Reverse vending machine and diverter

Abstract

A reverse vending machine 100 comprising a machine entrance through which an object can be inserted, a conveyor 200 moving away from the machine entrance, a movable guard 310, a movable housing 302 downstream of the conveyor, the housing comprising a housing entrance 304, a holding volume 306 and housing exit 308, and a compactor, wherein the movable housing and guard collectively define a receiving configuration and a tipping configuration, wherein in the receiving configuration the housing entrance is aligned with the conveyor, and in the tipping configuration the housing exit is in a tipping orientation while the movable guard is located to create an obstruction between the machine entrance and housing exit. A diverter comprising a rotatable housing mountable downstream of a reverse vending machine with a housing entrance, holding volume and housing exit, and an axis of rotation which passes through the holding volume.

Description

FIELD OF THE INVENTION Embodiments of the present invention relate to a reverse vending machine and a diverter for the reverse vending machine. BACKGROUND TO THE INVENTION A reverse vending machine is a vending machine that accepts waste, usually recyclable waste, in exchange for a financial reward or a token. This simultaneously incentivises recycling and disincentivises littering. Reverse vending machines operate automatically and are generally unsupervised, only being accessed by on-site staff for routine emptying and cleaning, and by technicians for periodic servicing. A reverse vending machine may comprise a compactor which should be kept inside the machine and away from human hands. Reverse vending machines utilise upstream sensors, such as light curtains, as a defence to detect human arms from entering the reverse vending machine. The compactor can then be shut off. The reliance on light curtain sensors, with a high accuracy, does however significantly affect the cost of the reverse vending machine. Furthermore, no sensors are 100% reliable. Some reverse vending machines rely on a very long distance from the entrance to the compactor, longer than a single arm span of a human. BRIEF DESCRIPTION OF VARIOUS EMBODIMENTS OF THE INVENTION According to various, but not necessarily all, embodiments of the invention there is provided a reverse vending machine comprising: a machine entrance through which an object can be inserted; a conveyor to move the object away from the machine entrance; a movable guard; a movable housing downstream of the conveyor, the movable housing comprising a housing entrance, a holding volume, and a housing exit; and a compactor, wherein the movable housing and movable guard collectively define a receiving configuration and a tipping configuration, wherein in the receiving configuration the housing entrance is aligned with the conveyor enabling the conveyor to insert the object through the housing entrance into the holding volume of the movable housing, and wherein in the tipping configuration the housing exit is in a tipping orientation to tip the object down out of the holding volume through the housing exit for compaction of the object by the compactor, while the movable guard is located to create an obstruction located between the machine entrance and the housing exit. An advantage of the obstruction is that a user cannot insert their arm through the machine entrance and through the movable housing down to the compactor while the object (e.g., drinks container) is being tipped, because a continuous free space path from the machine entrance to the compactor does not exist in either configuration. This firstly obviates the need for costly, complex, and energy-consuming sensors solely for the purpose of detecting an inserted arm. This further obviates the need for the path length from the machine entrance to the compactor to be much longer than a human arm, allowing the reverse vending machine to be compact and for the movable housing to tip the objects straight down into the compactor. Also, the compactor can run continuously without stopping between each inserted object. According to various, but not necessarily all, embodiments of the invention there is provided a reverse vending machine comprising: a machine entrance through which an elongate object can be inserted; a conveyor to move the elongate object away from the machine entrance; a movable guard; a movable housing downstream of the conveyor, the movable housing comprising a housing entrance, a holding volume, and a housing exit; and a compactor, wherein the movable housing and movable guard collectively define a receiving configuration and an ejecting configuration, wherein in the receiving configuration the housing entrance is aligned with the conveyor enabling the conveyor to insert the elongate object through the housing entrance into the holding volume of the housing, wherein in the ejecting configuration the housing exit is positioned to eject the elongate object out of the holding volume through the housing exit for compaction of the elongate object by the compactor, while the movable guard is located to create an obstruction located between the machine entrance and the housing exit, and wherein the holding volume of the movable housing in the receiving configuration is dimensioned to guide the elongate object inserted by the conveyor towards an orientation transverse to an axis of the conveyor. An advantage of the transverse orientation (e.g., upright and / or sideways) of the elongate object (e.g., drinks container) is that the movable housing can be made compact in the depth dimension, while still allowing for very long objects (e.g., wine bottles or bulk soft drinks containers) to be received from the conveyor. It is of course possible that a sufficiently short container, such as an aluminium drink can, could settle in the holding volume at any orientation. However, longer containers cannot fit within the holding volume if they remain coaxial with the axis of the conveyor, and will tip towards an upright orientation as they fall from the conveyor into a bottom of the movable housing in the holding volume. A further advantage is that if the holding volume is dimensioned to guide the elongate object inserted by the conveyor towards an upright orientation, the width of the compactor can be reduced. This is because the object is ejected into the compactor in a generally upright orientation rather than on its side. This allows two narrow compactors to be accommodated side-by-side for multiple waste streams. The upright orientation therefore allows the reverse vending machine to be compact, while being compatible with a wide range of object sizes. The movable guard in