Systems and methods for waste collection, handling, and / or sorting

Abstract

The present disclosure generally relates to the collection, handling, and / or sorting of objects to be discarded or other objects. For example, some embodiments are generally directed to systems and methods for collecting and sorting objects such as garbage, recyclables, compostables, and the like. In some cases, such systems may be used at a MRF (materials recovery facility), a transfer facility, a public facility, or other locations where various objects in a waste stream are to be sorted. In some cases, the system may be relatively small and compact. The waste stream may be separated or divided into distinct objects to facilitate identification and sorting. For example, two or more distinct objects within the waste stream that are in contact with each other or are closest to each other may be separated to facilitate identification and / or sorting of the objects. This may be useful, for example, in generating relatively uncontaminated streams of garbage, recyclables, compostables, etc. from the waste stream.

Description

Technical Field

[0001] Cross - Reference to Related Applications This application claims the benefit of priority under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 63 / 359,062, filed Jul. 7, 2022, the entire disclosure of which is incorporated herein by reference.

[0002] Field The present disclosure generally relates to the collection, handling, and / or sorting of waste objects or other objects.

Background Art

[0003] Background Sorting recyclable materials from waste is one of the greatest challenges currently faced by society. Due to the lack of technology to separate recyclable materials from non - recyclable materials, large amounts of recyclable materials are being incinerated or landfilled. Some existing technologies for sorting recyclable materials are limited by their excessive cost, low accuracy, or inability to operate independently. For example, one sorting technique involves using robots that can identify and separate recyclable materials from waste, but this approach can often take more time compared to items sorted by hand.

[0004] Waste can be classified into recyclable materials and non - recyclable materials. Recyclable materials can include materials such as paper, glass, plastic, and metal. These recyclable materials can be reconstituted into usable materials. Recyclable materials are generally collected by two main collection methods: single - stream recycling and multi - stream recycling. The use of single - stream recycling has simplified the recycling process for consumers, but it has also placed a burden on the recycling industry to develop cost - effective technologies for sorting recyclable items from garbage. Therefore, improvements are needed.

Summary of the Invention

Means for Solving the Problem

[0005] Overview The present disclosure generally relates to the collection, handling, and / or sorting of objects to be discarded or other objects. The subject matter of the present disclosure may, in some cases, include related products, alternative solutions to specific problems, and / or multiple different uses of one or more systems and / or articles. As such, it should be understood that the systems and methods described herein may be used separately or simultaneously with each other.

[0006] One aspect is generally directed to a system. In one set of embodiments, the system includes a container for receiving an object; a conveyor belt including a plurality of collection devices, the conveyor belt positioned to collect the object from the container into one of the plurality of collection devices; a receiving portion for receiving the object from the collection device, the receiving portion being at a height higher than the outlet of the container; and a rejection device for preventing two or more objects placed in the collection device from being received by the receiving portion.

[0007] In another set of embodiments, the system includes a container for receiving an object; a conveyor belt including a plurality of collection devices having an average volume of less than 5,000 cm 3 the conveyor belt positioned to collect the object from the container into one of the plurality of collection devices; a camera positioned to image the collection device containing the object; a processor in communication with the camera for determining the number of objects in the collection device; and a rejection device for removing the object from the collection device if the processor determines that there are two or more objects in the collection device.

[0008] Another aspect is generally directed to a method. According to one set of embodiments, the method includes the acts of placing recyclables into a container; collecting the recyclables on a conveyor belt at a plurality of collection devices; rejecting recyclables within a collection device that contains two or more recyclables; conveying non-rejected recyclables within the collection device to a receiving portion, where the receiving portion is at a height higher than the outlet of the container; and sorting the non-rejected recyclables.

[0009] In another set of embodiments, the method includes placing recyclables into a container; collecting the recyclables on a conveyor belt at a plurality of collection devices, where the average volume of the collection devices is less than 5,000 cm 3 ; rejecting recyclables within a collection device that contains two or more recyclables; and sorting the non-rejected recyclables.

[0010] In yet another set of embodiments, the method includes placing recyclables into a container, where at least 50 weight percent of the recyclables are cans or bottles; spacing the recyclables on a receiving portion to physically separate the recyclables such that 90% of the recyclables are separated by at least 5 cm; obtaining an image of the recyclables on the receiving portion; and sorting the recyclables, at least in part, based on their images.

[0011] In yet another set of embodiments, the method includes placing waste into a container, where at least 50 weight percent of the waste is recyclable material including glass, metal, or plastic; singulating recyclable material from the container onto a receiving portion; obtaining an image of the recyclable material on the receiving portion; and sorting the recyclable material based on their images.

[0012] In yet another set of embodiments, the system includes a container for receiving an object; a conveyor belt including a plurality of collection devices configured to collect one or more objects from the container into one of the plurality of collection devices; a receiving portion configured to receive one or more objects from the collection device, the receiving portion being disposed at a vertical position higher than the outlet of the container; and a rejection device configured to selectively prevent one or more objects placed in the collection device from being received by the receiving portion.

[0013] In yet another set of embodiments, the system includes a container for receiving an object; a conveyor belt including a plurality of collection devices having an average volume of less than 5,000 cm 3 configured to collect an object from the container into one of the plurality of collection devices; a camera configured to image one or more of the plurality of collection devices containing an object; a rejection device configured to selectively remove an object from one or more of the collection devices; and a processor configured to: obtain an image from the camera; determine the number of objects in one or more of the collection devices based at least in part on the obtained image; and control the rejection device to remove an object from one or more of the collection devices when the number of objects is two or more.

[0014] In yet another set of embodiments, the method includes placing recyclable materials in a container, where at least 50% by weight of the recyclable materials are cans or bottles; spacing the recyclable materials on a receiving portion to physically separate the recyclable materials such that at least 90% of the recyclable materials are separated by at least 5 cm; obtaining an image of the recyclable materials on the receiving portion; and sorting the recyclable materials based at least in part on the image.

[0015] In another aspect, the present disclosure includes one or more of the embodiments described herein, for example, a method of fabricating a sorting system. In yet another aspect, the present disclosure includes one or more of the embodiments described herein, for example, a method of using a sorting system.

[0016] Other advantages and novel features of the present disclosure will become apparent from the following detailed description of various non-limiting embodiments of the present disclosure when considered in conjunction with the accompanying drawings.

[0017] Brief Description of the Drawings Non-limiting embodiments of the present disclosure are described by way of example with reference to the accompanying drawings, which are schematic and are not intended to be to scale. In the drawings, each component that is illustrated as being the same or substantially the same is generally represented by a single reference numeral. For clarity, not all components are labeled in all of the drawings, nor are all components of each embodiment of the present disclosure shown in the drawings where not necessary for those skilled in the art to understand the present disclosure.

Brief Description of the Drawings

[0018]

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Best Mode for Carrying Out the Invention

[0019] Detailed Description This disclosure generally relates to the collection, handling, and / or sorting of objects to be discarded or other objects. For example, some embodiments are generally directed to systems and methods for sorting objects such as garbage, recyclables, compostables, biodegradables, etc. In some cases, such systems may be used at a MRF (materials recovery facility), a transfer facility, a public facility, or other locations where various objects in a waste stream are to be sorted. For example, such systems may be used at an event venue (e.g., an arena) where waste is generated. In some cases, the system may be relatively small and compact. In such cases, the amount of surface area (e.g., floor area) occupied by the system may be relatively small. The waste stream may be segregated, i.e., separated into distinct objects, to facilitate identification and sorting. For example, two or more distinct objects within the waste stream that touch and / or contact each other, or are close or closest to each other, may be separated to help facilitate identification and / or sorting of the objects. By sorting the objects using segregation and other techniques, the identification and / or sorting of the objects may be less burdensome and / or less costly. In some embodiments, sorting the objects may enable a less complex sorting system. This may be useful, for example, in generating relatively uncontaminated streams such as garbage, recyclables, compostables, biodegradables, etc. Contaminants as used herein may refer to materials in the waste stream that are considered unacceptable, such as non-recyclable items in a recycling waste stream, that ultimately affect the value of the desired material, the processing cost, or the sustainable impact.

[0020] Some non-limiting aspects of the present disclosure relate to systems and methods for isolating or separating distinct objects and sorting them. In some cases, isolating or separating objects so that they do not touch and / or contact and / or are spaced apart from each other can facilitate the identification and / or sorting of the objects. For example, separated objects may be easier to identify and / or sort at different locations compared to objects that are in contact or stacked. In contrast, in many prior art systems, objects are pushed very quickly over the system in an effort to increase throughput, which often results in objects being stacked or at least in close contact with each other. This can make it difficult to identify and / or sort the objects. Thus, in many prior art systems, human operators or very complex robotic equipment are used to identify or sort the objects.

[0021] Existing systems for sorting recyclables are prohibitively costly for various reasons, and as such, the inventors have recognized that it would be desirable to reduce costs and identify and sort recyclables. Among the reasons are that excessive amounts of expensive sensors are used in existing systems to determine parameters associated with the waste. As such, some of the systems and methods recognized by the inventors described herein can sort and / or identify waste cost-effectively. For example, any of the cameras as described herein can be an optical range camera that can reduce the cost associated with sensing parameters associated with the waste. As such, in some embodiments, the costs associated with identifying and sorting waste can be reduced.

[0022] Some of the systems and methods described herein can be configured to form a substantially continuous stream of waste that can be identified and / or sorted from separate deposits of waste. For example, a system can form a continuous waste stream from a bulk deposit of waste, and the waste stream can be sorted into compostable, recyclable, and / or trash. As such, in some embodiments, the systems and methods described herein can function as an end-to-end solution for identifying and sorting waste.

[0023] In some cases, the systems and methods described herein can include filtering objects in the waste stream as a preliminary step. Filtering can, according to some embodiments, be incorporated into the same system as segregation and / or sorting. Filtering the objects can help simplify segregation and / or identification, for example, by removing objects that cannot be sorted. In some embodiments, filtering can clean the objects in the waste stream, thereby helping to simplify identification (e.g., by image). In some embodiments, the system can include one or more sieves configured to filter the waste stream. Any suitable sieve, including but not limited to one or more rotary sieves, disk sieves, elliptical paddle sieves, auger sieves, any combination thereof, and any other suitable sieve, can be used in any of the systems and methods described herein.

[0024] In some embodiments, a sieve may include one or more spaced rotatable elements configured to rotate and orient an object in a waste stream. The rotatable elements may be formed in any suitable geometric shape and in any suitable form. For example, a sieve may include a row of rotatable elements arranged and configured to orient an object in a waste stream. In some embodiments, an object in a waste stream may be placed on and move over a rotatable element that is rotatable with respect to the local direction of gravity. The rotatable element may rotate to move at least a portion of the object in the waste stream in a first direction. The sieve and / or the rotatable elements may be configured to direct different objects in the waste stream in different directions. At least a portion of an object in the waste stream, such as the fine object described in the previous item, may fall into the space between the rotatable elements (e.g., at least in part directed by local gravity). The spacing of the rotatable elements may be adjusted to determine which objects fall into the space between the rotatable elements. For example, by increasing the spacing of the rotatable elements, the size of the objects that can fall into the space between the rotatable elements may be increased. In some embodiments, the rotatable elements may be formed as augers. Optionally, the row of rotatable elements may be formed as a single auger. Further embodiments of rotatable elements and sieves as used herein are further described elsewhere with respect to FIGS. 14-16.

[0025] The sieve may include any suitable amount of rotatable elements in a column, for example at least 1, at least 2, at least 5, at least 10, at least 20, at least 30, at least 50, or any other suitable amount of rotatable elements in a column. The rotatable element may be formed as a cylinder having external features. For example, the rotatable element may be formed as a cylinder having one or more blades formed in a helical geometry along the longitudinal length of the cylinder. One or more rotatable elements may be operably coupled to one or more motors, and the one or more motors may be configured to rotate the one or more rotatable elements. In some embodiments, one or more rotatable elements may be rotatably coupled to each other, and by rotating a first rotatable element, one or more other rotatable elements of the sieve may be rotated. In some embodiments, the columns of rotatable elements may be movably coupled, and by rotating the rotatable elements of the first column, the rotatable elements of the second column may be rotated. In some embodiments, the rotatable elements and / or the columns of rotatable elements may be rotatably coupled to each other by one or more interlocking gears, belts, chains, shafts, control systems, any combination thereof, and any other suitable joints configured for the combined movement of the one or more rotatable elements.

