Waste sorting method and waste sorting device

Abstract

Waste sorting method comprising the steps of: receiving one or more types of waste in a receiving means (M3); sensing at least one type of the received waste; moving the receiving means (M3) such that the received waste travels along a closed path (MC); and transferring the received waste traveling along the closed path (MC) in at least one predetermined waste bin corresponding to the at least one sensed type. The invention also relates to a waste sorting device (M1) comprising: a receiving means (M3) configured to receive one or more types of waste, a sensing means (MS) configured to sense at least one type of the received waste, at least two waste bins, each waste bin being assigned to one type of waste, and a control means configured to move the receiving means (M3) such that the received waste travels along a closed path (MC) and to transfer the received waste traveling along the closed path (MC) in at least one waste bin corresponding to the at least one sensed type.

Description

[0001] Waste sorting method and waste sorting device

[0002] Technical field

[0003] The present invention relates to a waste sorting method, and to a waste sorting device, in particular for the sorting of waste according to the waste sorting method.

[0004] Background Art

[0005] Various methods and devices for sorting waste have been proposed with respect to industrial and private use. Proposed methods and devices for sorting waste are in operation at various levels and scales, for example, in public waste management facilities, in businesses or commercial enterprises, or in domestic or household environments. Typically, the proposed methods and devices involve a receiving of a waste item and a sensing of a type of the waste item to be sorted according to the type of waste.

[0006] In conventional techniques for sorting waste upstream of public waste management facilities, for example in businesses, the waste containers for sorted waste are positioned adjacently in a linear arrangement, and therefore the respective driving mechanisms are also configured to drive waste along the linear direction. Typically, the type of the waste item to be sorted is sensed at an entry point, and the waste item is driven along the linear direction to a destination waste bin

[0007] Technical Problem

[0008] Due to the linear arrangement, waste sorting devices may have a lot of unused space, and thus lack compactness. In addition, limitations in sensing speed may lead to congestion or accumulation in the entry point, reducing overall waste sorting performance.

[0009] It is therefore an object of the present invention to provide an improved waste sorting method and device, in particular for business or commercial use, and thereby addressing the above limitations.

[0010] Solution to Problem

[0011] The above problem is solved by a waste sorting method according to claim 1 . The waste sorting method comprises the steps of (a) receiving one or more types of waste in a receiving means; (b) sensing at least one type of the received waste; (c) moving the receiving means such that the received waste travels along a closed path, in particular, a circular path; and (d) transferring the received waste traveling along the closed path in at least one predetermined waste bin corresponding to the at least one sensed type.

[0012] In the context of this invention, it can be understood that the received waste is moved, for example, by virtue of rotation of the receiving means, along the closed path, however the waste travelling on the closed path may not necessarily complete the full lap of the closed path.

[0013] By transferring the received waste along the closed path, an increased efficiency and compactness of the sorting method compared to prior art sorting methods can be achieved. Indeed, because the received waste is moved along a closed path, the received waste does not need to be moved back and forth along a path of transfer but can instead cycle through the full closed path in repeated iterations if needed, without impeding other waste(s) which may be present on the closed path.

[0014] For example, if the received waste was sensed insufficiently, the received waste can be moved so as to cycle through the full closed path for a repeated sensing or prolonged sensing time without obstructing movement of the sensed waste(s) to the respective waste container(s). It is therefore possible for received waste to be moved faster without risking a wrong sensing of the type of the received waste.

[0015] In particular, the driving mechanism for the moving of the received waste only needs to be configured to be able to drive along the one direction of the closed path, thereby simplifying the sorting method. In addition, a closed path can be more compact, more power efficient, and less mechanically complex than a linear path, as the closed path requires less mechanical components and less space than a linear path.

[0016] Preferably, step b) can further comprise one or more of the steps of: b1) detecting a property of the received waste; b2) determining a shape and / or a material of the received waste; and b3) identifying a type of the received waste based on the determined shape and / or material.

[0017] One or a combination of these steps can help correctly determine and identify the type of received waste, and thus improve the accuracy of sorting of the received waste into a predetermined waste bin. Preferably, step b1), b2) and / or b3) can include using one or more of the following sensing means: a camera, an inductive sensor, a capacitive sensor, an ultrasound sensor, an infrared spectroscopy sensor, a microwave spectroscopy sensor. By using one or a combination of these sensors, accuracy of the sensing can be improved, and / or the sensing can be adapted to the structural and logistical needs of the specific application of the method.

[0018] Preferably, step b2) and / or step b3) can include a processing step using machine learning model, in particular, for optimal identification of the waste type. By using the machine learning model, which can, for example, be dynamically trained, the accuracy of the determination of the shape and / or material of the waste, and / or the identification of the type of waste can be even further enhanced.

[0019] Preferably, step b) can be performed before or during step c) is performed. In this configuration, the received waste can be moved along the closed path regardless of whether a type of the received waste has been identified, and / or the sensing step (step b) can be implemented while the received waste is moved along the closed path. Thus, for example, several waste items can be received in succession and transferred along the closed path without being slowed by the sensing step (step b).

[0020] Preferably, step a) can include receiving the one or more types of waste via a receiving inlet, and controlling the opening / closing state of the receiving inlet. In this configuration, the amount, size and succession of received waste items can be controlled to avoid an overloading of the receiving means, and / or to avoid interference with received waste that is at a different stage of the inventive method.

[0021] Preferably, step d) can include opening of a hatch of the predetermined waste bin prior to the waste reaching said bin such that the hatch guides the waste from the closed path to said bin. In this configuration, the predetermined waste bins assigned to the one or more types of waste can be accessible along the closed path. Thus, the hatches can selectively guide waste into their respective predetermined waste bins in accordance with the sensing and / or travel of the received waste along the closed path.

[0022] Preferably, step d) can include depositing of the waste to the corresponding predetermined waste bin via a chute. This step can facilitate and ease the transfer of waste into the respective predetermined waste bins and in particular allow an easier and more reliable guiding of the waste to the predetermined waste bin, wherein the waste bins are located in a plane underneath the closed path. The object of the invention is also achieved by a waste sorting device, in particular for sorting waste according to one of the above-described aspects. The device comprises: a receiving means configured to receive one or more types of waste; a sensing means configured to sense at least one type of the received waste; at least two waste bins, each waste bin being assigned to one type of waste; and a control means configured to move the receiving means such that the received waste travels along a closed path, in particular a circular path, and to transfer the received waste traveling along the closed path in at least one waste bin corresponding to the at least one sensed type.

[0023] This device is suited to implement the method for sorting waste according to the aspects of the invention described above. Therefore, the device solves the technical problem of the invention and benefits from the advantages described above.

[0024] Preferably, the waste sorting device can further comprise a housing, in particular a cylindrical or cuboid housing, wherein the housing accommodates the receiving means, the sensing means, and the waste bins, and wherein the housing defines a central axis of the device. In this configuration, the waste can be sorted in a compact, consumer-friendly and robust device, and the movement of the received waste along the closed path can advantageously be arranged with respect to a rotational movement around the central axis. In a cylindrical housing, the waste sorting device can be even more compact, as components of the waste sorting device can be arranged within the closed, in particular circular, path. In a cuboid housing, the walls and internal surfaces of the housing can be configured more flatly, and thus the attachment and fastening of components of the waste sorting device thereto is facilitated. The shape of the housing is not limited to cylindrical or cuboid. Other shapes, such as ellipsoid or conic shapes can equally be used.

[0025] Preferably, the waste bins can surround the central axis. Accordingly, the waste bins can be easily accessible along the closed path and thereby the transfer of the received waste in the respective predetermined waste bins can be facilitated. Moreover, arranging the waste bins to surround the central axis can consume less space when compared to for example, a linear arrangement of the waste bins along one direction.

[0026] Preferably, the waste bins can be arranged equidistantly from the central axis, in particular wherein the bins are pie-shaped or cuboid and / or arranged rotationally symmetrically around the central axis. This facilitates the arrangement of the waste bins, for example, in a cylindrical housing, in particular when the closed path is a circular path. Preferably, the waste sorting device can further comprise a removable lid, in particular a transparent lid, wherein the removable lid comprises a receiving inlet for a receiving of waste. A removable lid with an inlet can improve user-friendliness of the device, both with respect to the operation of the device for the sorting of waste, and with respect to the cleaning and maintenance of the device.

[0027] Preferably, the receiving inlet comprises a closing system, and the control means is configured to control a switching between an open state and a shut state of the closing system, in particular in accordance with an amount of the received waste. Accordingly, the control means can be configured to switch the closing system to an open state indicating that the waste sorting device is operational, for example when it is ready to accept incoming waste(s). Similarly, the control means can be configured to switch the closing system to a closed state indicating that the waste sorting device is not operational, for example when it has no sufficient room to accommodate any further waste(s). In this way, the amount, size and succession of received waste can be controlled to avoid an overloading of the receiving means

[0028] Preferably, the sensing means can be configured to detect a property of the received waste, and / or determine a shape and / or material of the received waste, and / or identify a type of the received waste based on the determined shape and / or material. One or a combination of these configurations can help correctly determine and identify the type of received waste, and thus improve the accuracy of sorting of the received waste into a predetermined waste bin.

[0029] Preferably, the sensing means can comprise at least one of a camera, an inductive sensor, a capacitive sensor, an ultrasound sensor, an infrared spectroscopy sensor, a microwave spectroscopy sensor. By using one or a combination of these sensors, accuracy of the sensing can be improved, and / or the sensing can be adapted to the structural and logistical needs of the specific application of the method.

[0030] Preferably, the sensing means can comprise a processor configured to use a machine learning model for the determination of a shape and / or material, and / or the identification of a type of the received waste, in particular, for optimal identification of the waste type. By using the machine learning model, which can, for example, be dynamically trained, the accuracy of the determination of a shape and / or material, and / or the identification of the type of waste can be even further enhanced.