this context ensures that when the movable housing is tilted or moved to a position where the elongate object is ejected from the movable housing, there is no continuous free path space path from the machine entrance to the compactor. According to various, but not necessarily all, embodiments of the invention there is provided a diverter for a reverse vending machine, the diverter comprising: a rotatable housing mountable downstream of a conveyor of the reverse vending machine, the rotatable housing comprising a housing entrance, an elongate holding volume, and a housing exit; and an axis of rotation which passes through the elongate holding volume. This advantageously reduces motor torque requirements even when large objects are held in the holding volume, because the concentration of mass away from the axis of rotation is minimised to reduce rotational inertia. This further allows for a compact design and minimises the impact forces on a human hand inserted into the diverter. The above embodiments can be combined. The optional features below apply to any one or more of the above embodiments. Optionally, in the receiving configuration the housing exit faces away from the compactor, and in the ejecting configuration the housing exit faces towards the compactor. Optionally, in the receiving configuration the housing exit faces upwardly away from the compactor, and in the ejecting configuration the housing exit faces downwardly towards the compactor. Optionally, in the receiving configuration the housing entrance is aligned with the conveyor, and in the ejecting configuration (e.g., tipping configuration) the housing entrance is misaligned with the conveyor. Optionally, in the receiving configuration the movable guard is misaligned with the conveyor, and in the ejecting configuration the movable guard is aligned with the conveyor to create the obstruction. Optionally, the movable guard is located downstream of the conveyor and upstream of the holding volume of the movable housing. Optionally, the movable guard is alongside the housing entrance. Optionally, the movable guard is approximately parallel to the housing entrance. Optionally, the movable housing is elongate and has a closed end onto which the object from the conveyor can land, and an opposite open end defining the housing exit. Optionally, the separation of the open and closed ends defines a length of the movable housing which is greater than a depth of the movable housing. Optionally, the closed end is blocked by an end wall, such as a perforated end plate. The perforations allow liquid runoff. Optionally, in the receiving configuration the open end faces away from the compactor, and in the ejecting configuration the open end faces towards the compactor. Optionally, in the receiving configuration the open end is above the 6 closed end, and in the ejecting configuration the closed end is above the open end. Optionally, the movable housing has a tapering wall so that the closed end has a smaller cross-sectional area than the open end. Optionally, the tapering wall is located to guide the object away from the housing entrance. This advantageously functions as a slide for some objects, and helps to align the object (e.g., can, bottle) with a downstream compactor. Optionally, the movable housing has a depth from the housing entrance to a rear wall of the housing, of less than 35cm or less than 30cm or less than 27cm. Elongate objects, including those that are longer than the depth of the housing, rotate towards an upright and / or sideways orientation while falling from the conveyor into the holding volume. Optionally, the depth is greater than 20cm. Optionally, the holding volume is elongate. Optionally, the housing entrance is proximal to one end of the holding volume. Optionally, in the receiving configuration the movable housing is in an upright orientation in which the elongate holding volume extends downwardly from the housing entrance. Optionally, in the receiving configuration the movable housing is diagonally orientated. Optionally, the diagonal orientation is selected from the range 5 to 40 degrees from vertical. An advantage is that the length of the housing is greater than if it was vertical, within the same motion envelope, in the scenario where the centre of motion / axis of rotation of the housing is laterally offset from the conveyor. Optionally, a control system of the reverse vending machine is configured to actuate the movable guard, and optionally the movable housing, into an initial configuration between reverse vending sessions, wherein in the initial configuration the movable guard is located to create the obstruction located between the machine entrance and the housing exit. Optionally, the initial configuration is the ejecting configuration. Optionally, the movable housing is part of a diverter. Optionally, the diverter is actuatable in first and second opposite directions to sort different objects into different compactors and / or storage volumes. Optionally, the movable housing is rotatable by an electric motor of the reverse vending machine. Optionally, the electric motor is a direct drive electric motor. Optionally, the movable housing is rotatable in clockwise and anti-clockwise directions from the receiving configuration to sort different objects into different compactors and / or storage volumes. Optionally, the movable housing and movable guard are connected to each other as a single assembly. Optionally, the movable housing and the movable guard are both parts of the diverter. Optionally, the movable housing is off-centre relative to the axis of rotation. Optionally, the diverter further comprises a counter weight to align a centre of mass of the diverter with the axis of rotation. This advantageously reduces motor torque requirements, to reduce the impact force to a user’s hand if they insert their hand into the moving diverter. Optionally, the movable housing and guard collectively define a centre of mass offset from an axis of rotation of the diverter, and the diverter further comprises a counter weight to align a centre of mass of the diverter with the axis of rotation. This advantageously reduces motor torque requirements, to reduce the impact force to a user’s hand if they insert their hand into the moving diverter. Optionally, the counterweight is mounted to the movable guard. Optionally, the guard is a guard plate and the counter weight is mounted to the guard plate. Optionally, an axis of rotation of the diverter passes through the holding volume. This advantageously reduces motor torque requirements even when large objects are held in the holding volume. Optionally, the axis of rotation is approximately horizontal enabling the movable housing