[0026] In some embodiments, the fine objects may not be selected due to their size and, as a result, may be relatively small objects that can be filtered from the waste stream. Examples of fine objects include sand grains, rice grains, liquids, semi-solid food waste, and any other suitable small objects that can enter the waste stream. Fine objects may include any object whose volume and / or area is below a threshold volume and / or area. For example, any object having an outer surface that forms an internal volume portion occupying a volume of less than 10 cm 3 may be considered a fine object and can be filtered from the waste stream. According to some embodiments, an object having an outer surface area of 50 cm 2Objects less than may be considered fine objects and can be filtered from the waste stream. According to some embodiments, objects with an external limiting dimension of less than 5 cm may be considered fine objects and can be filtered from the waste stream.

[0027] Figure 1 shows a top view of one non - limiting example of a system 100 for separating or sorting objects. The objects can be objects found in a waste stream (e.g., garbage, recyclable materials, compostable materials, biodegradable materials, etc.) and / or other suitable types of objects. In system 100, a plurality of objects placed in container 102 are sorted to separate locations 110, for example, based on the nature of the objects. As a non - limiting example, if a plurality of objects to be sorted are in a waste stream, glass objects may be sorted to a first location, metal objects may be sorted to a second location, and other objects may be sorted to a third location. The embodiment shown in Figure 1 shows three bins indicating three locations, but it should be understood that the separate locations 110 can include any suitable number of locations corresponding to any suitable number of objects.

[0028] As shown in the drawings, one or more controllers 112 may be configured to control any suitable portion of the system described herein. For example, in the embodiment shown in FIG. 1, the controller 112 may be configured to control the actuator 109, the conveyor belt, any motor, and any other controllable portion. As shown in the embodiment shown in FIG. 2, the controller 112 may be configured to control one or more motors 114 to turn the conveyor belt. Similarly, one or more motors as shown in FIGS. 5, 6, and 12 may be controlled by the controller 112. Valves such as those shown in FIG. 4, and any other valves / gates that may be included in the system may be controlled using a controller such as the controller 112. The movable gate 302 may be controlled using the controller 112. For example, the controller 112 may control the movable gate 302 to move to open and / or close.

[0029] In the embodiment shown in FIG. 1, the object is placed in container 102 and separated or sorted using inclined belt 104. As described below, one or more collection devices may be disposed thereon, which may include crates, slats, trash cans, buckets, any combination thereof, and any other suitable collection device that may form a separate location to facilitate collection of the object from container 102. For example, the space between two crates may define a collection device or another separate location that may contain an object. Although an inclined belt is present in this example, in other embodiments, other separation devices may be used to separate objects, including those described herein. In this example, the object is moved from container 102 by inclined belt 104 such that the object is present within each collection device or other separate location. In some embodiments, the objects are successively moved from container 102 by inclined belt 104 such that each collection device contains one object. Thus, the separated or "isolated" objects may be moved by inclined belt 104 to receiving portion 105. In the embodiment shown in FIG. 1, receiving portion 105 may be a chute, a transport belt, a conveyor belt, or any other suitable structure or mechanism configured to facilitate transport of the object within system 100, and / or to facilitate identification and / or sorting of the object.

[0030] However, in some cases, the present disclosure is not limited by the amount of objects placed in the collection device, so two or more objects may be present within the collection device or other separate location on inclined belt 104. For example, two objects may be placed simultaneously within the collection device or other separate location on the inclined belt. In such cases, it may be desirable to identify and reject such objects. For example, the object may be moved from inclined belt 104 and returned to container 102, and / or the object may be moved to another location, such as being sorted as trash and sent, or moved to any other suitable location.

[0031] In one set of embodiments, as shown in FIG. 1, camera 103 may be used, for example, to determine whether two or more objects are in contact with each other or otherwise coexist within a single collection device or other separate location on inclined belt 104. For example, the objects may not necessarily be in contact, but the distance between them may be too short to be separated. Although the camera is described in this non-limiting example, in other embodiments, other sensors (e.g., weight sensors, etc.), or any other suitable photosensitive detector may be used. If the camera (optionally in conjunction with a computer, controller, etc.) or other sensor determines that two or more objects are in contact with each other or otherwise coexist, a signal may be sent to cause an action to improve the situation. For example, the camera may be configured to image an area containing one or more objects, and the controller may be configured to acquire the image. The controller may be configured to control one or more actuators or other suitable devices, at least in part based on the acquired image. For example, one or more, or all, of the objects may be removed using, for example, mechanical force, gas flow, vibration, electrical force, etc., and the objects may be returned to container 102 or directed to another location. As non-limiting examples, various different actuators, such as those described herein, e.g., linear actuators, rotary actuators (e.g., rotating wheels), air cannons, etc., may be used to remove one or more of the objects.

[0032] The object to be separated or isolated can move to the sorting device in the example of FIG. 1. For example, the sorting device may include a conveyor belt 106 that moves the object past one or more locations 110 where various types of objects can be collected. In some embodiments, sorting of the object may include directing the object to be included in one or more locations 110. As an example, the object may be directed to a location using an actuator configured to direct the object to a location, such as a linear actuator 109 in the example of FIG. 1. In some cases, objects that are not sorted (e.g., objects that do not meet any sorting criteria) can be sent to location 111. In some cases, a camera 107 may be used to identify the object to be sorted. However, it should be understood that a camera is not necessary and other sensors (e.g., magnetic sensors, etc.) may be used to identify the object for sorting. Various sensors are described in more detail below.

[0033] FIG. 2 shows a non-limiting example of a separation device including an inclined belt. However, it should be understood that any other suitable type of separation device may be used in the embodiments illustrated and described herein. In the embodiment shown in FIG. 2, the separation device 200 includes an inclined belt 205 including a plurality of cleats 206. The cleats 206 are shown here by way of example only; in other embodiments, bins, buckets, slats, etc. may be used to define a collection device or other separate location to facilitate collection of the object. In this drawing, the object in the container 201 exits from the outlet 203 onto the inclined belt 205, for example, at a separate location on the inclined belt 205 defined by the cleats 206.

[0034] When the objects are moved upward on the inclined belt 205, they can be imaged using a camera 208 that can be operably coupled to a computer 209 in this example. The images may be acquired by the computer, and the computer can determine whether the two objects are identified as being in separate locations, at least in part based on the acquired images. Thereafter, the computer can control the actuator 210, or another rejection device, to remove the objects from the inclined belt 205. As a non-limiting example, various actuators, such as an actuator, such as a linear actuator, a rotary actuator (e.g., a rotating wheel), an air cannon, or any other actuator described herein, may be used to remove one or more or all of the objects in that location. Although a single actuator 210 is shown in FIG. 2, it should also be understood that the separation device 200 may include any suitable type and amount of actuator configured to remove the objects from the location. Thus, the separation device 200 can be configured to form a stream of objects to be separated or isolated, which should be positioned, for example, in a receptacle for subsequent identification and / or sorting.

[0035] Therefore, in some embodiments, various objects, such as waste objects, can be separated or isolated, and the isolated / separated objects can be identified and / or sorted. Such systems and methods can be utilized in various applications where object sorting is required, such as waste handling and sorting, or other applications such as those described herein. However, other embodiments are possible in addition to those shown in FIGS. 1 and 2. Thus, more generally, various aspects of the present disclosure are directed to various systems and methods for sorting objects, for example, for waste handling and sorting applications, as well as other applications.

[0036] For example, in some aspects, various objects or items can be sorted using a system or method such as those described herein. In some embodiments, the objects can include garbage, recyclables, compostables, biodegradables, and the like. However, the present disclosure is not limited to these applications, and in other embodiments, other types of objects such as, for example, mail, packaging, manufactured components, components for use in manufacturing, shipped items, food products, other foods, etc. may be sorted as described herein.

[0037] In one embodiment, it may be desirable to sort waste into garbage objects and non-garbage objects such as recyclables, compostables, biodegradables, and the like. In some embodiments, it may be desirable to sort recyclables depending on what material they are made of, for example, paper, glass, metal, plastic, or any other suitable material. In some cases, recyclables may be collected in suitable recycling containers, for example, at public places, by the roadside, near residential areas, and then sorted as described herein.

[0038] Furthermore, in some embodiments, waste may be collected and sorted on-site using systems and methods such as those described herein. This can be useful, for example, in embodiments where it is desirable to pre-sort waste, for example, before it is taken away. For example, waste may be collected at public facilities such as cafeterias, arenas, theaters, public transportation stations, rest stops, shopping centers, parks, religious centers, restaurants, streets, regional waste collection sites, transport vehicles, residential buildings, venues, arenas, campuses, companies, events, etc. and then sorted on-site into one or more of garbage, recyclables, compostables, biodegradables, and the like. However, in other embodiments, waste may also be sorted away from the site.

[0039] In some embodiments, the amount (e.g., volume) of waste generated at the above-described site may be relatively small. This may be advantageous in some cases. For example, in some embodiments, the waste can be separated or isolated at a relatively low processing rate, which may allow for sorting using relatively high precision. For example, a system configured to process a large amount of waste may include a relatively expensive and complex arrangement of components such as cameras, other sensors, and actuators compared to a system configured to process a small amount of waste. However, it should be understood that in some cases, a higher waste processing rate may also be used in any of the embodiments disclosed herein. In contrast, in many prior arts, sorting occurs in relatively large quantities. For example, the objects to be discarded remain physically in contact or stacked during the sorting process and are not separated or isolated prior to sorting.

[0040] Furthermore, in some embodiments, the system may be compact and thus may have a relatively small "footprint" or require a relatively small amount of floor space. For example, in some cases, the system may have two or more levels arranged at different vertical positions and one or more conveyor belts that can be positioned at a non-horizontal angle to facilitate separation of the objects and / or move the objects from a first level to a second level. In some embodiments, the levels can be formed by one or more conveyor belts. Since the present disclosure is not limited by the amount of levels of the system, the system can include three or more levels and associated conveyor belts, or any other suitable movement system configured to move the objects from one level to another. The system can also include any suitable amount of conveyor belts configured to reduce or minimize the space (e.g., floor space) occupied by the conveyor belts and / or the system.

[0041] As such, in some embodiments, an object that may be directed to any part of the system as described herein may use a conveyor belt, and the conveyor belt may be configured to reduce the floor area occupied by the system. For example, the conveyor belt may be configured to form a bend angle, such as a 90-degree bend angle in a substantially L-shaped configuration, and may be configured to direct the object to follow the direction of the bend. The conveyor belt may be configured to form a bend angle at any suitable angle including any angle from 0 degrees to 90 degrees. The angle may form the conveyor belt to direct the object in a direction parallel to a horizontal plane that is perpendicular to the local direction of gravity. The conveyor belt having a bend angle may be configured to direct the object in a first direction parallel to the horizontal plane, and may be configured to direct the object moving in the first direction in a second direction that is a bent direction with an angle somewhere between 0 degrees and 90 degrees relative to the first direction and parallel to the horizontal plane. The conveyor belts described herein may also be configured to form an angle with respect to the horizontal plane as described herein in addition to the conveyor belts including bend angles as described herein.

[0042] In some embodiments, the installation area of the system is 50 m 2 less than, 25 m 2 less than, 20 m 2 less than, 15 m 2 less than, 10 m 2 less than, 8 m 2 less than, 5 m 2 less than, 4 m 2 less than, 3 m 2 less than, 2 m 2 less than, or 1 m 2It can be less than. However, since the present disclosure is not limited to any installation area, the system can have an installation area of any suitable area. Further, in some embodiments, the waste may be collected and sorted away from the site, rather than at the site, as described above. For example, the waste may be collected and transported to separate locations for sorting. As a non-limiting example, the waste may be transported to a MRF (materials recovery facility), a waste transfer facility, a public facility, other end-of-life destinations of waste, a remote facility, or other locations, and the waste may be sorted at that location.