[0031] Preferably, the sensing means can be configured to sense the at least one type of the received waste before or during the traveling of the received waste along the closed path. Thus, the sensing means may be disposed at a desired position along the closed path, providing greater flexibility in sensing means arrangement. In one example, the movement of the received waste along the closed path can be initiated prior to a sensing of the received waste, and the waste is sensed during the travel of the received waste along the closed path. This can allow for the sensing to occur on the waste(s) at different locations, providing greater data. In another example, the movement of the received waste can be initiated after a sensing of the received waste, which may provide more reliable data based on stationary received waste.

[0032] Preferably, the receiving means can comprise one or more receptacles, each receptacle being moveable between a first position and a second position, the first position being configured to receive the one or more type of waste, and the second position being configured to transfer, in particular to drop, the received waste in the corresponding waste bin via a chute. By configuring the receptacle as above, transferring and sorting of the waste can be further simplified. Since the receiving means can both receive and then transfer the wastes into the respective bins via the chute, this can ease the depositing, in particular dropping of the received waste into the respective predetermined waste bin, without additional parts.

[0033] Preferably, each receptacle can be movable, in particular rotatable, with respect to a hinge axis between the first position and the second position. Thus, the receptacle can move between one position, in which the received waste is received and moved safely along the closed path, and a second position, in which the received waste is deposited, in particular dropped, in the predetermined waste bin.

[0034] Preferably, the hinge axes can intersect with the central axis. This provides additional stability to the transferring of the waste along the closed path.

[0035] Preferably, the hinge axes can be arranged along a direction parallel or tangential to the closed path. Thus, the hinge axes may not intersect with a space on the inside of closed path, liberating this space in the housing for other tasks.

[0036] Preferably, the sensing means can comprise one or more sensors, and each of one or more receptacles is provided with one or more sensors configured to sense the type of waste received in the respective receptacle(s). This is advantageous, as multiple sensing steps and transferring steps may thus be performed simultaneously, each receptacle being able to sense a type of the waste received in the respective receptacle. Preferably, the receiving means can comprise one or more receptacles, each receptacle having a bottom surface tiltable between a first position and a second position, the first position being configured to hold the one or more type of waste in the receptacle, and the second position being configured to transfer, in particular to drop, the received waste in the corresponding waste bin. In this aspect, the transferring of the waste can be achieved in a mechanically simpler fashion, as instead of the entire receptacle moving positions, only a bottom surface of the receptacle is tilted or inclined.

[0037] Preferably, the receiving means can comprise a rotating plate with its axis centred on the central axis and configured to receive the one or more waste, and the control means is configured to rotate the rotating plate such that the received waste is moved along the closed path, in particular, the circular closed path defined by a circumference of the rotating plate. A receiving means formed as a rotating plate is particularly efficient, as it can accommodate, sense and sort multiple wastes and / or a larger amount of received waste simultaneously. At the same time, a rotating plate can be structurally or mechanically simpler. In particular, a closed path can be conveniently obtained by the circular movement of an object moving on a rotating plate rotating around its central axis.

[0038] Preferably, the sensing means can comprise a sensing device facing the received waste on the rotating plate and configured to sense the type of the received waste. With this configuration, it is possible to sense all received waste travelling along the closed path on the rotating plate.

[0039] Preferably, the waste sorting device can further comprise at least two hatches, each hatch being assigned to a respective waste bin, wherein the control means is further configured to control the opening of each hatch prior to the received waste reaching the respective waste bin such that said hatch guides the received waste from the closed path to said waste bin. In this configuration, the predetermined waste bins assigned to the one or more types of waste can be accessible along the closed path. Thus, the hatches can selectively guide waste into their respective predetermined waste bins in accordance with the sensing and / or movement of the received waste along the closed path. In addition, the received waste can be guided into the waste bin without impeding the normal operation, in particular rotational movement, of the rotating plate. That is, the rotating plate can continue to rotate while the received waste is guided to its assigned waste bin, overall waste sorting speed.

[0040] Preferably, the waste sorting device can further comprise a tray, wherein the rotating plate is provided over the tray, and the tray is configured to receive liquid from the rotating plate. With this configuration, any liquid received together with the waste can be removed from the rotating plate and disposed or drained out of the waste sorting device. The draining is facilitated in particular thanks to the centrifugal forces generated by the rotation of the rotating plate.

[0041] Preferably, the rotating plate can further comprise a plurality of drainage holes configured to flow the liquid from the rotating plate to the tray. Drainage holes can dispose of any liquid received in or on the rotating plate, thereby preventing contamination of received waste.

[0042] Preferably, the tray can comprise a liquid outlet, and the rotating plate further comprises a wiping device configured to wipe liquid in the tray due to a rotation of the rotational plate. According to this configuration, the wiping device can prevent liquid from remaining in the tray and ensure a progressive disposal of the liquid in the liquid outlet, for example to be collected in a liquid container or tank.

[0043] Preferably, the waste sorting device can further comprise a separating means configured to provide a predetermined distance between two consecutively received waste(s). With two consecutively received wastes being separated by the predetermined distance, the individual sensing of the received wastes and individual transferring thereof in predetermined waste bins is facilitated, thereby improving the waste sorting reliability.

[0044] Preferably, the waste sorting device can further comprise a cleaning system configured to clean the receiving means, the cleaning system comprising at least one nozzle configured to eject at least one cleaning substance, preferably two pressurized cleaning substances, the nozzle being arranged along the closed path. The cleaning system improves hygienic safety of the users of the waste sorting device, and reduces the risk of cross-contamination between received wastes, and thus also the risk of contamination of the predetermined bins. In addition, when the closed path is cleaned, the movement of the received waste thereon and the transfer therefrom in a predetermined waste bin is smoother, enhancing performance of the waste sorting device.

[0045] Preferably, the control means is further configured to move the nozzle along the closed path. Thus, the cleaning system can clean all the regions of the closed path, and in particular be arranged to dynamically clean contaminated regions more thoroughly.

[0046] Brief description of the drawings

[0047] These, as well as other objects and advantages of this invention will be more understood and appreciated by the following detailed description of the presently preferred exemplary embodiments of the invention taken in conjunction with accompanying drawings, in which: Figure 1 A represents a flowchart of a waste sorting method according to a first embodiment of the invention.

[0048] Figure 1 B represents a perspective view of a section of a waste sorting device for sorting waste according to the method of Figure 1A.

[0049] Figure 2A represents a perspective view of a waste sorting device according to a second embodiment of the invention.

[0050] Figure 2B represents an exploded view of the waste sorting device of the second embodiment.

[0051] Figure 2C represents a top-down planar view of the waste sorting device of the second embodiment.

[0052] Figure 2D represents a partially sectioned close-up view of the waste sorting device of the second embodiment focused on a wiping device.

[0053] Figure 2E represents a close-up cross-sectional view of the waste sorting device of the second embodiment focused on a driving device.

[0054] Figure 2F represents a close-up view of the waste sorting device according to a variant of the second embodiment comprising a cleaning system.

[0055] Figure 2G represents a close-up view of the waste sorting device according to a variant of the second embodiment comprising a separating means.

[0056] Figure 3A represents a rotating section of a waste sorting device according to third embodiment of the invention.

[0057] Figure 3B represents a receptacle compartment for a receptacle according to the third embodiment.

[0058] Figure 3C represents a cross-sectional view of a receptacle of the waste sorting device of the third embodiment in a first position.

[0059] Figure 3D represents a cross-sectional view of a receptacle of the waste sorting device of the third embodiment in a second position.

[0060] Figure 4 represents a rotating section of a waste sorting device according to a fourth embodiment of the invention. Figure 5 represents a top perspective view of a waste sorting device according to a sixth embodiment. For visibility purposes, illustrated elements may not necessarily be drawn to scale with respect their relative Cartesian dimensions or with respect to each other.

[0061] Detailed description of the embodiments

[0062] A waste sorting method according to a first embodiment of the invention shall be described with reference to Figure 1A.

[0063] In step I of the method, one or more types of waste is or are received in a receiving means. In this step, one or a plurality of waste items, or waste matter, or a waste mixture, are received in the receiving means. The received waste can be of one type or of a plurality of types. The types of waste are categories of waste defined according to a system, for example, paper waste, metal waste, glass waste, plastic waste, mixed recycling, residual waste, etc. The number and categorization of the types of waste is freely customizable and interchangeable, for example, based on local legal requirements or customer needs. Thus, for example, if two types of waste are "plastic containers" and "other waste", the receiving means can receive several plastic containers, or one plastic container and a glass container, or a mixture of household waste.

[0064] For example, referencing Figure 1 B and the therein illustrated waste sorting device M1 , in step I waste is received in a receiving means M3 configured as rotating plate. When the waste is received in the receiving means M3, the waste is stably supported by the rotational plate.

[0065] In step II, at least one type of the received waste is sensed. Specifically, in this step II, a property of the received waste is detected by a sensing means. The sensing means includes for example a camera, an inductive sensor, a capacitive sensor, an ultrasound sensor, an infrared spectroscopy sensor and / or a microwave spectroscopy sensor. For example, referencing Figure 1 B and the therein illustrated waste sorting device M1 , the sensing means MS includes a camera taking one or more images of the received waste received in the receiving means.

[0066] Further in step II, a shape / and or material of the received waste is determined based on the detected property. For example, a processor determines a shape of the received waste based on one or more images using, for example, image recognition software. Preferably, a machine learning model is used to speed up or enhance the reliability of the determination of the shape and / or material. Preferably, convolutional neural networks can be used to identify objects in any visual identification, for example, from camera data, ultrasound data, or microwave data. Referencing Figure 1 B, a processor of the illustrated waste sorting device M1 , determines a shape of the received waste based on the images taken by the sensing means MS.

[0067] In step II, a type of the received waste is identified based on the determined shape and / or material. For example, if a known bottle shape is determined, a type X assigned to the determined bottle shape is identified. If the shape cannot be determined, or if a type of waste cannot be identified based on the shape, or if the sensor data is inconclusive, a ’’default” or ’’residual” type is identified. At the end of step II, a type of the received waste is sensed. Accordingly, the received waste is prepared to be transferred to a predetermined waste bin assigned to the sensed type of the received waste.