to tip objects into the compactor. Optionally, the movable guard is a guard plate. Optionally, the housing entrance is accessed by a through-aperture in the guard plate. Optionally, the movable housing is rotatable and the guard plate is shaped to continuously create the obstruction for all orientations of the movable housing except when the housing entrance is aligned with the conveyor. Optionally, the guard plate is disc shaped. Optionally, the movable housing comprises a folded plate mounted to the guard plate, wherein the folded plate defines three sides of the holding volume, and wherein the guard plate defines the fourth side of the holding volume. Optionally, edge flanges of the folded plate are mounted to the guard plate. An advantage is an assembly that is significantly easier and cheaper to make than prior diverters, allowing for the mass production of reverse vending machines. BRIEF DESCRIPTION OF THE DRAWINGS For a better understanding of various examples of embodiments of the present invention reference will now be made by way of example only to the accompanying drawings in which: FIG. 1 schematically illustrates a front elevation of an example reverse vending machine; FIG. 2 schematically illustrates a rear elevation of an example reverse vending machine with the rear panel removed; FIG. 3 schematically illustrates a front perspective view of an example conveyor and diverter; FIG. 4 illustrates a rear perspective view of an example diverter; FIG. 5 illustrates a rear elevation view of an example diverter in a receiving configuration above a pair of compactors; FIG. 6 illustrates a rear elevation view of the diverter of FIG. 5 rotated into a first tipping configuration to tip an object into a first compactor; and FIG. 7 illustrates a rear elevation view of the diverter of FIG. 5 rotated into a second tipping configuration to tip an object into a second compactor. DETAILED DESCRIPTION OF VARIOUS EMBODIMENTS OF THE INVENTION The Figures illustrate a reverse vending machine (RVM 100) for recycling, the RVM 100 comprising a diverter 300 in accordance with some, but not necessarily all embodiments of the invention. Some embodiments of the invention are applicable to other uses, not restricted to RVMs. FIG. 1 illustrates a front elevation of the RVM 100 seen by the user. The user inserts objects in exchange for tokens, currency, or other benefits. The RVM 100 is optionally a compact design when viewed in top-down plan view, for example less than 1.5 metres squared. Such a size is suitable for thoroughfares or limited size spaces in retail or entertainment venues, among other things. The size is similar to that of standard vending machines. Many of the internal components described herein have been specifically adapted for the compact dimensions of the RVM 100. However, the features disclosed herein are also applicable to larger RVMs. The RVM 100 crushes / compacts inserted objects to maximise the number of objects that can be stored therein. The RVM 100 in FIG. 1 comprises a front door 104 (lockable closure) or doors 104 locked in a closed position by a door lock 106. The RVM 100 further comprises a machine entrance 112, which is shown as a hole in a front door 104 or panel of the RVM 100, at a height of over 120cm about the ground. FIG. 2 schematically illustrates a rear elevation of the RVM 100, with its rear panel removed to expose its chassis 102 and some internal components. A control system 116 and sensor system 118 are schematically shown. The control system comprises one or more processors. In a non-limiting use case, the control system 116 and the sensor system 118 of the RVM 100 are configured to accept plastic drink bottles of varying sizes up to and including two litre bottles or even three litre bottles, and are also configured to accept aluminium drink cans. The plastic drink bottles and aluminium drink cans are stored separately within the RVM 100. The sensor system 118 can comprise a weight sensor 1184, an optical sensor 1186, and / or a metal object sensor 1182. When a user inserts a drinks container through the machine entrance 112 of FIG. 1 onto a conveyor belt 200 (shown in FIGS. 1 or 3), the drinks container is scanned by the sensor system 118 and transported rearwardly / downstream away from the machine entrance 112 by the conveyor belt 200 if it is accepted. The conveyor belt 200 defines a horizontal or mostly horizontal axis along which the conveyor belt 200 is configured to move objects away from the machine entrance 112 and eject objects into the diverter 300 (FIG. 3). Acceptance means that the control system 116 receives signals from the sensor system 118 indicative of characteristics of an object, processes the sensed information to determine whether the characteristics satisfy numerical and / or geometric criteria, and if so, outputs a control signal to operate a belt actuator (not shown) in the form of an electric motor, to control the conveyor belt 200 to transport the object (putative drinks container) downstream for compacting and storing. If the object is rejected, it is returned to the user. Rejection means that the control system 116 determines that the sensed information does not satisfy at least one of the numerical and / or geometric criteria, and therefore outputs a second control signal to operate the belt actuator to control the conveyor 200 to transport the object upstream, back towards the machine entrance 112. The user then takes the object back. For example, an object may be rejected if a weight sensor 1184 (FIGS. 3-4) of the sensor system 118 indicates that it is too heavy, which could be because that the drinks container has excessive liquid inside, or that the drinks container is a glass bottle, or that an incorrect type of object has been inserted. FIG. 2 schematically illustrates an automated sorting system 114 behind the conveyor belt 200 to receive the drinks container from the conveyor belt 200, and sort aluminium drink cans and plastic drink bottles into separate recycling streams. This is illustrated and described in more detail with respect to FIGS. 3-7. FIG. 2 further schematically illustrates compactors 130. The aluminium drink cans are dropped by the automated sorting system 114 into a first compactor 130A, and the plastic drink bottles are dropped by the automated sorting system 114 into a second compactor 130B. The first and second compactors 130A, 130B are shown alongside each other and beneath the automated sorting system 114. FIG. 2 also shows that a storage space 108 is located beneath the first and second compactors 130A, 130B. Storage carriers (not shown) such as bin bags or wheelie bins may be located beneath the compactors 130A, 130B, to catch 12 compacted