[0043] Various objects can be sorted, including distinct objects. In some cases, the objects can include hard objects that can have dimensions such as those described herein. However, in some cases, the objects to be sorted can also include non-hard objects. For example, in one set of embodiments, the objects that can be sorted include hard materials, such as those that are self-standing and / or have a relatively defined shape. In contrast, plastic bags and films are not hard and generally cannot support their own weight. For example, a non-hard object such as a plastic bag can have an outer surface that can elastically deform under gravity to conform to one or more surfaces on which the plastic bag is placed.

[0044] In some embodiments, the waste may be collected and / or sorted into refuse and non-refuse, where the non-refuse may include recyclable, compostable, and / or biodegradable items, etc. The refuse may include items not sorted out of the waste stream, regardless of whether it is intentional or due to inadvertent sorting errors, etc. In some cases, the refuse may include items that are not recyclable and / or compostable for scientific or economic reasons, for example. However, it should be understood that in some embodiments, the items sorted and / or identified by the systems and methods described herein may vary. For example, in one embodiment, the system may be designed to remove items formed of plastic and glass from the waste stream and allow any remaining items to proceed to the refuse. In another embodiment, the system may be configured to remove items formed of plastic, glass, metal, and paper from the waste stream and permit any remaining items to proceed to the refuse. In yet another embodiment, the system may be able to remove plastic and compostable items from the waste stream. In still another embodiment, the system may be configured to remove a first type of plastic from the waste stream but not a second type of plastic. For example, the system may be configured to remove plastic items formed of polyethylene but not plastic items formed of polystyrene. In another embodiment, the system may be able to remove a first shape (e.g., cans) from the waste stream and allow other shapes to proceed to the refuse. In another embodiment, the system may be configured to remove items manufactured by a particular source and allow any remaining items to proceed. In another embodiment, the system may be configured to remove locally reusable items and allow any remaining items to proceed. In still other embodiments, other sorting criteria are possible, including, for example, sorting of items that are not waste or refuse (e.g., mail), as described herein.

[0045] Waste can be composed of one or more types of materials, including but not limited to garbage, recyclable materials, and compostable materials. In one set of embodiments, the waste to be sorted includes municipal solid waste (MSW). This can include, for example, waste found in waste generally collected from municipalities and cities, such as that generally discarded from homes, schools, hospitals, companies, etc. By way of example, MSW can include objects such as product packaging, cut grass, furniture, clothing, bottles, food waste, newspapers, electronics, paint, batteries, cardboard boxes, cans, trays, etc. The objects within MSW can have various characteristics including soft, sharp, dirty, clean, hard, bendable, any combination thereof, and any other suitable characteristics.

[0046] In some embodiments, the MSW may include various recyclable, compostable, and / or biodegradable materials, where it is desirable to remove some objects before the MSW is sent to waste (e.g., to landfills or for energy recovery). Recyclable generally refers to objects that can be separated and reused or recycled in some way. Examples of recyclable materials include paper, glass, plastic, and metal. These can be sorted from the waste and then used, for example, to make new products. Examples of recyclable polymers include, but are not limited to, polyethylene terephthalate (PET), high-density polyethylene (HDPE), or polypropylene (PP). In some cases, for example, as described herein, the plastic can be rigid. In some embodiments, the waste stream to be sorted may include, for example, a relatively large amount of recyclable objects that need to be sorted from non-recyclable objects. For example, in some embodiments, at least 20 wt%, at least 30 wt%, at least 40 wt%, at least 50 wt%, at least 60 wt%, at least 70 wt%, at least 80 wt%, or at least 90 wt% of the waste stream may include various recyclable materials such as paper, glass, metal, plastic, etc. For example, in some cases, the relatively large amount of objects placed in the waste container can be cans or bottles.

[0047] In some embodiments, there may be compostable items. Compostable items generally refer to objects that can be broken down into smaller components in a compost pile. Some types of compostable items may require a certain composting environment (e.g., certain microorganisms, heat, and / or humidity levels, such as ambient temperature) to break down by at least 50% within a reasonable period (e.g., generally two or three years or less). Compostable items can include certain napkins, silverware, cups, plates, bowls, food containers, etc. made from certain materials and / or according to certain criteria. Such materials can include plastics or polymers, such as polylactic acid, or bagasse (e.g., made from sugarcane fiber). For example, some standard methods for determining the compostability of plastics include ASTM D6400 or ASTM D6868. Compostable plastics can be made from various compostable materials.

[0048] In some embodiments, there may be biodegradable items. Biodegradable items generally refer to objects that can be naturally decomposed by microorganisms. In some cases, biodegradable items can decompose on their own, for example, without human intervention. In some cases, microorganisms may or may not require an aerobic environment to decompose the object. Some examples of biodegradable items include food, turf and yard clippings, butcher residues, dried plants, wood chips, sewage, paper, fertilizers, etc. Additionally, some types of plastics can be biodegradable. For example, polycaprolactone can be one type of plastic that can exhibit biodegradability in the presence of certain microorganisms (e.g., Thermomyces strains). Generally, standard tests such as ASTM D5988, ASTM D6954 - 04, etc. may be used in some cases to determine whether a plastic or other material is considered biodegradable.

[0049] In some cases, the objects that can be sorted may include objects with a maximum dimension of at least 1 cm, at least 2 cm, at least 3 cm, at least 4 cm, at least 5 cm, at least 6 cm, at least 8 cm, at least 10 cm, at least 12 cm, at least 15 cm, at least 20 cm, etc. The maximum dimension can be determined as the greatest distance at which two imaginary parallel planes formed on one or more points or surfaces of the object can be separated from each other. In some cases, the maximum dimension of the object can be less than 100 cm, less than 80 cm, less than 75 cm, less than 70 cm, less than 60 cm, less than 50 cm, less than 45 cm, less than 40 cm, less than 35 cm, less than 30 cm, less than 25 cm, or less than 20 cm, etc. In some embodiments, any combination of these is possible. For example, the maximum dimension of the objects that can be sorted can be 15 cm to 75 cm, 20 cm to 60 cm, 10 cm to 100 cm, 5 cm to 50 cm, etc.

[0050] In some embodiments, it should be understood that the waste stream may also include objects that cannot be sorted or would otherwise not be sorted, for example, due to their shape, size, composition, etc. For example, such objects may be overly difficult to identify because they are too small to be sorted, or may be identified as objects that cannot be sorted. Such objects can instead be sent to the garbage or another location.

[0051] In some cases, a stream containing a first type of material may contain a few percent of other types of materials, and sorting may be performed to improve the purity of the first type of material. For example, a waste stream may contain 70-90% waste (by weight), and recyclable materials and / or compostable materials may potentially be sorted from the waste. As another example, a stream of recyclables may contain 50-90% recyclables (by weight), and other materials may be separated from the recyclables. As yet another non-limiting example, a stream of compostables may contain 10-50% compostables, and other materials may be separated from the compostables. It should be understood that the percentages presented in this paragraph are approximate values, and the present disclosure is not limited to any percentage of the types of materials within the stream. For example, containers located near a vending machine for carbonated soft drinks may have a relatively high proportion of aluminum cans, even if they are clearly labeled as waste or landfill.

[0052] In one set of embodiments, the object described herein can be placed in a container of a sorting system. Optionally, the container can be formed in a specific geometric shape / form (e.g., rectangular). Other shapes are possible, including but not limited to cylindrical, conical, triangular, or any other suitable shape. Combinations of shapes are also possible. Further, in some embodiments, the shape can be selected to minimize the object from jamming or bridging within the container. In some embodiments, bridging can describe when one or more objects can contact each other and one or more inner surfaces of the container to form a structure or bridge. The structure or bridge can prevent the objects within the container from moving or being collected and, in some cases, can form a jam. For example, the container can have a funnel or hopper shape to reduce or eliminate objects that are jamming or bridging within the container. Optionally, the container can be removable or partially removable, e.g., it can be cleaned or replaced with a new container, and objects can be added to it, etc. The container can be formed from any suitable material, including but not limited to metal and plastic. For example, in some embodiments, the container can be formed of aluminum sheet metal, flat steel, polypropylene plastic, and / or any other suitable material.

[0053] In some embodiments, the container has an opening through which the object can exit and can be sorted, for example, as described herein. The opening can have different shapes and / or sizes, which can vary depending on the type and / or size of the object to be sorted. The opening can be used to facilitate the removal (e.g., dropping) of the object from the container and / or, in some embodiments, to initiate the process of separating the objects, for example, by the shape and / or size of the opening. Optionally, the opening can be completely or partially covered by a valve, gate, or other adjustable barrier positioned to control or change the size of the opening. Optionally, this barrier can be movable and operable to vary the separation of the objects within the container.

[0054] In some embodiments, the objects can be separated or isolated using a suitable separation device. In some embodiments, the objects can be separated by an average distance. In some embodiments, the distance can represent the minimum distance between any point on the outermost surface of the first object and any point on the outermost surface of the second object. In such embodiments, the distance can represent the edge-to-edge distance (e.g., the edge of the first object and the edge of the second object). In some embodiments, the distance can represent the distance between the center of the first object and the center of the second object. What is referred to herein as the center can be the midpoint of the object along three dimensions. The separation device can be configured to separate the objects so that they do not physically contact each other. For example, the objects can be separated such that, on average, they are separated by at least 1 cm, at least 2 cm, at least 3 cm, at least 4 cm, at least 5 cm, at least 6 cm, at least 8 cm, at least 10 cm, at least 12 cm, at least 15 cm, at least 20 cm, at least 25 cm, at least 30 cm, etc. In some embodiments, at least 50%, at least 60%, at least 70%, at least 80%, or at least 90% of the objects separated using the separation device are separated by the dimensions listed in this paragraph.

[0055] The separation device may take various forms. In one embodiment, the separation device may include a conveyor belt positioned at a non-horizontal angle (e.g., with respect to the direction of gravity) to facilitate the separation of objects. The angle may be, for example, at least 5°, at least 10°, at least 15°, at least 20°, at least 25°, at least 30°, at least 35°, at least 40°, at least 50°, at least 55°, at least 60°, at least 65°, at least 70°, at least 75°, at least 80°, at least 85°, etc. with respect to the horizontal. In some embodiments, for example, the conveyor belt may be positioned obliquely or vertically to collect objects from a container and move them to a receiving portion. One non-limiting example is shown in FIG. 2. Such a conveyor belt may facilitate the loading of objects onto the conveyor belt or onto a collection device on the conveyor belt. However, it should be understood that in other embodiments, the conveyor belt may be horizontal.

[0056] Therefore, the conveyor belt can define a plurality of collection devices having separate positions configured to receive objects, for example. The collection devices can be defined using, for example, one or more crates, slats, trash cans, buckets, etc., positioned on or attached to the conveyor belt. These can be permanently attached to the conveyor belt or removable from the conveyor belt. In some embodiments, these can be positioned at right angles to the exposed upper surface of the conveyor belt. The right-angle positioning of the collection devices can help prevent objects from falling when not desired, for example, by preventing vibrations and gravity that direct the objects off the conveyor belt when not desired. For example, recyclable items (e.g., soda cans) may be positioned between two belt cleats that define a collection device space between the cleats. However, in some cases, these can be positioned in non-right-angle directions. For example, crates, slats, trash cans, buckets, etc., can be arranged at an angle of 45 degrees to 90 degrees or another suitable angle relative to the conveyor belt. Further, in some embodiments, these are arranged equidistantly from each other along the longitudinal length of the conveyor belt (e.g., in the direction in which an object moving along the conveyor belt moves) to facilitate separation. However, in some embodiments, the collection devices can be spaced at various distances along the longitudinal length. In some embodiments, spacing the collection devices on the conveyor belt at various distances can help collect objects of different sizes. This can be useful, for example, to allow a regular flow of objects and / or to prevent certain objects (e.g., large objects) from causing jams. In some embodiments, jams can occur when the moving parts of the system may not be moved by obstructions. An obstruction can be one or more objects that prevent the movement of one or more moving parts of the system.For example, an object of relatively large size may not need to be conveyed using collection devices spaced at equal intervals, so one or more collection devices with a larger spacing may be used to convey an object of relatively large size, such that the collection device can hold and convey a larger object.