[0068] In step III, the receiving means is moved such that the received waste travels along a closed path. The closed path can correspond to a path having a common starting and end point, and / or defining an enclosed, two-dimensional shape. In addition, the closed path can be preferably located in a plane that is parallel to the ground, or, that is perpendicular to a direction of gravity.

[0069] For example, when the closed path is a circular path, the enclosed shape defined by the closed path is a circle with a predetermined radius. The receiving means is driven to move the received waste traveling along the closed, circular path, completing at least a portion of the full closed path. For example, when the received waste travels a segment of a circle, the received waste travels along the closed path of the circle.

[0070] For example, referencing Figure 1 B and the therein illustrated waste sorting device M1 , the closed path MC corresponds to a circle around the central axis MA. Thus, after the waste is received in the receiving means M3 according to step I at a first location M5, in step III, the receiving means M3 is moved such that the waste travels from the first location M5 of reception to a second location M7. The path MC along which the received waste MW travels is the closed, circular path MC. In particular, the rotation movement is obtained by controlling a drive mechanism to rotate the receiving means M3 around the central axis MA, so as to complete the displacement corresponding to the traveling distance between first location M5 and second location M7. The portion of the closed path MC between the first location M5 and the second location M7 corresponds to a segment of a circle. Thus, when the received waste travels the segment from M5 to M7, the received waste travels along the closed path MC.

[0071] Referencing the waste sorting device M1 of Figure 1B, as the received waste travels along the circular path MC, a type of the received waste is sensed by the sensing means MS according to step II. The second location M7 corresponds to a location of a predetermined waste bin assigned to, or corresponding to, the sensed type of the received waste. For example, if a type “plastic container” is sensed, the second location M7 corresponds to the location of the waste bin assigned to the type “plastic container".

[0072] In a fourth step IV, the received waste travelling along the closed path is transferred in at least one predetermined waste bin corresponding to the at least one sensed type. That is, referencing the device M1 of Figure 1B, as the received waste MW travels along closed path MC by rotation of the rotating plate M3, at the second location M7, a hatch M9 of the predetermined waste bin is opened prior to the waste reaching the second location M7. The hatch M9 guides the waste from the closed path to said bin and the waste is deposited to the corresponding predetermined waste bin via a chute MB.

[0073] The received waste does not need to be moved back and forth along the path MC, but can instead cycle through the full closed path MC in repeated iterations if needed, without impeding other waste(s) present on the closed path MC. For example, if the received waste was sensed insufficiently, the received waste can be moved so as to cycle through the full closed path MC for a repeated or prolonged sensing without obstructing movement of the remaining wastes to the respective waste container. In particular, the driving mechanism for the moving of the received waste only needs to be configured to be able to drive along the one direction of the closed path, simplifying the sorting method.

[0074] In the presently described embodiment of the method and the subsequent embodiments concerning devices according to the invention, the closed path is a circular path. However, the invention is not limited to a circular path. The closed path can for example be octagonal, rectangular, or elliptical.

[0075] A waste sorting device 1 according to a second embodiment of the invention shall now be described with reference to Figures 2A, 2B, 2C and 2D. The waste sorting device is suited for operating the above-described method according to the first embodiment.

[0076] Figure 2A represents a perspective view of the waste sorting device 1 comprising a housing 3, which is rendered partially transparent to facilitate viewing. The housing 3 is cylindrical, and the cylindrical shape of the housing 3 defines a central axis A.

[0077] In this embodiment, the device 1 stands on the ground (or floor) such that the central axis A is perpendicular to the ground and substantially parallel to a gravity direction. Thus, the central axis A follows a top-down or vertical direction that is parallel to a y-direction of a Cartesian coordinate system.

[0078] The housing 3 comprises a central shaft 5 collinear with the central axis A and traversing the space of the housing 3. The housing 3 accommodates the central shaft 5 and a rotating plate 7, which is configured as receiving means according to the invention. The rotating plate 7 is arranged surrounding the central shaft 5, with its axis centred on said shaft 5. It will be further described, in particular in reference to Figure 2B and 2E, that the rotating plate 7 is rotatably arranged around the central shaft 5. The rotating plate 7 separates the entire housing 3 into a first section 9a and a second section 9b. The first section 9a is a sorting section for the receiving incoming waste, sensing the waste and sorting the sensed waste. The second section 9b is a waste deposit section for the storing or further disposal of the sorted waste. Along the top-down direction y, the first section 9a is located on top, and the section 9b is located on the bottom, that is, on the ground side.

[0079] The portion of the housing 3 surrounding the first section 9a comprises a lid 11. The lid 11 is removable, that is, liftable, by manual activation of a mechanical and / or electrical lid opening device. Thus, the first section 9a, including the receiving means such as the rotating plate 7, are easily accessible for maintenance, reparations or cleaning. In this embodiment, the lid 11 is made of a transparent material, such as a polycarbonate or polyethylene terephthalate glycol-modified (PETG). These materials can further facilitate device maintenance by allowing real-time visual traceability of the states of the sorting progress of the waste sorting device 1 , while at the same time providing sufficient shock resistance.

[0080] In this embodiment, the opening device of the lid 11 comprises a linear actuator, an anti-rotation device 13 and a flange 62 arranged along the central shaft 5. The linear actuator drives the extension of the flange 62 and the anti-rotation device 13 keeps the lid 11 from rotating throughout the length of the extension. In particular, a control means (not shown) can activate the linear actuator to extend an internal shaft attached to the flange 62 and thus lift the lid 11 upwards in the top-down direction y. In an example, the control means can be a double-pole double-throw (DPDT) switch. Alternative opening devices, for example based on a lead screw and nut system, or a telescopic slide, can be implemented without departing from the invention.

[0081] The lid 11 comprises receiving inlet 15 in the form of an opening formed in the lid 11. The dimensions of the lid 11 are selected such that waste objects or items may be passed through inlet 15, but larger items or objects, such as filled waste bags, do not fit. For example, the receiving inlet 15 can have minimum cross-sectional length of 10cm to 15cm, and a maximum cross- sectional length of 20cm to 30cm. The receiving inlet 15 serves as waste entry or waste drop-off point from the user to the waste sorting device 1 , in particular to the rotating plate 7 configured for receiving waste.

[0082] In this embodiment, the receiving inlet 15 is located on a top surface 17a of the housing 3, such that waste is droppable into the housing 3, in particular on to the rotating plate 7. However, in alternative embodiments, the receiving inlet 15 may be located on a side surface 17b, for example a circumferential surface, of the housing 3, such that waste is directly placeable or slottable on a receiving means, in particular the rotating plate 7. In alternative embodiments, the lid 11 may have a plurality of receiving inlets, or instead have an entirely open top surface 17a and / or side surface 17b. In some variants, the receiving inlet 15 may be equipped with an inwards-leading chute to guide and smoothen the fall of the waste dropped into the housing 3.

[0083] In this embodiment, the lid 11 further comprises a plurality, here four, hooking devices 18a. Each hooking device 18a comprises a hook (not visible), and a cover 18b. The hook is passed through and rotatably attached to the lid 11 so as to have a first, hooking end inside the sorting space 23, and another end 18c outside the sorting space 23, for manual activation of the hook. The cover 18b is configured to cover the hooking end of the hook inside the sorting space, in particular such that it does not impede travel of received waste along the closed path.

[0084] The hook is manually moveable between a first, deactivated position, in which the hook does not hook, and a second, activated position, in which the hook hooks into the rotating plate 7. For example, in the first position, the hook is in a horizontal position with respect to the plane, and in the second position, the hook is in a vertical position with respect to the plane. Specifically, in the second position, the hook hooks into recesses 66 in the rotating plate. Thus, when the lid 11 is lifted by the linear actuator, and corresponding fasteners are loosened (in particular the fasteners 69 described in the following), the rotating plate is lifted with the lid. This allows for access to a tray underneath the rotating plate 7, which will be described in the following.

[0085] The waste sorting device 1 comprises a closing system 19 configured to open and close the receiving inlet 15. The closing system 19 comprises a sliding shutter 21 mounted proximally to the receiving inlet 15, and a driving device to drive the sliding shutter 21 from a first position, in which the closing system 19 is in an open state, to a second position, in which the closing system 19 is in a closed state. A control means (not shown) can control the driving of the sliding shutter 21 in accordance with the amount of the received waste. That is, when it has been determined that the amount of received waste exceeds a threshold, the shutter 21 is driven such that the receiving inlet is closed. In other embodiments of the invention, the closing system 17 may not be automatically controlled by a centralized control system but instead be manually actuatable via an external button. In even further embodiments, the receiving inlet 15 may instead be permanently open, or may have a manually moveable cover to be opened and closed by the user. Additionally, in further embodiments, the receiving inlet 15 may comprise a chute to smooth or guide dropped waste towards the receiving means.

[0086] A user can drop waste through the receiving inlet 15 on to the rotating plate 7, which receives the waste. Thus, the receiving inlet 15 and the rotating plate 7 are suited to step a) according to the invention, for example, step I of the method described above. In addition, the rotatable rotating plate 7 is suited for the transfer for the received waste along a closed path according to step III of the method described above.

[0087] In this embodiment, the waste sorting device 1 has a height H, that is, an axial length dimension in y-direction along the central axis A, configured for facilitating user access to the receiving inlet 15. The height H, for example, can be between 0.5m and 1.5m, in particular between 0.8m and 1 ,2m. The cylindrical waste sorting device 1 has a diameter D having a length dimension between 40% and 80%, in particular between 50% and 70%, of the height H of the device 1.

