242 and then remove the lightweight impurity through L-shaped hollow tube 242.

[0050] In an exemplary embodiment, system 100 may further include one or more processors 150. In an exemplary embodiment, one or more processors 150 may be connected to Cartesian robot 106, belt conveyor system 101, and pneumatic system 224. In an exemplary embodiment, one or more processors 150 may further be configured to control movements of conveyor belt 102. In an exemplary embodiment, one or more processors 150 may control movements of conveyor belt 102 by sending a first set of commands to belt conveyor system 101. In an exemplary embodiment, the first set of commands may be associated with movements of conveyor belt 102. For example, when it is needed to move conveyor belt 102 so that conveyor belt 102 carries the amount of the impure mixture from a first point to a second point along first axis 161, one or more processors 150 may urge belt conveyor system 101 to move conveyor belt 102 so that the amount of the impure mixture reaches the second point by sending the first set of commands to belt conveyor system 101.

[0051] In an exemplary embodiment, one or more processors 150 may be configured to control movements of lifting mechanism 202 along first axis 161 and second axis 162. In an exemplary embodiment, one or more processors 150 may control movements of lifting mechanism 202 along first axis 161 and second axis 162 by sending a second set of commands to Cartesian robot 106. In an exemplary embodiment, the second set of commands may be associated with movements of lifting mechanism 202 along first axis 161 and second axis 162. For example, when lifting mechanism 202 is to be placed at a specific point along first axis 161 and second axis 162, one or more processors 150 may urge Cartesian robot 106 to move lifting mechanism 202 along first axis 161 and second axis 162 until reach the intended point by sending the second set of commands to Cartesian robot 106.

[0052] In an exemplary embodiment, one or more processors 150 may further be configured to control movements of suction mechanism 222 along third axis 301. In an exemplary embodiment, one or more processors 150 may control movements of suction mechanism 222 along third axis 301 by sending a third set of commands to pneumatic system 224. In an exemplary embodiment, third set of data may be associated with movements of suction mechanism 222 along third axis 301. For example, when suction mechanism 222 is intended to be placed at its lowest position, one or more processors 150 may urge pneumatic system 224 to move suction mechanism 222 downwardly along third axis 301 by sending the third set of commands to pneumatic system 224.

[0053] As further shown in FIG. 1A, FIG. IB, and FIG. 1C, in an exemplary embodiment, system 100 may further include a machine vision system 170. In an exemplary embodiment, machine vision system 170 may be attached to chassis 103. In an exemplary embodiment, machine vision system 170 may be connected to one or more processors 150. In an exemplary embodiment, machine vision system 170 may be configured to provide an image of the amount of the impure mixture and send the image to one or more processors 150. In an exemplary embodiment, one or more processors 150 may also be configured to receive the image from machine vision system 170. In an exemplary embodiment, after receiving the image from machine vision system 170, one or more processors 150 may identify a position of the lightweight impurity between the amount of the impure mixture by using image processing methods. For purpose of reference, it may be understood that image processing methods which are known in the art, are capable of detecting the lightweight impurity between the amount of the impure mixture according to the difference between some features of the lightweight impurity and other particles of the impure mixture. These features include, but not limited to, dimensions and color. In an exemplary embodiment, after detecting the lightweight impurity between the amount of the impure mixture, one or more processors 150 may identify the position of a center of the lightweight impurity. In an exemplary embodiment, one or more processors 150 may send the first set of commands to belt conveyor system 101, send the second set of commands to Cartesian robot 106, and send third set of commands to pneumatic system 224 based on the position of the center of the lightweight impurity.

[0054] FIG. 4 shows a bottom view of machine vision system 170, consistent with one or more exemplary embodiments of the present disclosure. As shown in FIG. 4, in an exemplary embodiment, machine vision system 170 may include a plurality of lamps 172 and at least a camera 174. In an exemplary embodiment, plurality of lamps 172 may be configured to provide lighting to the amount of the impure mixture. In an exemplary embodiment, camera 174 may be configured to capture the image from the amount of the impure mixture.

[0055] In an exemplary embodiment, when a user intends to remove lightweight impurities from an impure mixture (for example an impure mixture of saffron), the user may pour an amount of the impure mixture on conveyor belt 102. Then, one or more processors 150 may send the first set of commands to belt conveyor system 101 so that belt conveyor system 101 may move conveyor belt 102 in a way such that the amount of the impure mixture is placed under machine vision system 170. Then, machine vision system 170 may provide an image from the impure mixture and send the image to one or more processors 150. In an exemplary embodiment, one or more processors 150 may detect a lightweight impurity between the impure mixture and identify a position of a center of the lightweight impurity by image processing methods which are known. Then, in an exemplary embodiment, based on the position of the center of the lightweight impurity, one or more processors 150 may urge conveyor belt 102 and lifting mechanism 202 in such a way that bottom end 342 of second hollow tube 304 is positioned above the center of the lightweight impurity.