drinks containers. Compacted plastic drink bottles fall into a different storage carrier than compacted aluminium drink cans. The RVM 100 can comprise a frame 110 such as bin top tubes, to locate and / or support the tops of bin bags or wheelie bins in alignment with the first and second compactors 130A, 130B. If wheelie bins or slidable bins are provided, the low height of the floor 109 of the storage space 108 is useful, because it is generally flat and less than 5cm above the bottom of the RVM 100. In another example, the storage carriers are in a location other than below the compactors 130A, 130B, and a suitable conveying means is provided to transport the compacted drinks containers to the storage carriers. According to another embodiment, the RVM 100 has only one compactor 130 and therefore only one storage carrier. FIG. 3 illustrates a front perspective view of an example diverter 300 and its position relative to the conveyor belt 200, FIG. 4 illustrates a rear perspective view of the diverter 300, and FIG. 5 illustrates a rear elevation view of the diverter 300. An elongate object 1 such as a drinks container is represented in dashed lines. The object 1 is lying longitudinally on its side along the conveyor belt 200. The object 1 may be an aluminium drink can or plastic drink bottle, for example. The object 1 is usually inserted by hand into the RVM 100 in this orientation, and the conveyor belt 200 may have a concave shape to ensure and maintain this orientation of the object 1. In other examples, a pair of conveyor belts alongside each other are tilted to define the concave shape. When the control system 116 has determined via the sensor system 118 that the object 1 on the conveyor belt 200 is acceptable, the control system 116 controls the belt actuator to eject the object 1 in a downstream direction into the diverter 300. FIG. 5 shows the RVM 100 comprising a conveyor exit portal 120 in the form a through-hole in an upstanding plate, separating the conveyor belt 200 and diverter 300 into separate compartments. The illustrated exit portal 120 is behind / downstream of the conveyor belt 200 and in front of the diverter 300. The object 1 is ejected through the conveyor exit portal 120 and into the diverter 300. The diverter 300 is a single movable assembly comprising a guard 310 (guard barrier) and a housing 302, each described further below. The illustrated guard 310 comprises or consists of a disc-shaped guard plate 324, which is disc-shaped for reasons described later; other shapes or nonplate designs are possible. The guard plate 324 is located downstream of the conveyor and upstream of a holding volume 306 of the housing 302. FIG. 5 shows the guard plate 324 being parallel to the conveyor exit portal 120 of the RVM 100 and situated behind the conveyor exit portal 120. At the approximate centroid of the guard plate 324, which is below and laterally offset from the conveyor belt 200, is an axis of rotation 312 about which an electric motor 322 is configured to rotate the guard plate 324 in both clockwise and anti-clockwise directions. As shown, the disc-shaped guard plate 324 may be in a generally upright orientation so the axis of rotation 312 is approximately horizontal. The guard plate 324 is therefore arranged as a vertical wheel. The guard plate 324 comprises a front surface 342 at its front side facing the conveyor belt 200, and an opposite rear surface 344 at its rear side facing away from the conveyor belt 200. The illustrated electric motor 322 is a direct drive electric motor mounted to the centroid of the guard plate 324 without an intervening mechanism, or alternatively an intervening mechanism may be included. The illustrated electric motor 322 is mounted to the front surface 342 of the guard plate 324, but the specific mounting location may vary. The guard plate 324 has a through-aperture 332, in this case an edge slot or alternatively an inner hole, sized to enable the object 1 ejected from the conveyor belt 200 to pass through the aperture 332 to the rear side of the guard plate 324. The guard plate 324 is rotatable into a receiving orientation, shown in FIGS. 3-5, in which its aperture 332 is aligned with the downstream end of the conveyor belt 200 and with the conveyor exit portal 120. This orientation allows the object 1 to pass through the guard plate 324 and into the diverter 300. If the guard plate 324 is at another or any other orientation such that the aperture 332 is misaligned with the downstream end of the conveyor belt 200, the object 1 ejected from the conveyor belt 200 will bounce off the front surface 342 of the guard plate 324 and remain on the conveyor belt 200. The front surface 342 of the guard plate 324 blanks the conveyor exit portal 120 of the RVM 100, so the exit of the conveyor belt 200 is blocked. The housing 302 of the diverter 300 is a three-sided folded plate 328 which is mounted to the rear side of the guard plate 324, specifically to the rear surface 344 of the guard plate 324. The rear surface 344 of the guard plate 324 defines the fourth side of the housing 302. The folded plate 328 is folded at least twice to form left, right, and rear sides of a holding volume 306 for holding the object 1 ejected from the conveyor, the rear surface 344 of the guard plate 324 providing the fourth, front side of the holding volume 306. To prevent the object 1 from falling through, and end wall 318 is provided at one end 314 of the housing 302. To access the holding volume 306, the housing 302 comprises a housing entrance 304, which is an aperture 332 or open face of the housing 302 that is parallel to and fixedly aligned with the aperture 332 in the guard plate 324, so that both the aperture 332 in the guard plate 324 and the open face of the housing 302 define a through-hole enabling the object 1 from the conveyor belt 200 to enter the holding volume 306 of the housing 302. The illustrated folded plate 328 comprises at least two parallel bends to make it three-sided. The opposite side edges 334, 336 of the folded plate 328, extending parallel to the bends, each comprise a further bend to define an elongate edge flange 330. The folded plate 328 is mounted to the rear surface 344 of the guard plate 324 via the edge flanges 330. Specifically, the edge flanges 330 and guard plate 324 each comprise fixing holes which receive mechanical fasteners securing the edge flanges 330 to the rear surface 344 of the guard plate 324. The folded plate 328 also has first and second end edges 338, 340 connecting the opposite side edges 334, 336. The first end edge 338 defines an open end 316 of the housing 302, the open end 316 providing a housing exit 308 for the object 1 to be tipped out of the housing 302 into