[0088] As can be seen from Fig. 2A, the first section 9a of the waste sorting device 1 comprises an annular sorting space 23 above the rotating plate 7. Thus, received waste rotating with rotation of the rotating plate 7 moves through the sorting space 23. The first section 9a further comprises an inner wall 25 that has a cylindrical shape matching the shape of the housing 3, and that is concentrically disposed inside the housing 3 along the central axis A. The diameter of the inner wall 25 is smaller than that of the housing 3.

[0089] The inner wall 25 comprises four hatches 27 integrated with the inner wall 25. The number of hatches, however, is not limited to four, and any number of hatches can be provided to suit the needs. The hatches 27 have the shape of cylindrical segments in order to seamlessly form parts of the cylindrical inner wall 25. In Figure 2A, all of the four hatches 27 are in a closed state. As will be further described in the following, the hatches 27 open radially outwards into the sorting space 23 to guide waste into respective deposit spaces 29. The respective deposit spaces 29 are separated by respective separating structures 31 to avoid interference or mixing between types of waste guided into separate deposit sections.

[0090] A sensing device 33 comprising a camera 35 and a microwave sensor 37 is disposed on a dedicated portion 39 of the inner wall 25. The dedicated portion 39 is fixed and does not belong to any of the hatches 27. The sensing device 33 is arranged such that the camera sensor 35 and the sensor 37 face the sorting space 23 and the waste received on the rotating plate 7. Thus, waste traveling along the closed path with the rotation of the rotating plate 7 pass through the camera sensor 35 and microwave sensor 37 and can be sensed. In the present embodiment, the sensing device 33 is arranged at a different location along the closed path than the receiving inlet 15. This is advantageous as it prevents any external interference of the sensors by the user, and / or the incoming wastes. Thus, a more reliable property detection by the sensors 35, 37 can be achieved.

[0091] The sensing device 33 is suited to operate step b) according to the invention, for example step II of the first embodiment described above.

[0092] Figure 2A further represents the second section 9b of the housing in a partially transparent fashion to facilitate viewing of the interior of the housing. The second section 9b is subdivided into a number of sections, in the present embodiment five pie-shaped sections 41a, 41 b, 41c, 41 d, 41 e corresponding to angular slices surrounding the central shaft 5. At least two, here four 41 a, 41 b, 41b and 41 d, of the five pie-shaped sections 41a-41e are configured as waste bins for the storage of sorted waste.

[0093] Waste bags can be arranged in the pie-shaped sections 41a-41d to protect the housing 3 and facilitate discharge of sorted waste. The internal space of each of the pie-shaped sections 41a- 41 e is accessible by manually actuating door handles 43 of respective openings of the housing 3. Alternatively to the waste bags, removable pie-shaped waste boxes can be arranged in the pieshaped sections 41a-41 b.

[0094] In alternative arrangements, the waste bins are not pie-shaped but custom-shaped, in accordance with varying shapes of the housing and with varying volume requirements for each type of waste and for the components to be held.

[0095] In this embodiment, the fifth pie-shaped section 41 e of the second section 9b accommodates electrical components and wiring needed for the operation of the device (not shown on Figure 2A), in particular one or more processors configured as control means according to the invention. In addition, the fifth section 41 e can accommodate a battery for a battery powered waste sorting device 1 , and / or one or more power adapters and power transformers for an external power source of the waste sorting device 1. Further, the fifth section 41 e can accommodate a liquid container for collection of liquid, for example received via a tray as will be further explained with respect to the figures 2B to 2E. In this embodiment, the fifth section 41 e further accommodates a wireless transmission and reception connectivity device for a real-time remote control and remote data collection of the device 1.

[0096] The pie-shaped sections 41a-41e may be separated from each other by partition walls. In this embodiment, two partition walls 42a, 42b separate the pie-shaped section 41 e from the other sections 41a-41d. Specifically, partition wall 42a separates pie-shaped sections 41 e and 41a, and partition wall 42b separates pie-shaped sections 41 e and 41 d. The partition walls 42a, 42b serve to physically separate and the pie-shaped sections 41 a-41d for waste and the pie-shaped section 41 e accommodating electrical devices.

[0097] Figure 2B represents an exploded view of the waste sorting device 1 , in particular of the first section 9a of the device 1. Figure 2B separately represents the lid 11 with the receiving inlet 15 formed therein, the closing system 19, the rotating plate 7 and the second section 9b comprising the pie-shaped sections 41a, 41b, 41 d, 41 e. As shown on Figure 2B, the pie-shaped sections configured as waste bins 41 a-41 d comprise deposit openings 45 formed in the respective top, that is, upwards facing, sides of the pie-shaped sections 41 a-41 e. The deposit openings 45 allow a passage of waste, in particular a dropping of waste, from the respective deposit spaces 29 (not visible on Figure 2B), into the waste bins, when the received waste has travelled along the closed path is passed to the intended destination. In addition, optionally, the deposit openings 45 can allow for waste bags to be arranged, for example hanged, in the pie-shaped sections 41 a-41 d, for the reception of dropped waste.

[0098] Figure 2B further shows that the waste sorting device 1 comprises a support frame 47 and a tray 49. The rotating plate 7 is provided over the tray 49, and the tray 49 is provided over the support frame 47. The support frame 47 has the shape of a flat annular plate and is mounted on top of the second section 9b and fixed by a plurality of frame fasteners 51 to the pie-shaped sections 41a- 41 e. A plurality of notches 53 and a traversing slot 55 are formed in the support frame 47. The notches 53 serve as fittings for corresponding keys or bumps (not visible) formed on a downwards facing surface 57 of the tray 49. The keys and fittings are fit together in a key-and-slot arrangement, when the tray 49 is mounted on the support frame 47.

[0099] Shaft fasteners 61 are provided to fix a flange 62 arranged at the top extremity of the central shaft 5 to the lid 11. The central shaft is surrounded by the deposit spaces 29 corresponding to the respective hatches 27 and waste bins 41 a-41 d.

[0100] The tray 49 has the shape of an open cylinder and is thus annular in the plane, matching the annulus shape of the rotating plate 7 and of the support frame 47. Specifically, the outer diameter of the annulus shape of the tray 49 matches the outer diameter of the annulus shape of the rotating plate 7, but the rotating plate has a smaller inner diameter due to the fitting of the bearing. Thus, the tray 49 is configured to receive liquid from the rotating plate 7, for example liquid being discharged from received waste or liquid arriving on the rotating plate simultaneously or together with received waste. A liquid outlet 59 is formed in the tray 49 matching the shape of the traversing slot 55. The support frame 47 and the tray 49 are mounted together on top of the second section 9b such that the liquid outlet 59 and the traversing slot 55 matched together over the fifth section 41 e. Any liquid received together with the waste is thus disposed into the fifth section 41 e and drained out of the device 1 or stored in a liquid container held in the fifth section 41 e.

[0101] In addition, the support frame 47 comprises a turntable bearing 63 arranged along an inner circumference of the annulus-shaped support frame, protruding in the x-z plane parallel to the ground towards the inside of the support frame 47 annulus space. The turntable bearing 63 is configured to be attached to the rotating plate 7 to establish a rotatability of the rotating plate 7. Specifically, one first part (64a, see Figure 2E) of the turntable bearing 63 is attached to the support frame 47, while the second moving part (64b, see Figure 2E) of the turntable bearing 63 is attached to an inner annular portion 65a of the rotating plate 7. In particular, the turntable bearing 63 is attached to the rotating plate 7 such that the turntable bearing 63 extends along and matches an inside circumference of the tray 49.

[0102] In a variant to the turntable bearing 63, the rotating plate 7 can be guided by a track and carriage system and can be rested on a plurality of roller bearings provided along inner and outer circumferences of the support frame 47.

[0103] Figure 2C represents a planar view of the waste sorting device 1 from the top downward, that is, in the direction opposed to the y-axis. In Figure 2C, the lid 11 is removed, and one of the four hatches 27 is in an open state, which will be described later. Figure 2C shows the housing 3, the central shaft 5, the rotating plate 7, the inner wall 25, the sensing device 33 arranged on the dedicated portion 39 of the inner wall 25, and the hatches 27.

[0104] As already indicated with reference to Figure 2A, each hatch 27 opens to a respective deposit space 29, the four deposit spaces 29 being separated from each other by four separating structures 31. The bottom opening of each deposit space 29 matches a corresponding deposit opening 45 of a respective waste bin, such that waste guided into the deposit space 29 drops into said waste bin. In Figure 2C, for illustrative purposes, only hatch 27’ is in an opened state. As can be seen, the hatch 27’ has opened from the inner wall 25 onto the sorting space 23 above the rotating plate 7, that is, the hatch 27’ has opened onto the closed path. Specifically, the hatch 27’ has opened by rotating around a hinge 67, the hinge axis of the hinge 67 being parallel to the central axis A. The hatch 27’ has opened around the hinge 67 in the same sense of rotation as the primary sense of rotation R of the rotating plate 7. Correspondingly, when closing, the hatch 27’ rotates around the hinge 67 in the sense of rotation opposed to the sense of rotation R.

[0105] The rotating plate 7 comprises the inner annular portion 65a, and an outer annular portion 65b. The inner annular portion 65a comprises turntable fasteners 69 for the fixing of the moving part (64b) of the turntable bearing 63 to the rotating plate 7. The outer annular portion 65b comprises the recesses 66 arranged along the outer periphery of the rotating plate 7. The recesses 66 can receive the hooks of the hooking device 18a for the locking of the lid 11 to rotating plate 7.

[0106] A plurality of drainage holes (71 , cf. Figures 2D and 2E) is formed in the rotating plate 7, and distributed over the entirety of the surface of the rotating plate. The drainage holes are omitted from Figures 2A, 2B and 2C but visible on Figures 2D and 2E. The drainage holes cross the entire thickness of the rotating plate 7 to ensure that any liquid flowing on the surface of the rotating plate 7 is disposed to the tray 49 without contaminating the received waste.