[0057] In some cases, the collection device may generally be configured to hold a single object and thereby facilitate separating the object from the container (e.g., sized and / or positioned on a conveyor belt in such a manner). In some embodiments, the collection device may be defined using a crate, slat, dustbin, bucket, etc. For example, the collection device may include a space between crates or slats, or an inner portion of a dustbin, bucket, etc. In some cases, the collection device may be positioned on the conveyor belt at intervals of at least 5 cm, at least 6 cm, at least 8 cm, at least 10 cm, at least 12 cm, at least 15 cm, at least 20 cm, etc., or periodically. By positioning the collection device at the aforementioned distances, collection of a single object on the conveyor belt may be facilitated according to some embodiments. Further, in some embodiments, the collection device may be positioned on the conveyor belt to define discrete positions having volumes that facilitate collection of a single object on the conveyor belt according to some embodiments. For example, the collection device may have a volume of less than 100,000 cm 3 less than 50,000 cm 3 less than 30,000 cm 3 less than 10,000 cm 3 less than 5,000 cm 3 less than 3,000 cm 3 less than 1,000 cm 3 less than 500 cm 3 less than 300 cm 3 less than, or less than 100 cm 3 and may define a volume less than.

[0058] However, it should be understood that in some embodiments, objects larger than the collection device can still be sorted or manipulated using the collection device. For example, in FIGS. 13A (front view) and 13B (side view), an object having a width greater than the width of the collection device can still contain the object. In some cases, for example, the collection device can hold an object having a width of at least 110%, at least 120%, at least 130%, at least 140%, at least 150%, at least 170%, at least 200%, at least 250%, at least 300%, at least 350%, at least 400%, at least 450%, at least 500% of the width of the collection device, or any other suitable percentage width. It should be fully understood that objects having a width narrower than the collection device may also be inserted by the collection device.

[0059] It should also be understood that the collection of a single object from a container may not necessarily be perfect (e.g., not all objects need to be isolated or separated into distinct locations). Thus, in some embodiments, where two or more objects are present in a single distinct location, a rejection device such as those described herein may be used to remove one or more of those objects.

[0060] The conveyor belt can move at a constant speed or a variable speed. In some embodiments, the conveyor belt can move at an average speed of at least 150 cm / min, at least 300 cm / min, at least 450 cm / min, at least 600 cm / min, at least 900 cm / min, at least 1200 cm / min, at least 1500 cm / min, at least 1,800 cm / min, at least 2,400 cm / min, at least 3,000 cm / min, at least 3,600 cm / min, at least 4,200 cm / min, at least 4,800 cm / min, at least 5,400 cm / min, at least 6,000 cm / min, or any other suitable average speed. In some embodiments, the conveyor belt can move at an average speed of 6,000 cm / min or less, 5,400 cm / min or less, 4,800 cm / min or less, 4,200 cm / min or less, 3,600 cm / min or less, 3,000 cm / min or less, 2,400 cm / min or less, 1,800 cm / min or less, 1,500 cm / min or less, 1,200 cm / min or less, 900 cm / min or less, 600 cm / min or less, 450 cm / min or less, 300 cm / min or less, 150 cm / min or less, or any other suitable average speed. Any combination of these is possible; for example, the conveyor belt can move at a speed of 450 cm / min to 4,500 cm / min, 1,200 cm / min to 1,800 cm / min, 1,200 cm / min to 2,400 cm / min, or any other suitable average speed.

[0061] The conveyor belt can have any suitable width. For example, the conveyor belt can have an average width of at least 10 cm, at least 15 cm, at least 20 cm, at least 30 cm, at least 40 cm, at least 50 cm, at least 60 cm, at least 70 cm, at least 80 cm, at least 90 cm, at least 100 cm, at least 120 cm, at least 150 cm, at least 200 cm, at least 250 cm, at least 300 cm, at least 350 cm, at least 400 cm, at least 450 cm, at least 500 cm, or any other suitable width. Further, in some cases, the conveyor belt can have a width of 500 cm or less, 450 cm or less, 400 cm or less, 350 cm or less, 300 cm or less, 250 cm or less, 200 cm or less, 150 cm or less, 120 cm or less, 100 cm or less, 90 cm or less, 80 cm or less, 70 cm or less, 60 cm or less, 50 cm or less, 40 cm or less, 30 cm or less, 20 cm or less, 15 cm or less, 10 cm or less, or any other suitable width. Any combination of these is possible. As a non-limiting example, the conveyor belt can have an average width of 5 cm to 60 cm, 90 cm to 500 cm, 2 feet to 4 feet, 90 cm to 150 cm, or any other suitable width.

[0062] The collection device may be designed according to the dimensions of the object to be collected. This may be useful for various reasons, for example, to improve the effectiveness of collection and thus the isolation of the object. In some embodiments, the longest dimension of the object may be less than or equal to the width of the conveyor belt. For example, the ratio of the width of the conveyor belt to the length of the maximum dimension of the object may be at least 100%, at least 110%, at least 120%, at least 130%, at least 140%, at least 150%, at least 160%, at least 170%, at least 180%, at least 190%, at least 200%, or any other suitable ratio. However, the ratio of the width of the conveyor belt to the length of the maximum dimension of the object may be significantly high for significantly small objects, for example. For example, the possible length ratio may include 1000% or less, 900% or less, 800% or less, 700% or less, 600% or less, 500% or less, 400% or less, 300% or less, or any other suitable ratio. Since the present disclosure is not limited to the ratio of the width of the conveyor to the maximum dimension of the object, any combination of the disclosed ratios is possible.

[0063] It should be understood that the width of the conveyor belt does not necessarily have to limit some of the objects to be collected based on their sizes. In some embodiments, the longest dimension of the object may be greater than the width of the conveyor belt. For example, the ratio of the width of the conveyor belt to the length of the maximum dimension of the object may be at least 50%, at least 60%, at least 70%, at least 80%, at least 90%, at least 100%, or any other suitable ratio. For example, a water cylinder may have a maximum dimension (e.g., 10 cm) that is greater than the width of the conveyor belt (e.g., 8 cm), which results in a length ratio of 80%, but can still be collected and isolated. This may be beneficial for improving the isolation of the object while still allowing for efficient collection of the object.

[0064] Similarly, one or more dimensions of the object may be larger than the depth of the collection device, such that at least a portion of the object cannot be placed within the collection device and / or does not protrude above the collection device. The ratio of the depth of the collection device to one or more dimensions of the object may be at least 50%, at least 60%, at least 70%, at least 80%, at least 90%, at least 100%, or any other suitable ratio. This may also be useful for improving the collection and isolation of the object. Nevertheless, one or more dimensions of the object may not need to be larger than the depth of the collection device in many cases, for example, for very small objects (e.g., candy wrappers).

[0065] Another non-limiting example of a separation device is shown in FIG. 3. In the embodiment shown in FIG. 3, the outlet of the container 201 may have a movable gate 302 movably coupled thereto, which may be moved to control the flow of objects from the container 201 to the inclined belt 205. In this example, the movable gate 302 is coupled to the outlet outside the container 201, but the movable gate may be positioned at any other suitable location. The gate may be positioned upstream or downstream of the flow of objects relative to the container 201. For example, the movable gate may be positioned upstream from, within, or downstream from the outlet of the container. In this exemplary embodiment, the movable gate 302 is a single through-gate movable in a direction parallel to arrow 301. For example, the movable gate may be movable between an open position and a closed position. The movable gate may move between an open position and a closed position in a direction parallel to arrow 302. In further embodiments, instead of or in addition to the single through-gate, other barriers may be used, such as one or more additional through-gates, any suitable valve, any other suitable gate, any combination thereof, or any other suitable barrier configured to selectively direct the flow of waste. In some cases, there may be one, two, or any suitable amount of barriers. The barriers may be opened, closed, or adjusted by hinges, linear motion, rotational motion, etc.

[0066] For example, in another embodiment, a valve, gate, or other barrier may be at least partially opened and closed to help separate objects exiting the container. For example, the barrier may be present within the container and may be opened or closed so that one or more objects can pass through, for example, only one at a time. For example, according to some embodiments, the barrier may be automatically or manually opened and closed in response to a time interval, or in response to creating an opening or outlet of a certain size, or until an object passes through the opening or outlet. One non-limiting example of a valve is shown in FIG. 4, which shows a valve that can be controllably opened so that one (or more) objects can pass through.

[0067] In some embodiments, one or more sensors may be configured to sense information regarding the barrier (e.g., motion sensors, cameras, any suitable photosensitive detector, magnetometer, pneumatic sensor, optical sensor, physical sensor, accelerometer, etc.). For example, one or more sensors may be configured to sense objects entering and / or exiting (e.g., passing through) the opening. For example, in one embodiment, the sensor may include a member that can elastically deform when contacted by an object, thereby indicating that the object has passed through the opening. As another example, a beam of light may be directed to impinge on a photosensor (or any other suitable photosensitive detector) configured to sense the beam of light when the beam of light impinges on the sensor, and the interruption of the beam of light (e.g., by an object moving through the opening) may indicate that the object has passed through the opening.

[0068] In other embodiments, the separation device may have other forms. In one set of embodiments, for example, the separation device may include a plurality (e.g., a series) of conveyor belts configured to move continuously with increasing speed. This enables the objects on the belts to be increasingly separated as the objects move between the conveyor belts. For example, the first conveyor belt may move the object at a first speed, and a second conveyor belt configured to receive the object from the first conveyor belt may move the object at a second speed greater than the first speed, thereby increasing the separation distance between the objects. In some cases, this process may be repeated to further increase the separation distance. For example, the object may move to a third conveyor belt to move the object at a third speed, which may be greater than the second speed, and in some cases, to a fourth conveyor belt to move the object at a fourth speed, which may be greater than the third speed, and so on. Thus, any suitable number of conveyor belts with relevant speeds may be used. A non-limiting example of such a system is shown in FIG. 5, where the arrows of increasing length indicate an increase in speed. The conveyor belts may be simple or, in some cases, the conveyor belts may include, for example, a collection device or a dustbin, crate, slat, etc. that defines another separate location, as described in more detail herein. The conveyor belts may move at speeds such as those described herein. Further, the conveyor belts may be independently of the same or different sizes, widths, or other dimensions, as described herein.

[0069] In another embodiment, one or more conveyor belts may be configured to vibrate and / or be tilted or inclined, for example, such that objects fall off the conveyor belt substantially probabilistically (e.g., not completely determined). Objects falling off the conveyor belt may cause, for example, separation of the objects onto a second conveyor belt or other receiving portion. The conveyor belt may be vibrated / moved using any suitable actuator such as, for example, a vibration motor, any other suitable motor, a linear actuator, a pneumatic actuator, a hydraulic actuator, any combination thereof, and any other suitable actuator since the present disclosure is not so limited. A non-limiting example of such a system is shown in FIG. 6, where a plurality of objects disposed on a first conveyor belt (shown as a plane) are vibrated or swayed to fall onto a second conveyor belt at various times, thereby creating separation between the objects. In some embodiments, the vibration may be able to move some objects to isolate the objects. For example, the vibration device may be able to move an object (e.g., small plastic beads) or separate it from another object (e.g., a glass bottle). In some embodiments, the second conveyor belt may move the objects at a speed greater than the speed at which the first conveyor belt moves the objects, for example, to facilitate separation. Examples of suitable speeds of the conveyor belt are described in more detail herein. The conveyor belt may be as simple as possible or, in some cases, may include, for example, a trash bin, crate, slat, or other collection device that defines a separate location, as described in more detail herein. Further, the conveyor belts may be independent and of the same or different sizes or widths, etc., as described herein.