one of the compactors 130. The second end edge 340 is located at the opposite end of the housing 302 which is a closed end 314 closed by the end wall 318. The end wall 318 is shown in FIG. 4 in the form of a perforated end plate. The object 1 in the holding volume 306 will land on the end wall 318 and be retained by the housing 302. FIG. 4 shows an end of the object 1 resting on the end wall 318. The end wall 318 may connect the three sides of the folded plate 328 and is located proximal to the second end edge 340 of the folded plate 328. The end wall 318 is perforated to prevent liquids from pooling in the holding volume 306. Alternatively, the end plate may not be perforated. The holding volume 306 of the housing 302, whose boundaries are the folded plate 328, rear surface 344 of the guard plate 324, and end wall 318, is elongate. That is, the length of the housing 302 measured by the separation between the open end 316 of the housing 302 and the end wall 318, is greater than the depth or width of the housing 302 measured between the front, left, right, and rear sides. Some non-limiting example dimensions are given. The average length of the housing 302 may be selected from the range 25 to 45cm. The average depth of the housing 302 from the rear surface 344 of the guard plate 324 to the rear side of the folded plate 328 may be may be selected from the range 15 to 35cm and less than the average length. The average width of the housing 302 between the left and right sides of the folded plate 328 may be selected from the range 10 to 20cm. These dimensions may be claimed separately or in combination. FIG. 4 further illustrates the housing 302 having an internal tapering wall 320 at its front side facing the guard plate 324, to guide the end of the object 1 away from the housing entrance 304. Since the housing entrance 304 is at the front of the housing 302, between the open end 316 (housing exit 308) and end wall 318, the internal tapering wall 320 is a front wall between the housing entrance 304 and the closed end 314 of the housing 302. The tapering wall 320 at the front side results in the cross-sectional area, for example the depth of the housing 302, decreasing towards the closed end 314. The tapering wall 320 17 advantageously helps to prevent the end of large objects (e.g., neck of a bottle) from protruding out of the housing entrance 304. Further, the left and right sides of the tapering wall 320 may interconnect the left and right sides of the folded plate 328. A first end of the tapering wall 320 may be connected to the rear surface 344 of the guard plate 324, at a location proximal to an edge of the housing entrance 304 and aperture 332 of the guard plate 324. The other opposite end of the tapering wall 320 may be connected to a front side of the end wall 318. A single folded plate 328 may define both the end wall 318 and the tapering wall 320. The illustrated guard plate 324 and housing 302 are formed substantially or entirely by plates - only three plates in the illustrated example. The plates may be thin and / or formed from plastics materials lighter than steel, to minimise the rotational inertia of the diverter 300. A low rotational inertia reduces the torque required by the electric motor 322 and / or allows rapid acceleration. A further benefit is that if a user inappropriately inserts their arm through the machine entrance 112 and inserts their hand or fingers through the housing entrance 304 as the diverter 300 is rotating or about to rotate, the force of any collision with the finger will be minimal and the human finger will easily be able to overcome the torque of the electric motor 322. To further reduce the rotational inertia, the concentration of mass away from the axis of rotation 312 is minimised by overlapping the housing 302 with the axis of rotation 312 as shown in FIG. 5. The axis of rotation 312 extends through the holding volume 306 of the housing 302. Therefore, the mass of the housing 302, and any objects contained within the housing 302, are close to the axis of rotation 312. The axis of rotation 312 intersects the rear side of the folded plate 328, between the left and right sides. An axle may be mounted to the rear side of the folded plate 328, coaxially with the axis of rotation 312. Another observation particularly apparent from FIG. 5 is that the housing 302 is off-centre relative to the axis of rotation 312. That is, the length axis / centreline of the elongate housing 302, extending in a straight line between its open and closed ends 316, 314, does not intersect the axis of rotation 312, and is therefore tangential to the axis of rotation 312. This radial offset from the axis of rotation 312 means that housing 302 extends in a direction corresponding to a chord of a circle. To maximise the average length of the housing 302, the orientation of the housing 302 is optimised without protruding beyond the ends of the guard plate 324. The housing 302 is mounted in a certain orientation best shown in FIG. 5. Specifically, when the housing entrance 304 and corresponding aperture 332 in the guard plate 324 are in the orientation shown in FIG. 5, aligned with the conveyor belt 200 (hidden from view) to receive an object 1, the housing 302 is diagonally tilted off-vertical. The illustrated diagonal tilt angle of the length axis of the housing 302 is about 26 degrees from vertical. However, the angle may be selected from the range 5 to 40 degrees from the vertical. In another embodiment, the housing 302 is vertical when ready to receive an object 1 as shown in FIG. 5. A further effect of maximising the housing length is that each of its front corners may be proximal to the circumference of the disc-shaped guard plate 324. If the housing 302 is offset as described above, this means that one lateral side of the housing 302 (e.g., right side in FIG. 5) will be longer (longer chord length) than the other parallel lateral side of the housing 302 (e.g., left side). Consequently, the length of the housing 302 varies across its width. Consequently, the housing 302 has a trapezoidal shape between its open and closed ends 316, 314, the open and closed ends 316, 314 of the housing 302 being non-parallel. Consequently, the end wall 318 and the opposite housing exit 308 are non-parallel end faces of the housing 302. In another embodiment, the housing 302 is in the shape of a regular rectangle or any other appropriate shape. As a result of the offsetting of the housing 302 from the axis of rotation 312, the collective centre of mass of the housing 302 and guard plate 324 are offset from the axis of rotation 312. Therefore, FIG. 5 shows a counterweight 326 secured to the rear surface 344 of the guard plate 324, to the opposite