[0107] Figure 2C further shows the sensing device 33 arranged on the dedicated inner wall portion 39 such that it faces towards the sorting space 23. A printed circuit board (PCB) 73 comprising processing and signalling devices for control, data management and processing of the sensing device 33 is also provided on an inside, that is a side facing the central shaft 5, of the dedicated inner wall portion 39. Underneath the sensing device 33 and the dedicated inner wall portion 39, that is, downwards against the y-direction, an electric motor fixing structure 74 fixes an electric motor 83, which will be further described in reference to Figure 2E. A wiring hole 72 allows for electric wires to be passed from the fifth section 41 e to the linear actuator to power the lifting of the lid 11. Further wiring holes are provided in proximity to the PCB 73 to establish a connection with powering devices or further control devices held therein.

[0108] Figure 2D represents a close-up partially sectioned view of the waste sorting device 1 . Specifically, the rotating plate 7 is sectioned, and the view is focused on the tray 49 and the turntable bearing 63. The tray 49 is installed on the support frame 47, side-by-side with a first part 64a of the turntable bearing 63, such that turntable bearing 63 matches the inner circumference of the tray 49. As mentioned before, the rotating plate 7 is attached to the turntable bearing 63 and comprises recesses 66 extending along an outer periphery of the rotating plate 7. Further, the rotating plate 7 is provided with a plurality of drainage holes 71 distributed in a custom pattern to facilitate the draining of liquid arriving on the rotating plate 7 to the tray 49. The rotation of the rotating plate 7 generates centrifugal forces on the arriving liquid, which facilitates the movement of the liquid into the drainage holes 71.

[0109] The custom pattern is a pattern configured to maximize a through-flow of liquid arriving on the rotating plate without impeding stability and cost-effectiveness of the rotating plate 7. For example, as illustrated in Figures 2D and 2E, the custom pattern is present along entire the angular (azimuthal) extension of the rotating plate 7. In a radially outward portion, the drainage holes 71 of the pattern are oblong and curved. The oblong excavations are curved stronger towards the radial extremity of the rotating plate 7, to retrieve liquid pushed outwardly by centrifugal forces more efficiently. In a radially inward portion, the drainage holes 71 of the pattern are oblong and radially linear. In a variant, the patterns can be a pattern of uniformly distributed circular drainage holes, for example a pattern of circular excavations linearly aligned in radial direction with respect to the central shaft 5.

[0110] The rotating plate 7 further comprises a wiping device 75. In the view of Figure 2D, the wiping device 75 is also sectioned. The wiping device comprises rubber blade portion 77a and a rack portion 77b, holding the blade portion 77a. The wiping device 75 is firmly fixed to the rotating plate 7 by wiper bolts 79, fastened through holes in the rotating plate 7 into nuts, or threaded inserts, in the rack portion 77b. The blade portion 77a of the wiping device 75 wipes, that is, pushes, the liquid in the tray 49 as the rotational plate 7 rotates in the sense of rotation R, towards the liquid outlet 59 into which the liquid is drained.

[0111] Figure 2E represents a close-up cross-sectional view of the waste sorting device 1 focused on a region of intersection of the inner wall 25 and the rotating plate 7. Figure 2E shows that the turntable bearing 63 is arranged side-by-side with the tray 49 over the support frame 47, and that the rotating plate 7 is provided over the tray 49 and over the turntable bearing 63, to which the rotating plate 7 is attached.

[0112] As previously mentioned, the rotating plate 7 is attached to the turntable bearing 63 by means of the turntable fasteners 69 bolted through the inner annular portion 64b. Specifically, while a first part 64a of the turntable bearing 63 is fixed to the support frame 47 and thus immobilized, the rotating plate 7 is attached to a second part 64b that is mobile with respect to the first part 64a. The rotating plate 7 can be attached to the second part 64b so as to shield or envelop the first part 64a.

[0113] A portion 81 of an inner circumference of the inner annular portion 65a of the rotating plate 7 is toothed, so as to form an internal gearwheel. Correspondingly, an electric motor 83 equipped with an external gearwheel 85 is arranged in the waste sorting device 1 such that the gearwheel 85 is at the same height along the y direction as the portion 81 of the rotating plate 7, and the cogs of the gearwheel 85 are meshed with the teeth of the portion 81 of the rotating plate 7. When the electric motor 83 is powered, the rotating plate 7 rotates around the central shaft 5 (not visible on Figure 2E).

[0114] The electric motor fixing structure 74, also described with reference to Figure 2A, fixes the electric motor 83 underneath the sensing device 33 and the dedicated portion 39 of the inner wall 25. The electric motor 83 can be fixed in any inner space created by the separating structures 31 , such that said motor 83 does not impede a guiding of received waste through the deposit space 29.

[0115] The electric motor fixing structure 74 fixes the electric motor 83 in the housing 3 such that the rotational axis of the motor 83 is parallel to the central axis A. In addition, the electric motor fixing structure 74 fixes the electric motor 83 in the housing 3 such that the gear wheel 85 rotates in a plane parallel to the plane of the rotating plate 7 and orthogonal to the central axis A.

[0116] In some embodiments, a plurality of such electric motors 83 can be provided to drive the rotating plate 7, for example in each of the spaces created by the separating structures 31. In some embodiments, instead of using a gear arrangement, the electric motor 83 can be equipped with a direct drive wheel driving the rotating plate 7, or driving the mobile portion of the turntable bearing 63 to which the rotating plate 7 is attached, through friction.

[0117] In this embodiment, the rotating plate 7 is driven by the electric motor 83 to rotate in the sense of rotation R. Thus, waste passed through the receiving inlet 15 is received by the rotating plate and transferred along the closed path corresponding to the rotation of the rotating plate 7. The closed path thus corresponds substantially to a segment of a circumference of the rotating plate 7. Received waste rotating with the rotating plate 7 may be subject to centrifugal forces stochastically causing minor positional shifts of waste, without impeding the travel of the waste along the closed path.

[0118] As the received waste is transferred along the closed path on the rotating plate 7, said waste travels by the sensing device 33, which senses the type of the waste. Based on the type of the waste, the hatch 27, 27' corresponding to the waste bin assigned to the sensed type opens outwardly (see 27' in Figure 2C) into the sorting space 23 over the closed path, and thus guides the received waste into the corresponding waste bin, by virtue of the continued rotation of the rotational plate 7 and the closing movement of the hatch 27, 27'. In this way, waste is sorted swiftly and simply in one compact device. The sorting bin 1 has the advantage of being less mechanically complex than known prior art solution, in requiring fewer mechanical components to operate the sorting of the waste. For example, in comparison to conveyor belt solutions, the present sorting bin 1 does not require head pulley, tail pulley, belt tensioners, or carrying idlers.

[0119] In addition, the power (torque) output of the electric motor 83 is more efficiently transferred to the movement of the received waste. Indeed, the parallel arrangement of the electric motor 83 and the rotating plate 7 translate the rotational frequency of the motor 83 to a higher angular velocity for the movement of the received waste. The waste sorting device 1 is particularly suited for sorting waste according to the method of the first embodiment and thus benefits from its advantages of sorting waste with increased efficiency and compactness.

[0120] In an optional variant of the second embodiment, illustrated in Figure 2F and described in the following, the waste sorting device 1’ comprises all the features of the waste sorting device 1 and further a cleaning system C1. The cleaning system C1 comprises a pipe C3 fixed to the central shaft 5. Specifically, the pipe C3 is mounted on the central shaft 5 by a bolt fixation C5 at a first end C3a of the pipe C3, such that the pipe C3 extends radially outwards. In other words, the pipe C3 extends in a plane x-z orthogonal to the central shaft 5 away from the central shaft 5 towards the housing 3. The pipe C3 is mounted to the central shaft 5 at a top extremity portion 5a in y- direction of the central shaft 5, such that the pipe C3 does not interfere with an opening of a hatch 27, 27’, a sensing of the sensing device 33, or a rotating of the rotating plate 7.

[0121] At a second end of the pipe opposed to the first end C3a, a portion C3b of the pipe C3 comprises a plurality of ejection outlets C7 for the ejection of at least one cleaning substance. The cleaning substance is supplied to the pipe C3 by a supply system (not visible) and ejected from the pipe C3 through the ejection outlets C7. Advantageously, the cleaning substance supply comprises pumping means, and ejection of the cleaning substance is pressurized by the pumping means.

[0122] The ejection outlets C7 face towards the rotating plate 7, and preferably are oriented in a direction CC parallel to the central axis A and orthogonal to the plane x-z of the closed, circular path. The ejection outlets C7 are arranged in the portion C3b such that their respective ejection streams cover a maximal, in particular the entire, cross-sectional length CL of the rotating plate 7.

[0123] The pipe C3 may comprise a plurality of internally separated channels for a separate supply of different cleaning substances, such as cleaning liquid and / or liquid water and / or steam and / or air. In one example, the cleaning system C1 may first supply pressurized cleaning liquid and a stream of pressurized cleaning liquid ejected towards the rotating plate 7, and towards the received waste thereon. Then, pressurized air may be supplied and a stream of pressurized air ejected towards the rotating plate 7, and towards the received waste thereon.

[0124] The pressurized cleaning liquid stream cleans the rotating plate 7, and the pressurized air stream displaces remaining cleaning liquid towards a drainage hole, such as the drainage holes 71 , and into the tray 49. Thus, as the rotating plate 7 is rotated around the central shaft 5 and the received waste travels along the closed, circular path, as previously described, the entire circumferential area of the rotating plate 7 can be easily and effectively cleaned. This can improve the reliability of the sensing of the type of the received waste, as the sensors of the sensing device 33, here the camera 35 and the microwave sensor 37, can obtain more reliable data about the received waste transferred along the closed, circular path.

[0125] In a variant of the cleaning system C1 , the first end C3a of the pipe C3 can be mounted rotatably on the central shaft 5 so as to rotate around the central axis A. In this variant, a control means, such as the centralized control system, can drive the rotation of the pipe C3 in accordance with a manual or automatic input and thus further enhance the effectiveness of the cleaning of the rotating plate 7.