[0070] In some embodiments, a robotic arm may be used to separate objects. For example, one or more robotic arms may be configured to separate objects instead of or in combination with the systems and methods described herein. Various robotic pickers are known to those skilled in the art. For example, a robotic picker may be configured to pick up an object from a container and place it on a conveyor belt or other receiving part, for example, at intervals. The robotic picker may include an articulated arm, a gantry system, or other suitable form. Further, in some cases, two or more separating devices may also be used in the sorting system, including one or more of these and / or other separating devices as described herein.

[0071] In some embodiments, the separating device can be operated at a speed such that it can separate objects at a rate of at least 1 object per minute, at least 2 objects per minute, at least 3 objects per minute, at least 5 objects per minute, at least 10 objects per minute, at least 15 objects per minute, at least 20 objects per minute, at least 25 objects per minute, at least 30 objects per minute, at least 40 objects per minute, at least 50 objects per minute, at least 60 objects per minute, at least 70 objects per minute, at least 80 objects per minute, at least 90 objects per minute, at least 100 objects per minute, or any other suitable speed. In some cases, the speed can be 100 objects per minute or less, 90 objects per minute or less, 80 objects per minute or less, 70 objects per minute or less, 60 objects per minute or less, 50 objects per minute, 40 objects per minute or less, 30 objects per minute or less, 25 objects per minute or less, 20 objects per minute or less, 15 objects per minute or less, 10 objects per minute or less, 5 objects per minute or less, 3 objects per minute or less, 2 objects per minute or less, 1 object per minute or less, or any other suitable speed. Any combination of these is possible. For example, in one set of embodiments, objects can be separated at speeds such as 30 objects per minute to 90 objects per minute, 10 objects per minute to 50 objects per minute, 70 objects per minute to 100 objects per minute, etc.

[0072] As described above, even when separation of the object is desired, it should be understood that such separation does not always perfectly separate the objects. Thus, in some embodiments, in order to improve separation accuracy, the object may optionally be monitored (e.g., using one or more sensors) to determine whether two or more objects are properly separated (e.g., they may be in contact with each other or the distance between them may be too short to be separated), and in such cases, in some embodiments, the object is removed or moved. The object may be removed, returned to the container, directed to another location for additional sorting (e.g., by manual sorting or using more complex sorting equipment), directed to waste, or directed to any other suitable location. This can occur at any suitable time in various embodiments, for example, during the isolation process and / or after the object exits the separation device, for example, when the object is on the receiving part.

[0073] In some embodiments, for example, objects that are in contact with each other (e.g., stuck together) can be rejected, for example, using a suitable rejection device. In some cases, the rejection device can reject the object if isolation cannot be achieved. Different objects can be stuck together, such as a waste item (e.g., dirty) inside a recyclable item (e.g., a plastic container). In this case, since isolation may not be achieved, in some embodiments, the rejection device can reject the stuck-together objects.

[0074] Furthermore, in some embodiments, the isolation or separation of objects may not be necessary if two or more objects are substantially similar. For example, even if two or more objects (e.g., a bowl and a lid) are recyclable, or two or more objects are of the same type (e.g., two glass bottles), the rejection of two or more objects is not required. Therefore, in some cases, two or more objects may not be rejected if they are substantially similar. Other non-limiting examples of combinations of materials that may not be rejected include plastic - plastic, metal - metal, glass - glass, paper - paper, garbage - garbage, and compostable - compostable, etc. The combination may also include three or more substantially similar objects.

[0075] In some embodiments, one or more sensors may be used to determine, for example, whether two or more objects are not properly separated if the objects are in physical contact with each other. For example, various different sensors such as cameras, weight sensors, light sensors, etc. may be used in various embodiments to sense properties associated with the objects, such as shape, chemical composition, electrical properties, magnetic properties, thermal properties, optical properties, any combination thereof, and any other suitable properties. In some cases, the sensor may be operably coupled to and / or communicate with a computer or processor for processing (e.g., by electronic communication, wireless communication, IR communication, the Internet, etc.). In some embodiments, the computer or processor may be configured to acquire the sensed properties and analyze the sensed properties, and if certain conditions are met, such as one or more thresholds associated with the properties are satisfied (e.g., it is detected that two or more objects are present), the computer or processor may control the rejection device to remove the objects as described below.

[0076] In some embodiments, the systems or methods described herein may be automated. Automation can be useful for a variety of reasons, including reducing human intervention. Reducing human intervention can be useful for reducing errors associated with human operators and reducing any potential for injury that an operator may incur while operating the system. In some cases, the rejection system can be an automated rejection system. The automated rejection system may be controlled, for example, by a computer or a processor, which can be convenient in some ways, for example, to remotely control the rejection system. The automated system or method may be fully automated or partially automated. For example, a partially automated rejection system may require human assistance if an object (e.g., a plastic bag) becomes jammed within the rejection system. Further, in some embodiments, automation can be useful for enabling the processing of a continuous stream of objects. This can be beneficial for a variety of reasons, including, but not limited to, waste collection and sorting at a determined location (e.g., a trash can within a restaurant) without the need to move the container that receives the waste.

[0077] In some embodiments, one or more photosensitive detectors, such as a video camera, may be used herein. Other examples of photosensitive detectors include, but are not limited to, visible light cameras, IR cameras, X-ray cameras, hyperspectral cameras, thermal detection cameras, and the like. The photosensitive detector may be configured to image at least a portion of any suitable part of a sorting system that may include one or more objects, for example, within a separation device, on a receiving portion, or at another suitable location within the sorting system. One or more images from the photosensitive detector are sent to a computer or processor for processing to identify, for example, what objects and / or how many objects are present in the image. Various image analysis techniques may be used to identify the objects in the image. Systems for doing so include those that are commercially available. If two or more objects are present, the objects may be rejected as further described herein. Additionally, in some cases, an object may also be identified for rejection even if it is present in the singular. For example, an object may be identified as undesirable for sorting and thus may be rejected. Nevertheless, it should be understood that the present disclosure is not limited to any particular type, number, arrangement configuration, and / or use of one or more photosensitive detectors.

[0078] However, in other embodiments, other sensors may be used, for example, instead of or in addition to the photosensitive detector. For example, in one set of embodiments, a weight or mass sensor configured to sense the weight or mass associated with one or more collection devices may be used. For example, if all of the objects on the collection device are approximately the same size or weight, the weight sensor may sense a weight that is about two times or more the average weight, which may indicate that two or more such objects are present on the collection device. In another set of embodiments, the weight sensor may be set to reject weights above a certain value (e.g., regardless of the number of objects that may be present). One or more weight sensors may also be configured to sense the weight associated with any suitable part of the system beyond the collection device, including a conveyor belt, container, and / or any other suitable part of the system.

[0079] As yet another example, an optical sensor (which may be a photosensitive detector) configured to sense light (e.g., a beam of light) may be used herein. For example, the light illuminating the optical sensor may be blocked by an object that interacts with the light. In some embodiments, some patterns of light blockers (e.g., two blockers that are very close to each other, or an unusually long blocker) may indicate that two or more objects are present, or that the object is too large or of an undesirable dimension and thus needs to be rejected.

[0080] In some aspects, objects, such as objects that are physically in contact with each other or not properly separated, can be rejected using a suitable rejection device. In some cases, the rejection of objects can occur based on their properties, for example, as described herein. Various rejection devices may be used in various embodiments to remove an object from a separation device when the object is on a receiving portion or at another location within a sorting system. Non-limiting examples include actuators such as linear actuators, rotary actuators (e.g., having one or more blades or rotatable structures), air cannons, mechanical arms, rotating wheels, electromagnets, magnetic actuators, eddy currents, mechanical vibrators, and / or any other suitable actuator. Further, in various embodiments, there may be one or more rejection devices.

[0081] The rejection device may be positioned at any suitable location and may be configured to remove an object from a separation device when the object is on a receiving portion or at another location within a sorting system in any suitable form. For example, the rejection device may be positioned to move the object in a direction transverse to or perpendicular to the direction of movement of the object, or in another direction. Further, one or more objects may be removed. For example, if two or more objects are present, all of the objects may be removed, or according to some embodiments, all but one of the objects may be removed (e.g., so that the remaining object no longer contacts another object).

[0082] In some embodiments, the rejection system includes an actuator configured to move an object from a conveyor belt, as described herein. For example, in some cases, the actuator can push one or more objects off the conveyor belt. The actuator (or other rejection system) can be positioned at any suitable location and can be oriented in any suitable orientation, such as across the direction of movement of the conveyor belt, covering the upper side of the conveyor belt, behind or below the conveyor belt.

[0083] In some embodiments, the rejection device can include an actuator, such as a linear actuator. The actuator can be, for example, an electric, electromechanical, mechanical, hydraulic, or pneumatic actuator. In some embodiments, the actuator can be actuated to move a surface, where the surface can be used to push one or more objects from a separation device. For example, if two or more objects at separate locations are to be rejected, the actuator can be configured (e.g., positioned and oriented) to be actuated to push or separate the objects when they reach their locations. For example, the objects can be separated from each other and / or one or more of the objects can be removed from sorting, such as being returned to a sorting container, sent to another location for additional sorting (e.g., by human sorting or using a more complex sorting device), sent to waste or any other suitable location. The actuator can be positioned at any suitable location within the sorting system. For example, the actuator can be positioned to remove an object from a separation device, or from a receiving section or another location. In some cases, the actuator can be positioned under a surface containing the objects and can, for example, push the surface or the objects from the separation device. For example, the actuator can cause a random (e.g., probabilistic) dispersion or directional tilt of the objects. FIG. 7 shows an example of an actuator.

[0084] In some embodiments, the air cannon can direct a flow of gas, such as air, toward an object disposed on the separation device, and the gas flow can move the object from the separation device. For example, the gas flow can blow the object away from the separation device. For example, the air cannon can be configured to blow air laterally to the separation device, although the air cannon can be positioned at any other suitable angle. In some embodiments, for example, air comes from different angles and, for example, randomly pushes or disperses the object while being rejected from the separation device. For example, if the separation device is positioned over a container into which the object to be sorted is placed, air may be used to blow the object left and right, thereby separating such an object and returning it to the container when it falls from the separation device. This can be useful, in some embodiments, for removing certain objects (e.g., paper napkins or aluminum cans) that are lighter than other things (e.g., glass bottles). An example of using a gas flow directed at the separation device is shown in FIG. 8. However, in other embodiments, the gas flow may be used to move the object to other locations in addition to the container.

[0085] In some embodiments, one or more mechanical arms may be used to push an object away from a separating device. According to some embodiments, the mechanical arm may be part of a rotating wheel mechanism. For example, one or more mechanical arms may be rotatably coupled to a motor, and the motor may be configured to rotate the one or more mechanical arms. The mechanical arm may be configured to move (e.g., rotate) an object to push it away from the separating device. In some cases, the mechanical arm may be moved in two or more directions to remove the object. For example, the rotating wheel may be controlled to rotate in a first direction or a second direction. In some embodiments, the rotating wheel mechanism may be controlled using one or more controllers at least in part. The rotating wheel may be rotated in any suitable direction so that the arm can remove the object from the separating device. A non-limiting example of two mechanical arms rotatably coupled to the rotating wheel mechanism is shown in FIG. 9.

[0086] In some embodiments, magnetic force or eddy current may be used to push an object away from the separation device. For example, an electromagnet may be used to create a magnetic field that includes a magnetic force capable of attracting or repelling an object (e.g., a magnetic object), thereby moving the separation device away from the object. As another example, an electrical inductor may be used to create an electric field that attracts or repels an object, thereby moving such an object from the separation device. In some embodiments, such an object can be moved from the separation device without physically contacting the object. Thus, in some embodiments, the object can be rejected at least in part based on their electrical and / or magnetic properties. For example, a rejection device can use a magnetic field and / or an electric field to move the object from the separation device. For example, a device capable of generating a magnetic field can assume that a magnetic force can be formed by a ferromagnetic object (e.g., a stainless steel fork) rather than a non-magnetic object (e.g., a glass bowl). One non-limiting example is shown in FIG. 10, where a force acting in a direction that can be parallel to the direction indicated by the arrow can move the object from the separation device. The force can be a magnetic force as described herein.