side of the guard plate 324 than the axis of rotation 312, to align the centre of mass of the housing 302 and guard plate 324 with the axis of rotation 312. This further minimimses motor torque requirements. The operating orientations of the diverter 300 are now disclosed, with reference to FIGS. 5-7. The diverter 300 has an upright receiving configuration shown in FIGS. 3-5, to receive the object 1 from the conveyor belt 200. The diverter 300 has a first ejecting configuration (first tipping configuration) shown in FIG. 6, for ejecting (tipping) down objects into the first compactor 130A. Since there is a second optional compactor 130B, the diverter 300 also has a second ejecting configuration (second tipping configuration) shown in FIG. 7, for ejecting (tipping) down objects into the second compactor 130B. Since the illustrated diverter 300 is a rotatable assembly, the receiving configuration is referred to below as a receiving orientation. The first tipping configuration is referred to below as a first tipping orientation. The second tipping configuration is referred to below as a second tipping orientation. The orientations shown may be targeted by the control system 116. The control system 116 is configured to operate the electric motor 322 to target the receiving orientation, and is configured to operate the electric motor 322 to target the first tipping orientation, and is configured to operate the electric motor 322 to target the second tipping orientation. Firstly, FIGS. 3-5 show the receiving orientation of the diverter 300. In the receiving orientation, the housing 302 is at an orientation such that the frontal housing entrance 304 and corresponding aperture 332 in the guard plate 324 are aligned with the conveyor belt 200, defining a frontal through-hole for receiving the drinks container 1 ejected from the conveyor belt 200. The blocking front surface 342 of the guard plate 324 is misaligned with the conveyor belt 200, so as not to block the drinks container 1. At the receiving orientation, the open end 316 of the housing 302 defining the housing exit 308 is above the closed end 314 where the end wall 318 is located. The open end 316 faces upwardly away from the compactors 130, and the closed end 314 faces downwardly towards the compactors 130. The holding volume 306 of the housing 302 is dimensioned to define a drop of more than ten centimetres or more than 15 centimetres between the housing entrance 304 and the closed end 314 of the housing 302, so the drinks container 1 will fall a substantial distance. The drop causes the drinks container 1 to rotate towards an upright orientation. This is because the drinks container 1 is ejected from the conveyor belt 200 in a horizontal condition, so the closest end of the drinks container 1 arriving at the diverter 300 will enter the holding volume 306 first and start to fall, before the other end of the drinks container 1 enters the holding volume 306. This induces a rotation as the drinks container 1 falls to the bottom of the housing 302, i.e., the end wall 318. Further, if the drinks container 1 is ejected from the conveyor belt 200 with high energy or is a particularly long container, the closest end of the drinks container 1 to the housing 302 may impact the rear side of the housing 302, which further helps to induce a rotation towards an upright condition. Tall containers whose lengths are greater than the width and depth of the housing 302 can sit upright on the end wall 318 in the holding volume 306, optionally with a lean. Since the length of the holding volume 306 between the open and closed ends 316, 314 of the housing 302 is greater than the length of the drop, the container 1 may be even taller than the drop and still fit in the holding volume 306, as long as the container 1 is able to complete its reorientation from a belt-parallel horizontal orientation, in which the container is at a horizontal angle facing along the conveyor belt 200, to a generally upright orientation in which the container 1 lands and settles at a tilted-upright or fully-upright angle in the holding volume 306. FIG. 6 shows the first tipping orientation of the diverter 300, in which the housing 302 tips the container 1 into the first compactor 130A. For example, the first compactor 130A and storage space 108 beneath it may be for aluminium drink cans. If the control system 116 via the sensor system 118 detects that the drinks container 1 on the conveyor belt 200 is an aluminium drink can, then the control system 116 will rotate the conveyor belt 200 to eject the aluminium drink can 1 into the diverter 300, and the diverter 300 will rotate in a first direction (clockwise or anti-clockwise) to reach the first tipping orientation shown in FIG. 6. In the first tipping orientation, the housing 302 is mostly inverted compared to the receiving orientation, the open end 316 (housing exit 308) now facing downwardly towards the first compactor 130A, and being below the elevation of the closed end 314 and end wall 318 which now face upwardly. Therefore, the drinks container 1 will slide or fall out of the housing 302 through the open end 316 (housing exit 308) of the housing 302, under gravity. If the rotation of the diverter 300 is rapid, the drinks container 1 may be flung downwardly by a side of the housing 302 via centrifugal force, in addition to gravity. Since the first compactor 130A is laterally offset to the side of the diverter 300, the first tipping orientation is diagonal rather than straight down. The rotation of the diverter 300 from the receiving orientation to the first tipping orientation may be greater than 90 degrees. However, if the diverter 300 at the receiving orientation was already diagonally tipped towards the compactor 130A, the total rotation to reach the first tipping orientation could be slightly less than 90 degrees. At the first tipping orientation, the blocking / blanking front surface 342 of the disc-shaped guard plate 324 is now aligned with the conveyor belt 200, so the guard plate 324 is aligned with the conveyor belt 200 to block / blank the conveyor exit portal 120. Therefore, the user cannot insert their arm and reach into the diverter 300, and push their fingers through the open end 316 of the housing 302 towards the first compactor 130A. FIG. 7 shows the second tipping orientation of the diverter 300, in which the housing 302 tips the container 1 into the second compactor 130B. For example, the second compactor 130B and storage space 108 beneath it may be for plastic drink bottles. If the control system 116 via the sensor system 118 detects that the drinks container 1 on the conveyor belt 200 is a plastic drink bottle, then the control system 116 will rotate the