[0126] In a further, optional variant of the second embodiment, illustrated in Figure 2G and described in the following, the waste sorting device 1" comprises all the features of the waste sorting device 1 and a separating means S1 . In the variant of Figure 2G, the separating means S1 comprises two paddles S3a, S3b, mounted in the sorting space 23. The paddles S3a, S3b are both mounted on an inside surfaces of the first section 9a so as to protrude on the closed path defined by the rotation of the rotating plate 7. Here, the paddle S3a is hinged on an inner surface portion S11a of a circumferential side of the lid 11 , so as to be rotatable around an axis parallel to the central axis A. The paddle S3b is hinged on an outer surface S39a of the dedicated surface portion 39 so as to be rotatable around an axis parallel to the central axis A.

[0127] The inner surface portion of the lid 11 on which the paddle S3a is hinged, and the outer surface of the dedicated surface portion 39 on which the paddle S3a is hinged, are mutually opposed or face-to-face, with respect to the closed path. Here, the paddles S3a, S3b are mounted so as to be angularly displaced with respect to the central axis by a displacement distance SD1. Alternatively, the paddles can be mounted so as to face each other along a same radial direction with respect to the central axis A. Preferably, the paddles S3a, S3b are mounted along the closed path in proximity to the reception point on the closed path corresponding to the receiving inlet 15. Preferably, the paddles S3a, S3b are mounted with an angular displacement SD2 in rotation direction R with respect to the reception point on the closed path corresponding to the receiving inlet 15.

[0128] The paddles S3a, S3b are made of a rigid plastic resistant to degradation and easy to decontaminate. Further, the hinging of the paddles S3a, S3b is sprung-loaded, such that the paddles S3a, S3b are displaceable with respect to the hinge, but returning to a resting position. The resting position of the paddles S3a, S3b can for example be orthogonal to the surfaces on which they are mounted. Thus, received waste travelling with the rotating plate 7 along the closed path, will be slowed by encountering the paddles S3a, S3b and while overcoming the resistance of the spring-loading of the paddle hinges. Once received waste has passed the paddle(s), S3a, S3b, the received waste accelerates back to the rotational speed of the rotating plate 7, while consecutively received waste is in turn slowed by the paddles S3a, S3b. Thus, the separating means S1 provides a predetermined distance between two consecutively received wastes.

[0129] In a variant, instead of being sprung-loaded, the paddles can be stiff and arranged at an angle, preferably between 30° and 60°, in particular 45°, with respect to the closed path, and angularly displaced with respect to the central axis A. In particular, the paddles can be arranged so as to guide the waste traveling on the closed path into an S-shaped movement. In a further variant, instead or in addition to the paddles, the separating means can comprise a curtain of flexible blinds, arranged hanging from an inner surface of the lid along a line crossing the closed path, for example orthogonally. A corresponding slowing and separating effect can thus be achieved by these variants.

[0130] Thus configured separating means allow for two consecutively received wastes to be separated by the friction of the separating means. The structural detail of the separating means determines the predetermined distance between two consecutively received wastes, facilitating the individual sensing of the received wastes and individual transferring thereof in predetermined waste bins is facilitating, improving the waste sorting reliability.

[0131] A waste sorting device 100 according to a third embodiment of the invention shall now be described with reference to Figures 3A, 3B, 3C and 3D. The waste sorting device 100 differs from the waste sorting device 1 of the second embodiment with respect to a first section 109a for the sorting of received waste, in particular the configuration of the receiving means, and therefore only said first section 109a will be described. Any features not described, in particular the features relating to the second section for the depositing of sorted waste, correspond to those described with respect to the second embodiment. Figure 3A shows a perspective view of the first section 109a of a waste sorting device 100. As in the second embodiment, a transparent, removable lid 111 having a receiving inlet 115 is arranged on a top side in y direction of the waste sorting device 100, and envelops the first section 109a. In one variant embodiment, a mechanical leaf shutter that can be controlled between and open and shut states can be provided as closing system for the receiving inlet 115. In another variant, the closing system 19 of the second embodiment could also be implemented in this embodiment, and vice-versa.

[0132] The waste sorting device 100 comprises a plurality, here four, receptacles 108, configured as receiving means according to the invention. Each receptacle 108 is positioned in a respective receptacle compartment 110 having the shape of a cubic box with an open top and bottom surface. In alternative embodiments, the receptacle compartment 110 can have a different shape, for example a pie shape. Specifically, each receptacle 108 is attached, in particular assembled, to a respective hinge shaft 112. The hinge shafts 112 and the receptacles 108 will be further described with reference to Figures 3B to 3D. The hinge shafts 112 are arranged in slots 114 formed in side surfaces of the receptacle compartments 110. More specifically, each hinge shaft 112 passes through two, mutually opposed slots 114 formed on two opposing side walls 116a, 116b of the respective receptacle compartment 110. The receptacles 108 are thus rotatably hinged in the receptacle compartments 110.

[0133] For each receptacle 108, a dedicated receptacle motor 118 is mounted on an outside surface of the side wall 116a, in proximity of a respective slot 114. The dedicated motor 118 is attached to the hinge shaft 112. The control means (not shown) is configured to drive the dedicated receptacle motor 118 to rotate the attached hinge shaft 112 between a first position and a second position. The first position is configured for the receiving of the waste, the sensing of the waste and the transferring of the waste along the closed path. The second position is configured for the depositing of the received waste in the predetermined waste bin. In Figure 3A, all receptacles 108 are in the first position.

[0134] The waste sorting device 100 also comprises a rotating plate 107. In this third embodiment, the rotating plate 107 is not configured as receiving means as described concerning the rotating plate 7 of the second embodiment. Instead, the rotating plate 107 supports the receptacle compartments 110, and moves the receptacles compartments 110 with their respective receptacles 108. The rotating plate 107 transfers the supported receptacle compartments 110 along the closed path in the sense of rotation R, as described with respect to the first embodiment. The hinge shafts 112 define respective hinge axes N (only one axis N showed on Figure 3A, further identified in Figures 3C-3D). The hinge axes N are arranged along a direction parallel to a direction tangential to the closed path. Thus, they do not intersect with an inner circular area of the circle defining the closed path. In particular, the hinge axes N do not intersect with the inner circular surface while rotating with the rotating plate 107, which liberates space for other tasks.

[0135] In this embodiment, a sensing device (not visible in the figures) is arranged in each of the receptacles 108. Alternatively, the sensing device can be attached to an interior surface of the receptacle compartments 110. The sensing device can comprise one or more sensors to sense the type of waste received in the respective receptacle(s). Thus, multiple sensing steps and also transferring steps can be performed simultaneously. Additionally or alternatively, each receptacle 108 is able to sense a type of the waste received in the respective receptacle 108. The sensing of the received waste is facilitated, as the received waste is lodged in the receptacle and does not move with respect to the receptacle.

[0136] A receptacle compartment 110 according to the third embodiment is represented in more detail in Figure 3B. The receptacle compartment 110 comprises a receptacle 108, a dedicated receptacle motor 118, and a hinge shaft 112. In this embodiment, the cross-section of the receptacle 108 is L-shaped, wherein the corner 120 of the L-shape is configured to hold received waste. In variants of this embodiment, the cross-section of the receptacle 108 could have a U shape, a V-shape, a semi-circular shape, or a convex shape suitable for receiving waste. The hinge shaft 112 are arranged in two mutually facing slots 114 formed two mutually opposing side walls 116a, 116b of the receptacle compartment 110. The receptacle 108 is attached, in particular bolted, to the hinge shaft 112 disposed in the slots 114.

[0137] The dedicated receptacle motor 118 is configured to rotate the receptacle 108 around the hinge axis N between a first and a second position, further described in Figures 3C and 3D. In addition, the dedicated receptacle motor 118 is configured to raise and lower the receptacle 108 by the hinge shaft 112 along the direction L defined by the slots 114.

[0138] Figure 3C represents a cross-sectional view of a receptacle compartment 110 of the waste sorting device 100, in which the respective receptacle 108 is in the first position. As can be seen here as well, the cross-section of the receptacle 108 is L-shaped, wherein the corner 120 of the L-shape facilitates the receiving and holding of waste. Further, as shown, the hinge shaft 112 is passed through a slot 114 formed in the side wall 116b. In the first position, the receptacle 108 is rotated around the hinge axis N defined by the hinge shaft 112 such that the corner 120 of the receptacle 108 faces convexly upwards, that is, in the y- direction, to facilitate the receiving of the waste and a stable transferring of the received waste along the closed path. In addition, the hinge shaft 112 is arranged at the very bottom, according to the y-direction, of the slots 114.

[0139] Figure 3D represents a cross-sectional view of a receptacle compartment 110 of the waste sorting device 100, in which the respective receptacle 108 is in the second position. As can be seen, the receptacle is rotated by more than 90°, in particular more than 100°, around the hinge axis N, with respect to the first position of Figure 3C. In this second position, a side 122 of the receptacle 108 acts as a chute guiding, in particular dropping, the received waste into a waste bin located underneath the receptacle 108 through the rotating plate 107. For this purpose, the rotating plate 107 is provided with corresponding openings, or cut-out sections or recesses, at least in the respective areas underneath the receptacles 108. Thus, a direct depositing of waste from the receptacle compartment 110 to a waste bin located underneath is facilitated. The rotation R’ of the hinge shaft 112 is driven by the dedicated receptacle motor 118 described with respect to Figure 3A.

[0140] Additionally, concurrently with the rotation of the receptacle 108 around hinge axis N, the dedicated receptacle motor 118 has moved the shaft translationally along the direction L defined by the slot 114, in particular in the y-direction parallel to the central axis A. This smoothens the dropping of the waste via the chute 122 and prevents the L-shaped receptacle 108 from exceeding the open top and bottom surfaces of the receptacle compartment 110. Thus, additional compactness can be achieved in the first section 109a.