[0087] In another embodiment, mechanical vibrations may be used to disperse the object and / or move it from the separation device. For example, one or more mechanical vibrators may be coupled to any suitable portion of the separation mechanism and activated to vibrate at least a portion of the separation device such that the object falls from or otherwise exits the separation device. An example of mechanical vibrations can be shown in FIG. 11. In the embodiment shown in FIG. 11, the object placed on the conveyor belt can move in the direction indicated by the arrow. Also, in the embodiment shown in FIG. 11, two actuators configured to vibrate the conveyor belt as described herein are coupled to opposite sides of the conveyor belt, on the inner sides of which are rectangles with lines shaped like sine waves. However, it should be understood that any suitable number of actuators may be used in any suitable form. Since the present disclosure is not so limited, any suitable mechanical, electrical, and electromechanical devices / actuators may be used herein to form mechanical vibrations, including one or more linear resonance actuators, solenoids, vibration motors, any combination thereof, and any other suitable actuators.

[0088] In yet another embodiment, the conveyor belt itself may be used as the separation device. For example, in some embodiments, the objects to be separated or rejected can be returned to the container by moving the conveyor belt in the reverse direction. For example, the object can be directed from the container by moving the conveyor belt in a first direction (e.g., upward), and directed to return to the container by moving the conveyor belt in a second direction (e.g., downward) opposite to the first direction.

[0089] After separation or isolation, the object can be collected in a receiving part suitable for, for example, identification and / or sorting. In some embodiments, the receiving part can include, for example, a conveyor belt, a slide, a chute, a driving wheel, etc. to move the object into a location where sorting can occur. In some embodiments, the receiving part can be configured to collect sorted or isolated objects from, for example, a separating device. In some embodiments, the objects on the receiving part can be considered ready for identification and / or sorting.

[0090] In some embodiments, the receiving part may be used to assist in the isolation of the object. For example, after the object is transferred from the conveyor belt to the receiving part, the receiving part can be configured to accept or reject the object based on their isolation status (e.g., whether they are isolated or in contact with another object). For example, one set of embodiments can use a receiving part (e.g., a conveyor belt) that can move forward when the object is isolated and backward when the object is in contact with another object.

[0091] In one set of embodiments, the receiving part can be at a height higher than the container. For example, the receiving part can be disposed vertically above the container with respect to the direction of gravity. This can be useful, for example, to result in a more compact system and / or to facilitate the removal of objects from the separating device and / or rejection device by gravity. For example, as described herein, the rejected object can be directed, for example, into a container containing other objects to be sorted. In some embodiments, local gravity can help direct the rejected object into the container. Further, in some embodiments, the receiving part can be positioned and oriented to facilitate sorting or isolation. Non-limiting examples of such systems are shown in FIGS. 1 and 2, where the receiving part 105 can be positioned at a height higher than the outlet of the container 201, and the objects in the container 201 can be separated and moved to the receiving part 105 via the inclined structural member 204 of the separating device.

[0092] In some embodiments, objects on the receiving portion can be identified and / or sorted. Various methods may be used. For example, in one set of embodiments, image analysis can be used to identify objects on the receiving portion, such as on a conveyor belt (e.g., conveyor belt 106 of FIG. 1). However, in other embodiments, the objects to be sorted may be present on a chute, slide, or another suitable surface. For example, a camera can be configured to image one or more objects, and a computer can acquire an image from the camera and be configured to identify the object, the composition of the object (e.g., paper, glass, plastic, metal, food waste, compostable, etc.), and / or perform any other suitable analysis. The camera can be, for example, a video camera, a visible light camera, an IR camera, an X-ray camera, a hyperspectral camera, a thermal detection camera, or any other suitable camera or photosensitive detector.

[0093] In some embodiments, since a majority of the objects to be sorted are isolated or separated from other objects, the identification of the objects to be sorted can be made simpler and / or less error-prone because there are fewer or no multiple and / or overlapping objects that can confuse the analysis. Multiple and / or overlapping objects can confuse the analysis by obscuring or reducing the clarity of the essential features that can be captured (e.g., imaged) by a sensor for the accurate classification and / or sorting of individual objects. Thus, in some embodiments, relatively simple analysis techniques may be used to identify such objects for sorting. In some cases, this may also make it possible to use faster identification techniques and / or achieve a faster sorting speed.

[0094] Other sensors may be used in addition to and / or instead of, for example, a camera. For example, in other embodiments, sensors such as weight sensors, light sensors, magnetic sensors, electrical sensors, etc. may be used to identify the object to be sorted. For example, the weight or size of an object can be determined using a weight sensor or a light sensor and can be used, for example, to identify the object. Further, an object can be identified using properties such as shape, chemical composition, electrical properties, magnetic properties, thermal properties, and / or optical properties. In some cases, two or more sensors may be used.

[0095] After the object has been identified, the object can be sorted, for example, using a sorting device. In some embodiments, the first type of object can be sorted to the first location and the second type of object can be sorted to the second location. As a non-limiting example, an object can be sorted into categories or locations based on its composition (e.g., recyclable materials), such as one or more of paper, glass, plastic, metal, etc. In some cases, different types of plastics can be sorted to different locations. In some cases, unsorted objects can be sent to different locations, for example, as waste or for further sorting (e.g., by humans). As another example, one or more of waste, recyclable, compostable, and biodegradable can be sorted from each other. In yet another example, different types of mail can be sorted from each other, for example, based on size and / or weight.

[0096] In some embodiments, the identified object moved to a relevant location using a sorting device. In some embodiments, the sorting device may use an actuator that includes any of the actuators described herein. Non-limiting examples of actuators include linear actuators, rotary actuators (e.g., having one or more blades), air cannons, robotic arms, rotating wheels, electromagnets, magnetic actuators, eddy currents, mechanical oscillators, any combination thereof, any other actuator described herein, and any other suitable actuator. For example, if there are two or more actuators for sorting purposes, the actuators may be the same or different and operate independently. As an example, in FIG. 1, three linear actuators 109 are shown, which may be operated independently to direct objects on conveyor belt 106 to separate locations 110. According to some embodiments, the separate locations may be separate containers capable of receiving the objects. As a non-limiting example for illustration purposes, a first container may be used to receive a first type of object (e.g., a glass object), while a second container may be used to receive a second type of object (e.g., a metal object). However, FIG. 1 is non-limiting, and it should be understood that other configurations are possible beyond the embodiment shown in FIG. 1.

[0097] Furthermore, in further embodiments, other sorting devices are contemplated. For example, a plurality of drive wheels may be used to move an object to different locations. In some cases, for example, a plurality of first wheels may be rotated in a first direction to move an object to a first location, while a plurality of second wheels (or the first wheels) may be rotated in a second direction to move the object to a second location. One non-limiting example of such a system is schematically shown in FIG. 12, where a platform includes a plurality of drive wheels that are rotated to move an object on the platform in one or more directions, e.g., to different locations. In this drawing, for example, an array of independently driven wheels 301 can be independently rotated or the direction of movement can be changed based on suitable sensor data regarding the object to be sorted. In some cases, a device including drive wheels as described herein may be commercially available.

[0098] As described above, one or more sieves may be configured to filter a waste stream according to some embodiments. Non-limiting examples include rotary sieves, drum sieves, sieves with rotatable elements, gravity sieves, sieves with paddles (e.g., elliptical paddles), which may move at any suitable angle, etc.

[0099] In some embodiments, a rotary screen, such as the rotary screen system 1400 shown in the embodiment of FIG. 14, may be used to filter a waste stream. The rotary screen may include a hopper 1402 configured to receive waste as described herein. Hopper 1402 may receive waste, which is indicated by the arrow directed towards the top of the hopper. The waste moves through hopper 1402 to drum screen 1404. Drum screen 1404 may be formed as a cylinder and, according to some embodiments, may be configured to rotate. Drum screen 1404 may rotate in any suitable direction including the direction indicated by curved arrow 1408. According to some embodiments, a motor 114 may be configured to rotate drum screen 1404 and a controller 112 may be configured to control the motor. Drum screen 1404 may be structurally supported by one or more supports 1406. Since the present disclosure is not so limited, drum screen 1404 may be supported by any suitable number of supports configured to support the drum screen in any suitable manner.

[0100] The waste stream can move through the drum sieve 1404 as the drum sieve rotates. Objects from the waste stream can fall from the drum sieve, for example, in the direction indicated by arrow 1410. In some embodiments, the objects can fall from the drum sieve in a direction generally parallel to the local direction of gravity. Optionally, the objects can pass through the drum sieve 1404 from the waste stream into one or more containers 1412. The drum sieve 1404 can be formed from a sieve configured such that objects below a threshold size pass through (e.g., fall through) the sieve and objects above the threshold size move along the length of the drum sieve and exit the drum sieve in a direction generally parallel to, for example, arrow 1414. The drum sieve can be formed with an interlocking structure, with spaces formed between the interlocking structures, where the interlocking structures can be formed to form spaces of a desired dimension. The objects can pass through the spaces as they move through the drum sieve.

[0101] In some embodiments, the drum sieve 1404 may include one or more drum sieve portions configured to permit objects of different sizes to pass through the drum sieve. For example, a first portion of the drum sieve 1404 may have a sieve that permits objects of a first size to pass through and a second portion may have a sieve that permits objects of a second size to pass through, where the second size is greater than the first size. For example, as shown in the embodiment illustrated in FIG. 14, the drum sieve 1404 is formed with a first portion having a finer sieve with a space in the interlocking member that is smaller than a second portion distal from the hopper 1402 closest to the hopper 1402. Thus, relatively small objects (e.g., fine ones) can pass through the first portion of the drum sieve 1404 and relatively large objects can pass through the first portion of the drum sieve. Since the present disclosure is not so limited, it should be fully understood that the drum sieve may include any suitable portion having any suitable fineness. In some embodiments, such as those shown in the embodiment of FIG. 14, the drum sieve is at an angle relative to the local direction of gravity such that an object moving the drum sieve can move through the drum sieve at least in part by gravity. Since the present disclosure is not so limited, the drum sieve may be formed at any suitable angle.

[0102] The waste stream can be filtered using a sieve comprising a rotatable element configured to filter the waste stream. For example, the waste stream can be filtered using a sieve 1500 having a rotatable element as shown in the embodiment shown in FIG. 15. The plurality of rotatable elements 1506 can be arranged to form columns. The columns can include one or more rotatable elements 1506. In some embodiments, the columns can include a plurality of rotatable elements disposed on a rotatable shaft. The rotatable shaft can be coupled to one or more supports 1504 configured to support the rotatable shaft and any rotatable element 1506 coupled thereto. In the embodiment shown in FIG. 15, the sieve 1500 includes five columns of rotatable elements, and each column of rotatable elements includes five rotatable elements, but the present disclosure is not so limited, so the sieve may include any suitable amount of columns, and the columns may include any suitable number of rotatable elements. The rotatable element 1506 can be configured to rotate in any suitable direction, including the direction indicated by the curved arrow 1507. Since the present disclosure is not so limited, the rotatable element can also rotate in a direction opposite to the curved arrow 1507. According to some embodiments, the rotatable element may be rotated using one or more motors 114, and the motors may be controlled using at least in part a computer 112.

[0103] The waste may be directed to a sieve 1500 having a rotatable element via an inlet 1502. For example, the waste may be directed to a rotatable element 1506 in a direction following the arrow coming from the inlet 1502. When the rotatable element 1506 rotates, the waste directed to the rotatable element can be moved and / or agitated. Moving and / or agitating the waste disposed on the rotatable element may help direct at least a portion of the object to pass through the rotatable element 1506 and fall below the rotatable element. According to some embodiments, the object can pass through the rotatable element, at least in part, thanks to the local direction of gravity. For example, the object can fall from the rotatable element in a direction parallel to the arrow 1510 shown in the embodiment of FIG. 15. In some embodiments, the object passing through the sieve 1500 in the direction of the arrow 1510 can be a fine object as described herein.