conveyor belt 200 to eject the plastic drink bottle into the diverter 300, and the diverter 300 will rotate in a second opposite direction than the direction from FIGS. 5-6, to reach the second tipping orientation. In the second tipping orientation, the housing 302 is mostly inverted compared to the receiving orientation, the open end 316 (housing exit 308) facing downwardly towards the second compactor 130B, and being below the elevation of the closed end 314 and end wall 318 which now face upwardly. Therefore, the drinks container 1 will slide or fall out of the housing 302 through the open end 316 (housing exit 308) of the housing 302, under gravity. If the rotation of the diverter 300 is rapid, the drinks container 1 may be flung downwardly by centrifugal force in addition to gravity. Since the second compactor 130B is laterally offset to the other side of the diverter 300, the second tipping orientation is diagonal rather than straight down. The rotation of the diverter 300 from the receiving orientation to the second tipping orientation may be greater than 90 degrees. However, if the diverter 300 at the receiving orientation was already diagonally tipped towards the compactor 130B, the total rotation could be slightly less than 90 degrees. At the second tipping orientation, the front surface 342 of the disc-shaped guard plate 324 is aligned with the conveyor belt 200, so the guard plate 324 is aligned with the conveyor belt 200 to block / blank the conveyor exit portal 120. Therefore, the user cannot insert their arm and reach into the diverter 300, and push their fingers through the open end 316 of the housing 302 towards the second compactor 130B. If the user forcibly rotates the diverter 300 into an orientation such that the aperture 332 in the guard plate 324 is aligned with the conveyor exit portal 120 from the conveyor belt 200, the housing 302 will now be in the upright orientation shown in FIG. 5, so if the user pushes their fingers through the open end 316 of the housing 302, their fingers will be pointing up and away from the compactors 130. In summary, the guard plate 324 and geometry of the housing 302 ensures that there is no orientation of the diverter 300 which provides a continuous free space path short enough for an adult human arm to reach the compactors 130 from the machine entrance 112 of the RVM 100. This has been achieved despite the compactors 130 only being about 50-60cm behind the machine entrance 112 and about 25-40cm below the machine entrance 112, which would be within arm span range if not for the guard plate 324 and housing geometry. Further, forced rotation of the diverter 300 could be detected by the control system 116 by an over-current detector or the like, and could trigger the control system 116 to deactivate the compactors 130. The default / initial orientation of the diverter 300 may not be the receiving orientation shown in FIG. 5. If no more drinks container 1s have been added, and / or the user has indicated an end of the reverse vending session via a user interface, the control system 116 may control the electric motor 322 to rotate the diverter 300 to an initial orientation. The initial orientation is different from the receiving orientation so that the guard plate 324 is aligned with the conveyor belt 200 and conveyor exit portal 120. Therefore, nobody can insert their hand into the diverter 300 due to the front surface 342 of the guard plate 324. In an example, the initial orientation may be the first or second tipping orientation. In the Figures, but not necessarily all examples, the housing 302 has only one housing entrance 304 able to (e.g., sized, orientated to) receive a drinks container 1, and the guard plate 324 similarly has only one aperture 332 able to (e.g., sized, orientated to) receive a drinks container 1. Therefore, when the next drinks container 1 is added, the control system 116 will control the electric motor 322 to rotate the diverter 300 back from the first or second tipping orientation to the receiving orientation. Although embodiments of the present invention have been described in the preceding paragraphs with reference to various examples, it should be appreciated that modifications to the examples given can be made without departing from the scope of the invention as claimed. In some examples, the guard may not be part of the diverter 300 and could be a separate blocking device that is actuated separately. In some examples, the object 1 in the housing 302 may be ejected sideways or upwardly by centrifugal force, rather than tipped down by gravity. According to various, but not necessarily all, embodiments of the invention there is provided a diverter 300 independent of the other features of the reverse vending machine. According to various, but not necessarily all, embodiments of the invention there is provided a reverse vending machine comprising: a machine entrance 112 through which an object 1 can be inserted; a conveyor 200 to move the object 1 away from the machine entrance 112; a movable housing 302 downstream of the conveyor 200, the movable housing 302 comprising a housing entrance 304, a holding volume 306, and a housing exit 308; a compactor 130; and a movable guard, wherein the movable housing and guard collectively define a receiving configuration and an ejecting configuration, wherein in the receiving configuration the housing entrance 304 is aligned with the conveyor 200 and the guard is misaligned with the conveyor 200 enabling the conveyor 200 to eject the object 1 into the holding volume 306 of the housing 302, and wherein in the ejecting configuration the housing exit 308 is positioned to eject the object 1 out of the holding volume 306 through the housing exit 308 for compaction of the object 1 by the compactor 130, while the guard is located to create an obstruction located between the machine entrance 112 and the housing exit 308. Features described in the preceding description may be used in combinations other than the combinations explicitly described. Although functions have been described with reference to certain features, those functions may be performable by other features whether described or not. Although features have been described with reference to certain embodiments, those features may also be present in other embodiments whether described or not. 5 Whilst endeavouring in the foregoing specification to draw attention to those features of the invention believed to be of particular importance it should be understood that the Applicant claims protection in respect of any patentable feature or combination of features hereinbefore referred to and / or shown in the drawings whether or not particular emphasis has been placed thereon. 10