[0141] The waste sorting device 100 is suited for transferring and sorting of the waste is simplified in that the transfer of the received waste into the respective predetermined waste bin, in particular the dropping of the waste, is eased and more reliable. In addition, this embodiment for multiple simultaneous sensing steps to be implemented in parallel, as each receptacle having received waste comprises sensing means.

[0142] A waste sorting device 200 according to a fourth embodiment of the invention shall now be described with reference to Figure 4. As shown on Figure 4 the waste sorting device 200 comprises a plurality, here four, receptacles 208, 208’ in which waste is received, a type of the received waste is sensed, and the received waste transferred waste along the closed circular path corresponding to a circle around central axis A defined by a central shaft 205. For illustrative purposes, in Figure 4, three 208of the four receptacles 208, 208’ are in the first position corresponding to the first position of the third embodiment. The fourth receptacle 208’ is in an intermediate rotational state between the first position and a second position, the second position corresponding to the second position of the third embodiment.

[0143] The waste sorting device 200 differs from the waste sorting device 100 in that the receptacles 208, 208’ rotate around hinge axes N’ that intersect with the central axis A. Thus, the receptacles 208, 208’ are not located in receptacle compartments that support the rotation of the hinge shafts 212. Instead, the hinge shafts 212 are attached on a first, proximal, end to dedicated motors 218 mounted on the central shaft 205, and supported on the other, distal, end by a hinge fixation 204 of the housing 203. This reduces the number of received components and allows for a distribution of the received waste in the receptacles 208 directly on the housing 203 and the central shaft 205.

[0144] In contrast to the third embodiment, the receptacles 208, 208’ are rotated around hinge axes N’ that intersect with the central axis A. Correspondingly, the hinge shafts 212 can be supported by the central shaft 205 and the housing 203, which advantageously distributes the weight of the received waste and increases the maximum mass of waste receivable per receptacle.

[0145] According to a fifth embodiment of the invention, the waste sorting device may comprise a plurality of receptacles like the receptacles 108, 208 of the third and fourth embodiments. However, in contrast, the receptacles of the fifth embodiment do not rotate around a hinge axis N, N’. Instead, a bottom surface of the receptacle is tilted to guide waste into a predetermined waste when the received waste has travelled along the closed path. In a first, default position, the bottom surface is maintained to hold the received waste as it travels along the closed path, for example in a positional arrangement parallel to the ground. In a second, tilted position, the bottom surface is tilted such that the waste glides or slides down from the bottom surface into the predetermined waste bin. For example, the bottom surface can be configured as a trap door. The control means can control a switching of the trap door between an open and a shut state. Thus, in the second position, the bottom surface of the receptacle is configured as a chute to facilitate the depositing, in particular dropping, of the received waste, in the predetermined waste bin corresponding to the sensed type.

[0146] A further, sixth embodiment of the invention shall now be described with reference to Figure 5. Figure 5 illustrates a waste sorting device 300 corresponding to a variant of the waste sorting device 1 of the second embodiment of the invention. Undescribed features of the waste sorting device 300 are assumed to be identical or analogous to those described above in relation the waste sorting device 1 of the second and / or previous embodiment. Thus, the waste sorting device 300 is a waste sorting device for sorting waste according to the method of the invention, preferably the method of the first embodiment and Figure 1. The waste sorting device 300 comprises a housing 301 defining a central axis A’, the housing 301 being boxshaped, specifically cuboid. Preferably, the housing 301 has a substantially cubic shape, such that height, length and width extensions of the cubic shape of the waste sorting device 300 do not differ more than 10% from each other. Even more preferably, the housing 301 is an exactly cubic shape. This arrangement allows for more cost-efficient manufacturing, and additionally facilitates the arrangement of components, for example a plurality of waste bins, preferably cubes waste bins, inside the housing 301 ,

[0147] A square top surface 303 of the housing 301 is open and covered by a lid 305. The lid 305 comprises a shaft 307 crossing straight through the square top surface 303, as well as two rectangular lid portions 309, 311 attached to the shaft 307 so as to cover, together, the entirety of the open top surface 303. Preferably, one or both of the lid portions 309, 311 are made of a transparent material for improved visual access to maintenance-relevant elements of the waste sorting device 300.

[0148] The lid portion 309 is attached rotatably hinged to the shaft 307 so as to be angularly movable with respect to the shaft 307 from a closed to and open position. For example, here, in a closed position, the lid portion 309 extends orthogonally to the gravity direction G, and in an open position, the lid portion 309 extends parallel to the gravity direction G.

[0149] The lid 305 comprises a key lock rigidly fixed to the lid portion 309, and configured to be lockable with a mating locking portion of the housing 301 when the lid portion 309 is in a closed position. This locking arrangement is mechanically simple, in particular in comparison to for example the lid 21 comprising a linear actuator as in the second embodiment, and thus more cost-efficient and durable. In the present embodiment, the other lid portion 311 is fixed, for example fastened or form-fit, to the housing 301 . However, in further variants, the lid portion 311 , may be movable and lockable with respect to the shaft 307 and the housing 301 like the lid portion 309. In particular, the lid portion 311 may be rotatably hinged to the shaft 307 and lockable to and / or unlockable from the housing 301 by a further key lock.

[0150] The housing 301 houses the rotating plate 7 of the second embodiment, which includes the drainage holes 71 as known from the second embodiment. Here, the rotating plate 7 is additionally surrounded by a stationary collar-type cylindrical wall 313 configured to prevent waste received on the rotating plate 7 from leaving the rotating plate 7, for example due to centrifugal forces. The cylindrical wall 313 can in particular be used to attach an alternative or additional sensing means, such as a camera.

[0151] The lid portion 309 comprises a waste item receiving inlet 315 and a waste liquid inlet 317. Optionally, the lid portion 311 may also comprise a further waste item receiving inlet 315 and / or a waste liquid inlet 317. Here, the waste item receiving inlet 315 is an open through-hole formed in the lid portion 309. The waste liquid inlet 317 comprises a drainage area 319 configured to receive poured waste liquid and opening into a drainage tube 321 . The drainage tube 321 flows the poured waste liquid towards into the housing 301 , for example on the rotating plate 7 or adjacently thereto, thus preventing accidental forceful splashing of waste liquid inside the housing 301.

[0152] The rotating plate 7 is otherwise arranged in the housing 301 in an analogous fashion to its arrangement in the housing 3. For example, said arrangement of the rotating plate 7 includes (not visibly on Figure 5) the turntable bearing 63 and the electric motor 83 for the driving of the rotation of the rotating plate 7 around its central axis A’. The housing 301 also houses waste bins, sensing means and control means as previously described.

[0153] Instead of having a dedicated tray provided underneath the rotating plate 7, the housing comprises a liquid outflow device 323. The liquid outflow device 323 is a contiguous base plate arranged underneath the rotating plate 7 so as to receive all liquid drained through the drainage holes. For this purpose, the liquid outflow device 323 is inclined, preferably arced convexly, with respect to a horizontal direction orthogonal to the gravity direction G, so as to guide all received waste liquid towards at least one liquid outlet hole 325. In addition, the liquid outflow device 323 is sealingly fit to inner surfaces 327 of the housing 301 so as to catch and guide all liquid towards the liquid outlet hole 325. The liquid outflow device 323 is formed from a thermoplastic polyester, preferably polyethylene terephthalate glycol (PETG), in particular being resistant to UV, oils, acids, alkalis and greases.

[0154] As shown on Figure 5, in this embodiment, the rotating plate 7 surrounds and rotates around a central structure 329 having a polygonal, in particular an octagonal shape in the plane orthogonal to the gravity direction G, wherein the central structure 329 is concentrically disposed around the central axis A’ of rotation of the rotating plate 7. The central structure 329 comprises four hatch doors 331a, 331 b, 331c, 331 d corresponding to four equivalent portions of the octagonal outline of the central structure 329, arranged rotationally symmetrically with respect to the central axis A’. As represented on Figure 5, hatch door 331a is in an open state and hatch doors, 331b-331d are in a closed state. In contrast to the hatch doors 9 of the second embodiment, the hatch doors 331a-331d are not arc-shaped but instead substantially U-shaped. Specifically, the hatch doors 331a-331d are trapezoidally shaped, wherein the long side of the trapezoid shape is open and waste travelling on the closed path can be received there-through. The hatch doors 331a-331d are arranged such that an angle of impact a of waste travelling on the closed path on an opened hatch door is reduced compared to arced hatch doors, in particular is smaller than 90°, preferably smaller than 60°. Thus the catching of waste traveling on the closed path by the hatch doors 331a-331d and the guiding thereof towards the central structure 329 upon closing of the respective hatch door 331a-331d is smoothened.

[0155] The opening and closing of each hatch door 331a-331d onto the closed path is driven by a respective hatch drive motor 333. Each hatch drive motor 333 is mounted directly on top, that is, on a side closer to the lid 305, of a respective hatch door 331a-331d. In this way, the driving mechanism connecting the drive motors 333 to their respective hatch doors 331a-331d can be configured simpler and is less at risk of being encumbered by accidentally obstructing waste or parts. The hatch doors 331a-331d and collar-type cylindrical wall 313 are preferably made from stamped and bent metal sheets, in particular of a same metallic material. Here, they are manufactured from anodised aluminium for improved recycling and corrosion-resistance properties. In the embodiments described above, the closed path along which the waste is transferred has the shape of a fully closed circle. However, in variants of the embodiment, the closed path may have a different closed shape, for example an elliptical shape or a polygonal shape. For example, in variants with a polygonally shaped path, the waste may be guided into a predetermined waste bin arranged at each side of the polygon.

[0156] Although each aspect of the invention has been described in relation to particular examples, the invention is not limited to the described embodiments, and numerous alterations to the disclosed embodiments can be made without departing from the scope of this invention. The individual features included in the various embodiments can be freely combined with each other to obtain further embodiments or examples in line with the spirit of the invention.