[0104] Multiple portions of the waste disposed on the rotatable element 1506 may be oriented to move in a direction parallel to the arrow 1508. For example, a first portion of the object may be oriented upward and to the left with respect to the perspective view of FIG. 15 in a direction parallel to the arrow 1508. In some embodiments, the first portion of the object may include an object having a relatively flat geometric shape, such as a plastic foil, and paper, cardboard, sheet of cardboard, or any other object having a relatively flat geometric shape. A second portion of the object may be oriented downward and to the right with respect to the perspective view of FIG. 15 in a direction parallel to the arrow 1508. In some embodiments, the second portion of the object may include an object having a significant three-dimensional dimension, such as a can, container, box, or any other suitable object having a three-dimensional dimension.

[0105] In some embodiments, the rotatable element may be formed to prevent waste from wrapping (e.g., adhering) around the rotatable element. For example, while the rotatable element is rotating, a thin film of easily deformable plastic may engage with the rotatable element and may wrap around the rotatable element and one or more of the members connected thereto. Such wrapping can slow down or interrupt the operation of the machine, or damage the system, wasting time and cost, so it is desirable to prevent such wrapping. As such, a sieve having a rotatable element may be formed or may be formed to prevent wrapping. For example, the rotatable element may be formed on a rotating shaft having a diameter large enough to prevent wrapping. For example, the diameter of the rotating shaft may be from about 5 cm to about 30 cm, or may be any other diameter since the present disclosure is not so limited. In some embodiments, the rotatable element may be formed as a disk, a standard star shape, a curved and modified star, any combination thereof, and any other suitable rotatable element.

[0106] A sieve 1600 having elliptical paddles is shown in the embodiment shown in FIG. 16. An inlet 1601 may be configured to direct waste onto one or more paddles 1602. The one or more paddles 1602 may be configured to move, for example, along a movement path following an ellipse. The one or more paddles may also be configured to vibrate. An example of the movement direction of the paddle is shown as an ellipse with an arrow indicating the movement direction 1604. The one or more paddles may be operably coupled to one or more motors 114, and the one or more motors may be configured to move / rotate the one or more paddles 1602. The one or more motors 114 may also be configured to vibrate the one or more paddles 1602. The one or more motors may be configured to be controlled using at least in part one or more computers 112. In some embodiments, the one or more paddles 1602 may be configured and / or controlled to move independently of each other.

[0107] Waste can be directed onto one or more paddles 1602 via inlet 1601, for example, in a direction parallel to the direction of the arrow coming from inlet 1601. The one or more paddles 1602 can include one or more sieve portions configured to allow objects from the waste stream to pass through the one or more sieve portions. For example, relatively small objects 1606 (e.g., fine ones) can optionally pass through the sieve portions of the one or more paddles 1602 in a direction parallel to the direction of arrow 1607. The waste disposed on the one or more paddles 1602 can be directed in a direction parallel to arrow 1612. For example, a first portion of the object can be directed upward and to the right with respect to the perspective view of FIG. 16 in a direction parallel to arrow 1612. In some embodiments, the first portion of the object can include objects having a relatively flat geometric shape, such as plastic foil, and sheets of paper, cardboard, cardboard paper, or any other object having a relatively flat geometric shape. A second portion of the object can be directed downward and to the left with respect to the perspective view of FIG. 16 in a direction parallel to arrow 1612. In some embodiments, the second portion of the object can include objects having a relatively significant three-dimensional dimension, such as cans, containers, boxes, or any other suitable object having a three-dimensional dimension. The second portion of the object can also include relatively heavy objects.

[0108] The sieve 1600 having paddles moving in an oval pattern can be angled at any suitable angle with respect to the ground or other surface / plane supporting the sieve. For example, one or more paddles 1602 can be formed at an angle θ (theta) with respect to a plane substantially perpendicular to the local direction of gravity. The angle θ (theta) can be any suitable angle including, but not limited to, from about 10 degrees to about 45 degrees. The paddles of one or more paddles 1602 can include one or more cleats 1704 as shown in the illustrated embodiment of the paddle sieve portion of FIG. 17. According to some embodiments, the cleats 1704 can be formed laterally of the paddle 1602. The cleats 1704 can be formed at any suitable portion of the paddle, including the sieve portion 1702. In some embodiments, the sieve portion 1702 can be formed to have a space of about 50 mm × about 50 mm between the interlocking members. In some embodiments, the space between the interlocking members of the sieve portion can be formed as a substantially square having the above dimensions. In some embodiments, the cleat can extend a distance of from about 6 mm to about 80 mm from the upper exposed surface of the paddle.

[0109] It should be fully understood that any individual sieve or combination of sieves, such as those shown in FIGS. 14 - 17, may be used in conjunction with any of the systems or methods disclosed herein.

[0110] The following examples are intended to illustrate some embodiments of the present disclosure, not to exemplify the full scope of the present disclosure.

Example

[0111] Example 1 In this embodiment, one possible form of a waste sorting system capable of processing objects from a waste stream will be described. In some embodiments, the waste sorting system may be configured to process relatively large and diverse waste streams (e.g., having various types of objects). Referring to FIG. 1, the object is received in container 102. The object may pass through a separation device as described below in order to be separated or isolated. In this system, before placing the object on conveyor belt 106 for sorting, the isolated object passes along a conveyor belt 105 that connects the separation device to conveyor belt 106. It should be understood that the conveyor belt is not necessarily required, but in the form of this embodiment, it may be used to at least help make the system more compact (e.g., occupy a relatively small floor area).

[0112] Thereafter, the object is moved onto conveyor belt 106. According to some embodiments, the objects may be arranged to form a line of isolated objects. Conveyor belt 106 transports the objects towards the unsorted object bin 111. As the object moves on conveyor belt 106, the object may be identified using at least in part camera 107. At least a portion of the conveyor belt may be imaged using camera 107, and the image may be provided to a computer. The computer may be configured to identify waste objects at least in part based on the image. The identified waste objects, such as recyclable materials or compostable materials, may be directed from conveyor belt 106 to various sorting bins 110. The object may be taken from conveyor belt 106 using actuator 109. Actuator 109 may include one or more actuators of any suitable type as described herein. Other waste objects, such as trash, may not be removed by actuator 109 and may move on conveyor belt 106 past actuator 109. Such objects may move to the unsorted bin 111.

[0113] Figure 2 shows a separator in which objects can be sorted to form a row of isolated objects. According to some embodiments, the row may be considered a single file or "isolated" stream of waste. In Figure 2, the inlet hopper 201 may be configured to receive waste and / or other objects from the inlet. In the embodiment shown in Figure 2, the inlet is formed as an opening in the upper portion of the inlet hopper 201. In some embodiments, the inlet hopper 201 may function as an intermediate storage location for the objects received by the inlet hopper 201. The inlet hopper 201 may be formed in a volume that allows sufficient capacity to receive the objects by the inlet hopper 201, which may vary depending on the application of the separator. The volume of the inlet hopper 201 may be selected based on the application of the separator, preferably such that the volume of the objects received by the inlet hopper does not exceed the volume of the inlet hopper.

[0114] The object may exit the inlet hopper 201 at the outlet 203. The outlet 203 may direct the object exiting the inlet hopper 201 towards the inclined belt 205. The inclined belt 205 (e.g., the conveyor belt 105 or the conveyor belt 106 of FIG. 1) may move the object from the inlet hopper 201 to the receiving portion. In some cases, the angle of the conveyor belt 105 relative to the horizontal (e.g., perpendicular to the local direction of gravity) may be determined using an inclined structural member 204 that can be positioned to form the angle of the inclined belt 205. For example, the inclined belt may be oriented at an angle ranging from about 15 to about 75 degrees relative to the horizontal, or any other angle from 0 degrees to about 90 degrees. The inclined belt may be controlled, for example, using an upper belt roller 207 and / or a lower belt roller 202. In some embodiments, one or more motors may be coupled to one or both of the upper belt roller 207 and the lower belt roller 202 and may be configured to rotate the upper belt roller 207 and / or the lower belt roller 202. The inclined belt may move to direct the object upward to the receiving portion.

[0115] On the inclined belt 205, one or more cleats 206 may be used to place an object, for example, at a separate position corresponding to the cleat 206 on the inclined belt 205. The cleat 206 can be formed in any suitable geometric shape and form. For example, the cleat 206 may be angled or flat with respect to the upper exposed surface of the conveyor belt. In some embodiments, the cleat may be formed in a shape like a fork or a "U" shape. In some embodiments, the cleat may be formed as a rectangle or a trapezoid. In some cases, the cleat 206 serves to keep the object fixed relative to the position of the object on the cleat during transportation and / or contributes to the spacing of the objects. In other cases, the cleat 206 may have dynamic components such as an independent actuator that facilitates the removal of the object from them. In some embodiments, various cleat shapes or combinations of cleat shapes, the cleat angle with respect to the inclined belt, or the cleat style may be used to facilitate the insertion and / or removal of the object. In some embodiments, the cleat can be angled with respect to the inclined belt by any suitable angle, including but not limited to, an angle between 0 degrees and 90 degrees, for example, with respect to a plane parallel to the upper exposed surface of the inclined belt. In some embodiments, the cleat can be angled with respect to the belt at an angle between about 30 degrees and about 80 degrees. However, it should be understood that since the present disclosure is not so limited, the cleat can be formed at any suitable angle with respect to the inclined belt.

[0116] In some cases, two or more objects may be present within a single distinct location on the inclined belt 205. These may be corrected, as one non-limiting example, as follows. As shown in the embodiment illustrated in FIG. 2, the camera 208 may focus on the space between two adjacent crates 206 that may hold objects during transport, for example, and take an image of the inclined belt 205. The image may be acquired by the computer 209 and used to be analyzed, and the computer may classify the objects based on shape, size, material, any combination thereof, or any other suitable characteristics associated with the objects. In some cases, the computer may identify the case where two or more objects are collected together in one of the distinct locations. When this occurs, the computer 209 sends a signal to the actuator 210, or another suitable discharge or correction mechanism. The actuator 210 may remove all but one of the objects, or any other suitable number of objects, from the inclined belt 205. The removed objects may be returned to the inlet hopper 201, or the objects may be directed to any other suitable location. However, it should be noted that in other embodiments, the objects may be separated downstream from the inclined belt, for example, on the transport belt 105 or the conveyor belt 106.

[0117] The entire contents of U.S. Provisional Patent Application No. 63 / 359,062, filed on July 7, 2022, are incorporated herein by reference.

[0118] Although some embodiments of the present disclosure have been described and illustrated herein, those skilled in the art can readily envision various other means and / or structures for performing the functions and / or obtaining the results and / or one or more advantages described herein, and each such variation and / or modification is considered to be within the scope of the present disclosure. More generally, those skilled in the art will readily understand that all parameters, dimensions, materials, and forms described herein are intended to be illustrative, and the actual parameters, dimensions, materials, and / or forms will depend on the particular one or more applications in which the teachings of the present disclosure are used. Those skilled in the art can recognize, or confirm, many equivalents of the specific embodiments of the present disclosure described herein using nothing more than routine experimentation. Therefore, it should be understood that the above-described embodiments are presented by way of example only, and that within the scope of the appended claims and their equivalents, the present disclosure may be practiced otherwise than as specifically described and claimed. The present disclosure is directed to the individual features, systems, articles, materials, kits, and / or methods described herein. Further, any combination of two or more such features, systems, articles, materials, kits, and / or methods is included within the scope of the present disclosure if such features, systems, articles, materials, kits, and / or methods do not mutually conflict.

[0119] If this specification and the documents incorporated by reference include conflicting and / or inconsistent disclosures, this specification shall govern. If two or more documents incorporated by reference include conflicting and / or inconsistent disclosures, the document with the later issue date shall govern.

[0120] All definitions, as defined and used herein, are to be understood to govern over dictionary definitions, definitions in documents incorporated by reference, and / or the ordinary meaning of the defined terms.

[0121] As used herein in the specification and claims, the indefinite articles "a" and "an" shall be understood to mean "at least one" unless clearly specified otherwise.