Claims

1. A reverse vending machine comprising:a machine entrance through which an object can be inserted;a conveyor to move the object away from the machine entrance;a movable guard;a movable housing downstream of the conveyor, the movable housing comprising a housing entrance, a holding volume, and a housing exit; anda compactor,wherein the movable housing and movable guard collectively define a receiving configuration and a tipping configuration,wherein in the receiving configuration the housing entrance is aligned with the conveyor enabling the conveyor to insert the object through the housing entrance into the holding volume of the movable housing, andwherein in the tipping configuration the housing exit is in a tipping orientation to tip the object down out of the holding volume through the housing exit for compaction of the object by the compactor, while the movable guard is located to create an obstruction located between the machine entrance and the housing exit.

2. The reverse vending machine of claim 1, wherein in the receiving configuration the housing exit faces away from the compactor, and in the tipping configuration the housing exit faces towards the compactor.

3. The reverse vending machine of claim 1 or 2, wherein in the receiving configuration the housing entrance is aligned with the conveyor while the movable guard is misaligned with the conveyor, and in the tipping configuration the housing entrance is misaligned with the conveyor while the movable guard is aligned with the conveyor to create the obstruction.

4. The reverse vending machine of claim 1, 2, or 3, wherein the movable guard is located downstream of the conveyor and upstream of the holding volume of the movable housing, and is alongside the housing entrance.

5. The reverse vending machine of any preceding claim, wherein the movable housing is elongate and has a closed end onto which the object from the conveyor can land, and an opposite open end defining the housing exit.

6. The reverse vending machine of any preceding claim, wherein the holding volume is elongate, and wherein in the receiving configuration the movable housing is in an upright orientation in which the elongate holding volume extends downwardly from the housing entrance.

7. The reverse vending machine of any preceding claim, wherein themovable housing and movable guard are connected to each other as a single assembly.

8. The reverse vending machine of any preceding claim, wherein the movable housing is part of a diverter, the diverter being actuatable in first and second opposite directions to sort different objects into different compactors and / or storage volumes.

9. A reverse vending machine comprising:a machine entrance through which an elongate object can be inserted;a conveyor to move the elongate object away from the machine entrance;a movable guard;a movable housing downstream of the conveyor, the movable housing comprising a housing entrance, a holding volume, and a housing exit; anda compactor,wherein the movable housing and movable guard collectively define a receiving configuration and an ejecting configuration,wherein in the receiving configuration the housing entrance is aligned with the conveyor enabling the conveyor to insert the elongate object through the housing entrance into the holding volume of the housing,wherein in the ejecting configuration the housing exit is positioned to eject the elongate object out of the holding volume through the housing exit for compaction of the elongate object by the compactor, while the movable guard is located to create an obstruction located between the machine entrance and the housing exit, andwherein the holding volume of the movable housing in the receiving configuration is dimensioned to guide the elongate object inserted by the conveyor towards an orientation transverse to an axis of the conveyor.

10. The reverse vending machine of claim 9, wherein the movable housing is elongate and has a closed end onto which the elongate object from the conveyor can land, and an opposite open end defining the housing exit.

11. The reverse vending machine of claim 10, wherein the movable housing has a tapering wall so that the closed end has a smaller cross-sectional area than the open end.

12. The reverse vending machine of claim 9, 10, or 11, wherein the movable housing has a depth from the housing entrance to a rear wall of the housing, of less than 35cm or less than 30cm or less than 27cm.

13. The reverse vending machine of any one of claims 9 to 12, wherein the holding volume is elongate, and wherein the housing entrance is proximal to one end of the holding volume.

14. The reverse vending machine of any one of claims 9 to 13, wherein in the receiving configuration the movable housing is diagonally orientated.

15. The reverse vending machine of any one of claims 9 to 14, wherein the movable housing and movable guard are connected to each other as a single assembly.

16. The reverse vending machine of any one of claims 9 to 15, wherein the movable housing is part of a diverter, the diverter being actuatable in first and second opposite directions to sort different objects into different compactors and / or storage volumes.

17. The reverse vending machine of any one of claims 9 to 16, wherein in the receiving configuration the housing exit faces away from the compactor, and in the ejecting configuration the housing exit faces towards the compactor.

18. The reverse vending machine of any one of claims 9 to 17, wherein in the receiving configuration the housing entrance is aligned with the conveyor while the movable guard is misaligned with the conveyor, and in the ejecting configuration the housing entrance is misaligned with the conveyor while the movable guard is aligned with the conveyor to create the obstruction.

19. The reverse vending machine of any one of claims 9 to 18, wherein the movable guard is located downstream of the conveyor and upstream of the holding volume of the movable housing, and is alongside the housing entrance.

20. A diverter for a reverse vending machine, the diverter comprising:a rotatable housing mountable downstream of a conveyor of the reverse vending machine, the rotatable housing comprising a housing entrance, an elongate holding volume, and a housing exit; andan axis of rotation which passes through the elongate holding volume.

21. The diverter of claim 20, wherein the rotatable housing is elongate and has a closed end onto which an object from the conveyor can land, and an opposite open end defining the housing exit.

22. The diverter of claim 20 or 21, wherein the holding volume is elongate and wherein the housing entrance is proximal to one end of the holding volume.5 23. The diverter of claim 20, 21, or 22, wherein the rotatable housing is off-centre relative to the axis of rotation, and wherein the diverter comprises a counter weight to align a centre of mass of the diverter with the axis of rotation.

24. The diverter of any one of claims 20 to 23, wherein the diverter is 10 actuatable in first and second opposite directions to sort different objects into different compactors and / or storage volumes.

25. The diverter of any one of claims 20 to 24, wherein the axis of rotation is approximately horizontal enabling the movable housing to tip objects into a 15 compactor of the reverse vending machine.

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