[0157] Reference numerals

[0158] 1 , 1 ’, 1" waste sorting device according to a second embodiment

[0159] 3 housing

[0160] 5 central shaft

[0161] 5a a top extremity portion of the central shaft

[0162] 7 rotating plate 9a first section 9b second section lid anti-rotation device receiving inlet a, 17b surfaces of the housing a,b,c hooking device, hook cover, hook actuation end closing system sliding shutter sorting space inner wall , 27’ hatch deposit space separating structure sensing device camera sensor microwave sensor dedicated portion of the inner wall a-41e pie-shaped sections a, 42b partition walls door handles deposit openings support frame tray frame fasteners notches traversing slot downwards facing surface of the tray liquid outlet shaft fasteners flange turntable bearing a, 64b first and second part of the turntable bearinga, 65b inner resp. annular portion of the rotating plate recesses for the hooks hinges of the hatches turntable fasteners drainage hole wiring hole for wiring the linear actuator PCB electric motor fixing structure wiping device a blade portion of the wiping device b rack portion of the wiping device wiper bolts toothed inner circumference electric motor gearwheel 0 waste sorting device according to a third embodiment7 rotating plate 8 receptacle 9a first section 0 receptacle compartment I lid 2 hinge shaft 114 slot

[0163] 115 receiving inlet

[0164] 116a, b opposing side walls of a receptacle compartment

[0165] 118 dedicated receptacle motor

[0166] 120 corner of a receptacle

[0167] 122 side of a receptacle configured a chute

[0168] 200 waste sorting device according to a fourth embodiment

[0169] 203 housing

[0170] 204 hinge fixations

[0171] 205 central shaft

[0172] 208, 208’ receptacle

[0173] 212 hinge shafts

[0174] 218 dedicated motors

[0175] 300 waste sorting device according to a sixth embodiment

[0176] 301 housing

[0177] 303 top surface

[0178] 305 lid

[0179] 307 shaft

[0180] 309 movable lid portion

[0181] 311 fixed lid portion

[0182] 313 cylindrical wall

[0183] 315 waste item receiving inlet

[0184] 317 waste liquid inlet

[0185] 319 drainage area

[0186] 321 drainage tube

[0187] 323 liquid outflow device

[0188] 325 liquid outlet hole

[0189] 327 inner surface of the housing

[0190] 329 central structure

[0191] 331a, 331b, 331c, 333d hatch door

[0192] 333 hatch drive motora angle of impact of travelling waste x,y,z Cartesian directions

[0193] A, A’ central axis

[0194] D diameter of the device

[0195] G gravity direction

[0196] H height of the device

[0197] I, II, III, IV steps of the method

[0198] N, N’ hinge axis

[0199] R primary rotational direction

[0200] R’ rotation of the receptacle

[0201] L raising direction of the receptacle

[0202] M1 waste sorting device

[0203] M3 receiving means

[0204] M5 first location

[0205] M7 second location

[0206] M9 hatch

[0207] MS sensing means

[0208] MA central axis

[0209] MB chute

[0210] MC closed path

[0211] MW received waste

[0212] C1 cleaning system

[0213] C3 pipe C3a first end of the pipe

[0214] C3b portion of the pipe at the second end

[0215] C5 bolt fixation

[0216] C7 ejection outlet

[0217] CC direction parallel to the central axis

[0218] CL cross-sectional length of the rotating plate

[0219] S1 separating means

[0220] S3a, S3b paddles

[0221] S11a inner surface of the lid

[0222] S39b outer surface of the dedicated surface portion

[0223] SD1 angular displacement between the two paddles

[0224] SD2 angular displacement between the separating means and the receiving inlet

Claims

CLAIMS1 . A waste sorting method, comprising the steps of: a) receiving one or more types of waste in a receiving means; b) sensing at least one type of the received waste; c) moving the receiving means such that the received waste travels along a closed path, in particular, a circular path; and d) transferring the received waste traveling along the closed path in at least one predetermined waste bin corresponding to the at least one sensed type.

2. The method according to claim 1 , wherein step b) comprises one or more of the steps of: b1) detecting a property of the received waste; b2) determining a shape and / or a material of the received waste; and b3) identifying a type of the received waste based on the determined shape and / or material.

3. The method according to claim 2, wherein step b1), b2) and / or b3) includes using one or more of the following sensing means: a camera, an inductive sensor, a capacitive sensor, an ultrasound sensor, an infrared spectroscopy sensor, a microwave spectroscopy sensor.

4. The method according to claim 2 or 3, wherein step b2) and / or step b3) includes a processing step using machine learning model.

5. The method according to any one of claims 1 to 4, wherein step b) is performed before or during step c) is performed.

6. The method according to any one of claims 1 to 5, wherein step a) includes receiving the one or more types of waste via a receiving inlet, and controlling the opening / closing state of the receiving inlet.

7. The method according to any one of claims 1 to 6, wherein step d) includes opening of a hatch of the predetermined waste bin prior to the waste reaching said bin such that the hatch guides the waste from the closed path to said bin.

8. The method according to any one of claims 1 to 7, wherein step d) includes depositing of the waste to the corresponding predetermined waste bin via a chute.

9. A waste sorting device, in particular for sorting waste according to the method of any one of claims 1 to 8, comprising: a receiving means configured to receive one or more types of waste, a sensing means configured to sense at least one type of the received waste, at least two waste bins, each waste bin being assigned to one type of waste, and a control means configured to move the receiving means such that the received waste travels along a closed path, in particular a circular path, and to transfer the received waste traveling along the closed path in at least one waste bin corresponding to the at least one sensed type.

10. The waste sorting device according to claims 9, further comprising a housing, in particular a cylindrical or cuboid housing, wherein the housing accommodates the receiving means, the sensing means, and the waste bins, and wherein the housing defines a central axis of the device.

11. The waste sorting device according to claim 10, wherein the waste bins surround the central axis.

12. The waste sorting device according to claim 11 , wherein the waste bins are arranged equidistantly from the central axis, in particular wherein the bins are pie-shaped or cuboid and / or arranged rotationally symmetrically around the central axis.

13. The waste sorting device according to any one of claims 9 to 12, further comprising a removable lid, in particular a transparent lid, wherein the removable lid comprises a receiving inlet for a receiving of waste.

14. The waste sorting device according to claim 13, wherein the receiving inlet comprises a closing system, and the control means is configured to control a switching between an open state and a shut state of the closing system, in particular in accordance with an amount of the received waste.

15. The waste sorting device according to any one of claims 9 to 14, wherein the sensing means is configured to detect a property of the received waste, and / or determine a shape and / or material of the received waste, and / or identify a type of the received waste based on the determined shape and / or material.

16. The waste sorting device according to any one of claims 9 to 15, wherein the sensing means comprises at least one of a camera, an inductive sensor, a capacitive sensor, an ultrasound sensor, an infrared spectroscopy sensor, a microwave spectroscopy sensor.

17. The waste sorting device according to any one of claims 9 to 16, wherein the sensing means comprises a processor configured to use a machine learning model for the determination of a shape and / or material, and / or the identification of a type, of the received waste.

18. The waste sorting device according to any one of claims 9 to 17, wherein the sensing means is configured to sense the at least one type of the received waste before or during the traveling of the received waste along the closed path.

19. The waste sorting device according to any one of claims 10 to 18, wherein the receiving means comprises one or more receptacles, each receptacle being moveable between a first position and a second position, the first position being configured to receive the one or more type of waste, and the second position being configured to transfer, in particular to drop, the received waste in the corresponding waste bin via a chute.

20. The waste sorting device according to claim 19, each receptacle being movable, in particular rotatable, with respect to a hinge axis between the first position and the second position.

21. The waste sorting device according to claim 20, wherein the hinge axes intersect with the central axis.

22. The waste sorting device according to claim 20, wherein the hinge axes are arranged along a direction parallel or tangential to the closed path.

23. The waste sorting device according to any one of claims 19 to 22, wherein the sensing means comprises one or more sensors, and each of one or more receptacles is provided with one or more sensors configured to sense the type of waste received in the respective receptacle(s).

24. The waste sorting device according to any one of claims 10 to 18, wherein the receiving means comprises one or more receptacles, each receptacle being having a bottom surface tiltable between a first position and a second position, the first position being configured to hold the one or more type of waste in the receptacle, and the second position being configured to transfer, in particular to drop, the received waste in the corresponding waste bin.

25. The waste sorting device according to any one of claims 10 to 18, wherein the receiving means comprises a rotating plate with its axis centred on the central axis and configured to receive the one or more waste, and the control means is configured to rotate the rotating plate such that the received waste is transferred along the closed path.26 The waste sorting device according to claim 25 further comprising a tray, wherein the rotating plate is provided over the tray, and the tray is configured to receive liquid from the rotating plate.

27. The waste sorting device according to claim 26, wherein the tray comprises a liquid outlet, and the rotating plate further comprises a wiping device configured to wipe liquid in the tray due to a rotation of the rotational plate.

28. The waste sorting device according to claim 26 or 27, wherein the rotating plate further comprises a plurality of drainage holes configured to flow the liquid from the rotating plate to the tray.

29. The waste sorting device according to any one of claims 25 to 28, wherein the sensing means comprises a sensing device facing the received waste on the rotating plate and configured to sense the type of the received waste.

30. The waste sorting device according to any one of claims 25 to 29, further comprising at least two hatches, each hatch being assigned to a respective waste bin,wherein the control means is further configured to control the opening of each hatch prior to the received waste reaching the respective waste bin such that said hatch guides the received waste from the closed path to said waste bin.

31. The waste sorting device according to any one of claims 25 to 30, further comprising a separating means configured to provide a predetermined distance between two consecutively received wastes.

32. The waste sorting device according to claim 9 to 31 , further comprising a cleaning system configured to clean the receiving means, the cleaning system comprising at least one nozzle configured to eject at least one cleaning substance, preferably two pressurized cleaning substances, the nozzle being arranged along the closed path.

33. The waste sorting device according to claim 32, wherein the control means is further configured to move the nozzle along the closed path.

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