[0056] Then, in an exemplary embodiment, one or more processors 150 may urge pneumatic system 224 to move suction mechanism 222 downwardly in such a way that bottom end 342 of second hollow tube 304 is placed near to the lightweight impurity (for example less than 1 mm). In an exemplary embodiment, when bottom end 342 of second hollow tube 304 is placed near to the lightweight impurity (for example less than 1 mm), the suction at bottom end 342 of second hollow tube 304 may attract the lightweight impurity to bottom end 342 of second hollow tube 304. Then, the lightweight impurity may be attached to bottom end 342 of second hollow tube 304. Then, one or more processors 150 may urge pneumatic system 224 to move suction mechanism 222 upwardly in such a way that bottom end 342 of second hollow tube 304 together with the lightweight impurity are placed in front of bottom end 2424 of L- shaped hollow tube 242. In an exemplary embodiment, when bottom end 342 of second hollow tube 304 together with the lightweight impurity are placed in front of bottom end 2424 of L- shaped hollow tube 242, the suction at bottom end 342 of second hollow tube 304 may attract the lightweight impurity toward bottom end 342 of second hollow tube 304 and then remove the lightweight impurity through L-shaped hollow tube 242.

[0057] FIG. 5 shows an exemplary embodiment of processing unit 500 in which an exemplary embodiment of the present disclosure, or portions thereof, may be implemented as computer- readable code, consistent with one or more exemplary embodiments of the present disclosure. For example, one or more processors 150 may be implemented in processing unit 500 using hardware, software, firmware, tangible computer readable media having instructions stored thereon, or a combination thereof and may be implemented in one or more computer systems or other processing systems.

[0058] If programmable logic is used, such logic may execute on a commercially available processing platform or a special purpose device. One of ordinary skill in the art may appreciate that an exemplary embodiment of the disclosed subject matter can be practiced with various computer system configurations, including multi-core multiprocessor systems, minicomputers, mainframe computers, computers linked or clustered with distributed functions, as well as microcontrollers, pervasive or miniature computers that may be embedded into virtually any device.

[0059] For instance, a computing device having at least one processor device and a memory may be used to implement the above-described embodiments. A processor device may be a single processor, a plurality of processors, or combinations thereof. Processor devices may have one or more processor “cores.”

[0060] An exemplary embodiment of the present disclosure is described in terms of this example processing unit 500. After reading this description, it will become apparent to a person skilled in the relevant art how to implement the present disclosure using other computer systems and/or computer architectures. Although operations may be described as a sequential process, some of the operations may in fact be performed in parallel, concurrently, and/or in a distributed environment, and with program code stored locally or remotely for access by single or multi-processor machines. In addition, in some embodiments the order of operations may be rearranged without departing from the spirit of the disclosed subject matter. [0061] Processor device 504 may be a special purpose or a general-purpose processor device.

As will be appreciated by persons skilled in the relevant art, processor device 504 may also be a single processor in a multi-core/multiprocessor system, such system operating alone, or in a cluster of computing devices operating in a cluster or server farm. In an exemplary embodiment, processor device 504 may be connected to a communication infrastructure 506, for example, a bus, message queue, network, or multi-core message-passing scheme.

[0062] In an exemplary embodiment, processing unit 500 may also include a main memory 508, for example, random access memory (RAM), and may also include a secondary memory 510. In an exemplary embodiment, secondary memory 510 may include a hard disk drive 512, and a removable storage drive 514. In an exemplary embodiment, removable storage drive 514 may include a floppy disk drive, a magnetic tape drive, an optical disk drive, a flash memory, or the like. In addition, removable storage drive 514 may read from and/or write to a removable storage unit 518 in a well-known manner. In an exemplary embodiment, removable storage unit 518 may include a floppy disk, magnetic tape, optical disk, etc., which may be read by and written to by removable storage drive 514. As will be appreciated by persons skilled in the relevant art, removable storage unit 518 may include a computer usable storage medium having stored therein computer software and/or data.

[0063] In alternative implementations, secondary memory 510 may include other similar means for allowing computer programs or other instructions to be loaded into processing unit 500. Such means may include, for example, a removable storage unit 522 and an interface 520. Examples of such means may include a program cartridge and cartridge interface (such as that found in video game devices), a removable memory chip (such as an EPROM, or PROM) and associated socket, and other removable storage units 522 and interfaces 520 which allow software and data to be transferred from removable storage unit 522 to processing unit 500. [0064] In an exemplary embodiment, processing unit 500 may also include a communications interface 524. Communications interface 524 may allow software and data to be transferred between processing unit 500 and external devices. In an exemplary embodiment, communications interface 524 may include a modem, a network interface (such as an Ethernet card), a communications port, a PCMCIA slot and card, or the like. Software and data transferred via communications interface 524 may be in the form of signals, which may be electronic, electromagnetic, optical, or other signals capable of being received by communications interface 524. These signals may be provided to communications interface 524 via a communications path 526. In an exemplary embodiment, communications path 526 may carry signals and may be implemented using wire or cable, fiber optics, a phone line, a cellular phone link, an RF link or other communications channels.

[0065] In this document, the terms “computer program medium” and “computer usable medium” are used to generally refer to media such as removable storage unit 518, removable storage unit 522, and a hard disk installed in hard disk drive 512. Computer program medium and computer usable medium may also refer to memories, such as main memory 508 and secondary memory 510, which may be memory semiconductors (e.g. DRAMs, etc.).

[0066] In some exemplary embodiment, computer programs (also called computer control logic) may be stored in main memory 508 and/or secondary memory 510. Computer programs may also be received via communications interface 524. Such computer programs, when executed, enable processing unit 500 to implement the present disclosure as discussed herein. In particular, the computer programs, when executed, may enable processor device 504 to implement the processes of the present disclosure. Accordingly, such computer programs represent controllers of processing unit 500. Where the present disclosure is implemented using software, the software may be stored in a computer program product and loaded into processing unit 500 using removable storage drive 514, interface 520, and hard disk drive 512, or communications interface 524.

[0067] Embodiments of the present disclosure may also be directed to computer program products including software stored on any computer useable medium. Such software, when executed in one or more data processing devices, causes a data processing device(s) to operate as described herein. An exemplary embodiment of the present disclosure may employ any computer useable or readable medium. Examples of computer useable mediums include, but are not limited to, primary storage devices (e.g., any type of random access memory), secondary storage devices (e.g., hard drives, floppy disks, CD ROMS, ZIP disks, tapes, magnetic storage devices, and optical storage devices, MEMS, Nano technological storage device, etc.).

[0068] While the foregoing has described what may be considered to be the best mode and/or other examples, it is understood that various modifications may be made therein and that the subject matter disclosed herein may be implemented in various forms and examples, and that the teachings may be applied in numerous applications, only some of which have been described herein. It is intended by the following claims to claim any and all applications, modifications and variations that fall within the true scope of the present teachings.

[0069] Unless otherwise stated, all measurements, values, ratings, positions, magnitudes, sizes, and other specifications that are set forth in this specification, including in the claims that follow, are approximate, not exact. They are intended to have a reasonable range that is consistent with the functions to which they relate and with what is customary in the art to which they pertain.

[0070] The scope of protection is limited solely by the claims that now follow. That scope is intended and should be interpreted to be as broad as is consistent with the ordinary meaning of the language that is used in the claims when interpreted in light of this specification and the prosecution history that follows and to encompass all structural and functional equivalents. Notwithstanding, none of the claims are intended to embrace subject matter that fails to satisfy the requirement of Ends 101, 102, or 103 of the Patent Act, nor should they be interpreted in such a way. Any unintended embracement of such subject matter is hereby disclaimed.

[0071] Except as stated immediately above, nothing that has been stated or illustrated is intended or should be interpreted to cause a dedication of any component, step, feature, object, benefit, advantage, or equivalent to the public, regardless of whether it is or is not recited in the claims.

[0072] It will be understood that the terms and expressions used herein have the ordinary meaning as is accorded to such terms and expressions with respect to their corresponding respective spaces of inquiry and study except where specific meanings have otherwise been set forth herein. Relational terms such as first and second and the like may be used solely to distinguish one entity or action from another without necessarily requiring or implying any actual such relationship or order between such entities or actions. The terms “comprises,” “comprising,” or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by “a” or “an” does not, without further constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0073] The Abstract of the Disclosure is provided to allow the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. In addition, in the foregoing Detailed Description, it can be seen that various features are grouped together in various implementations. This is for purposes of streamlining the disclosure, and is not to be interpreted as reflecting an intention that the claimed implementations require more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive subject matter lies in less than all features of a single disclosed implementation. Thus, the following claims are hereby incorporated into the Detailed Description, with each claim standing on its own as a separately claimed subject matter.

[0074] While various implementations have been described, the description is intended to be exemplary, rather than limiting and it will be apparent to those of ordinary skill in the art that many more implementations and implementations are possible that are within the scope of the implementations. Although many possible combinations of features are shown in the accompanying figures and discussed in this detailed description, many other combinations of the disclosed features are possible. Any feature of any implementation may be used in combination with or substituted for any other feature or element in any other implementation unless specifically restricted. Therefore, it will be understood that any of the features shown and/or discussed in the present disclosure may be implemented together in any suitable combination. Accordingly, the implementations are not to be restricted except in light of the attached claims and their equivalents. Also, various modifications and changes may be made within the scope of the attached claims.