[0122] In this specification and the claims, the phrase "and / or" as used herein should be understood to mean "either or both" of the elements so combined, i.e., the elements may be present conjunctively in some cases and disjunctively in other cases. Multiple elements listed by "and / or" should be construed in the same way, i.e., "one or more" of the elements are so combined. Other elements other than those specifically identified by the "and / or" clause may optionally be present, whether or not they are related to the specifically identified elements. Therefore, as a non-limiting example, when a reference to "A and / or B" is used together with non-restrictive language such as "comprising", in one embodiment, only A (optionally including elements other than B); in another embodiment, only B (optionally including elements other than A); in yet another embodiment, both A and B (optionally including other elements); and so on.

[0123] In this specification and the claims, "or, alternatively" as used herein should be understood to have the same meaning as "and / or" defined above. For example, when there are items separated in a list, "or, alternatively" or "and / or" is construed as inclusive, i.e., including not only at least one of several elements or a list of elements, but also two or more of several elements or a list of elements, and optionally, additional unlisted items. "Only one of" or "only one of" etc., unless the term is clearly specifically indicated otherwise, or when used in the claims, "consisting of" refers to including only one element of several elements or a list of elements. Generally, the term "or, alternatively" as used herein should be construed to indicate an exclusive alternative (i.e., "either one or the other, but not both") only when followed by exclusive terms such as "either", "only one of", "only one of", or "only one of".

[0124] In referring to a list of one or more elements, as used herein in the specification and claims, the phrase "at least one" as used herein means at least one element selected from any one or more of the elements in the list of elements, but necessarily does not include at least one of every element specifically listed within the list of elements, and is understood to mean not excluding any combination of elements in the list of elements. This definition also allows for the optional presence of elements other than those specifically identified within the list of elements to which the phrase "at least one" refers, whether or not related to the specifically identified elements. Therefore, by way of non-limiting example, "at least one of A and B" (or equivalently, "at least one of A or B" or equivalently "at least one of A and / or B") can, in one embodiment, be at least one A, optionally including two or more, where B is absent (and optionally including elements other than B); in another embodiment, be at least one B, optionally including two or more, where A is absent (and optionally including elements other than A); in yet another embodiment, be at least one A, optionally including two or more, and at least one B, optionally including two or more (and optionally including other elements); and so on.

[0125] When the term "about" is used herein in reference to a numerical value, it should be understood that yet another embodiment of the present disclosure includes that numerical value without the term "about" attached thereto.

[0126] Unless specifically stated otherwise, it should also be understood that any method claimed herein includes two or more steps or acts, and the order of the steps or acts of the method is not necessarily limited to the order in which the steps or acts of the method are recited.

[0127] In the claims, as well as in the above specification, all transitional phrases such as "comprising", "including", "carrying", "having", "containing", "involving", "holding", "consisting of", etc. are to be understood to be open-ended, i.e., to mean including without limitation. As defined in the United States Patent Office Manual of Patent Examining Procedures, Section 2111.03, only the transitional phrases "consisting of" and "consisting essentially of" are closed or semi-closed transitional phrases, respectively.

Claims

1. A container for receiving an object; A conveyor belt including a plurality of collection devices, the conveyor belt positioned to collect an object from the container to one of the plurality of collection devices; A receiving portion for receiving the object from the collection device, the receiving portion being at a height higher than an outlet of the container; A rejection device for preventing two or more objects placed in the collection device from being received by the receiving portion A system comprising.

2. The system according to claim 1, wherein the container has an outlet for moving the object onto the conveyor belt.

3. The system according to claim 1 or 2, wherein the conveyor belt is positioned at a non-horizontal angle.

4. The system according to any one of claims 1 to 3, wherein the conveyor belt is positioned vertically.

5. The system according to any one of claims 1 to 4, wherein the plurality of collection devices are defined by a plurality of crates coupled to and disposed on the conveyor belt.

6. The system according to any one of claims 1 to 5, wherein the plurality of collection devices are formed as a plurality of dustbins on the conveyor belt.

7. The average volume of the collection device is less than 3000 cm ３ The system according to any one of claims 1 to 6, wherein the average volume of the collection device is less than 3000 cm

8. The system according to any one of claims 1 to 7, wherein the receiving portion includes a conveyor belt.

9. The system according to any one of claims 1 to 8, wherein the receiving portion includes a chute.

10. The system according to any one of claims 1 to 9, further comprising a sensor configured to determine an object within one of the plurality of collection devices.

11. The system according to claim 10, further comprising a processor in communication with the sensor and the rejection device.

12. The system according to claim 10 or 11, wherein the sensor includes a camera configured to image the collection device.

13. The system according to claim 12, wherein the camera is a visible light camera.

14. The system according to claim 12, wherein the camera is an infrared camera.

15. The system according to claim 12, wherein the camera is an X-ray camera.

16. The system according to claim 12, wherein the camera is a hyperspectral camera.

17. The system according to claim 12, wherein the camera is a thermal detection camera.

18. The rejection device is configured to remove the object from the collection device, and the system according to any one of claims 1 to 17.

19. The rejection device includes an actuator configured to remove the object from the collection device, and the system according to any one of claims 1 to 18.

20. The actuator is a linear actuator, and the system according to claim 19.

21. The actuator is an electric actuator, and the system according to claim 19.

22. The actuator is a fluid pressure actuator, and the system according to claim 19.

23. The actuator is a pneumatic actuator, and the system according to claim 19.

24. The actuator is a rotary actuator, and the system according to claim 19.

25. The rejection device includes an air cannon, and the system according to any one of claims 1 to 24.

26. The rejection device includes an electromagnet, and the system according to any one of claims 1 to 25.

27. The rejection device includes an electrical inductor, and the system according to any one of claims 1 to 26.

28. The rejection device includes a vibration device, and the system according to any one of claims 1 to 27.

29. Furthermore, the system according to any one of claims 1 to 28 includes a sorting device for sorting the object from the receiving part.

30. The sorting device includes a sorting sensor for identifying the object, and the system according to claim 29.

31. The sensor includes a sorting camera configured to image the object, and the system according to claim 30.

32. The sorting camera is a visible light camera, and the system according to claim 31.

33. The sorting camera is an infrared camera, and the system according to claim 31.

34. The sorting camera is an X-ray camera, and the system according to claim 31.

35. The sorting camera is a hyperspectral camera, and the system according to claim 31.

36. The sorting camera is a thermal detection camera, and the system according to claim 31.

37. The sorting device includes an actuator for sorting the object to a location, and the system according to any one of claims 29 to 36.

38. The system according to any one of claims 1 to 37, which is capable of sorting at least 30 objects per minute.

39. The system according to any one of claims 1 to 38, which is capable of sorting at least 50 objects per minute.

40. The system according to any one of claims 1 to 39, which is capable of sorting at least 90 objects per minute.

41. The system according to any one of claims 1 to 40, wherein the object includes garbage.

42. The system according to any one of claims 1 to 41, wherein the object includes recyclable materials.

43. The system according to claim 42, wherein the recyclable materials include glass.

44. The system according to claim 42 or 43, wherein the recyclable materials include plastic.

45. The system according to any one of claims 42 to 44, wherein the recyclable materials include paper.

46. The system according to any one of claims 42 to 45, wherein the recyclable materials include metal.

47. The system according to any one of claims 1 to 46, wherein the object includes compostable materials.

48. The system according to claim 47, wherein the compostable materials include compostable organic materials.

49. The system according to any one of claims 1 to 48, wherein the object includes biodegradable materials.

50. A container for containing an object; An average volume of less than 5,000 cm ３ A conveyor belt including a plurality of collection devices having an average volume of less than 5,000 cm, the conveyor belt being positioned to collect an object from the container to one of the plurality of collection devices; A camera positioned to image the collection device containing the object; A processor in communication with the camera to determine the number of objects in the collection device; A rejection device for removing an object from the collection device when the processor determines that there are two or more objects in the collection device A system comprising.

51. The system according to claim 50, wherein the conveyor belt is positioned at a non-horizontal angle.

52. The system according to claim 50 or 51, further comprising a receiving portion configured to receive the object from the collection device.

53. The system according to claim 53, wherein the receiving portion is disposed at a vertical position higher than the vertical position of the outlet of the container.

54. Putting recyclable materials into the container; Collecting the recyclables on a conveyor belt into a plurality of collection devices; Rejecting the recyclables within a collection device containing two or more recyclables; Conveying the non-rejected recyclables within the collection device to a receiving part, wherein the receiving part is at a height higher than the outlet of the container; Sorting the non-rejected recyclables A method comprising.

55. The method according to claim 54, further comprising moving the rejected recyclables to the container.

56. The method according to claim 54 or 55, further comprising sensing the recyclables within the plurality of collection devices and rejecting the recyclables based on the sensing.

57. The method according to any one of claims 54 to 56, wherein the conveyor belt is non-horizontal.

58. The method according to any one of claims 54 to 57, wherein the plurality of collection devices are formed as a plurality of crates.

59. The method according to any one of claims 54 to 58, wherein the plurality of collection devices are formed as a plurality of trash bins.

60. The method according to any one of claims 54 to 59, wherein sorting the non-rejected recyclables includes sorting at least 30 objects per minute.

61. Putting recyclables into a container; Collecting the recyclable items on a conveyor belt into a plurality of collecting devices, wherein an average volume of the collecting devices is less than 5,000 cm ３ ; Rejecting the recyclables within a collection device containing two or more recyclables; Sorting the non-rejected recyclables A method comprising.

62. The method according to claim 61, further comprising moving the rejected recyclables to the container.

63. The method according to claim 61 or 62, further comprising sensing the recyclables within the plurality of collection devices and rejecting the recyclables based on the sensing.

64. The method according to any one of claims 61 to 63, wherein the conveyor belt is non-horizontal.

65. The method according to any one of claims 61 to 64, wherein sorting the non-rejected recyclables includes sorting at least 30 objects per minute.

66. Putting recyclable materials into a container, with at least 50% by weight of the recyclable materials being cans or bottles; Spacing the recyclable materials on a receiving part so that 90% of them are separated by at least 5 cm in order to physically separate the recyclable materials; Obtaining an image of the recyclable materials on the receiving part; Sorting the recyclable materials based on their images A method comprising the above.

67. The method according to claim 66, wherein spacing the recyclable materials includes using a separating device to space the recyclable materials.

68. The method according to claim 67, wherein the separating device includes a rejecting device for separating two or more objects in contact with each other.

69. The method according to claim 67 or 68, wherein the separating device includes a non-horizontal conveyor belt including a plurality of collecting devices.

70. The method according to any one of claims 67 to 69, wherein the separating device includes a robotic arm.

71. The method according to any one of claims 67 to 70, wherein the separating device includes a first conveyor belt moving at a first speed and a second conveyor belt moving at a second speed.

72. The method according to any one of claims 67 to 71, wherein the separating device includes a vibrating conveyor belt.

73. Putting waste into a container, with at least 50% by weight of the waste being recyclable materials including glass, metal, or plastic; Isolating the recyclable materials from the container on a receiving part; Obtaining an image of the recyclable materials on the receiving part; Sorting the recyclable materials based on their images A method comprising the above.

74. The method according to claim 73, wherein at least 70% by weight of the waste is recyclable materials including glass, metal, or plastic.

75. The method according to claim 73 or 74, wherein isolating the recyclable materials includes using a non-horizontal conveyor belt including a plurality of collecting devices.

76. The method according to any one of claims 73 to 75, wherein isolating the recyclable materials includes using a robotic arm.

77. The method according to any one of claims 73 to 76, comprising isolating the recyclable using a first conveyor belt moving at a first speed and a second conveyor belt moving at a second speed.

78. The method according to any one of claims 73 to 77, comprising isolating the recyclable using a vibrating conveyor belt.

79. A container for receiving an object; A conveyor belt including a plurality of collection devices, the conveyor belt configured to collect one or more objects from the container into one of the plurality of collection devices; A receiving portion configured to receive the one or more objects from the collection device, the receiving portion being disposed at a vertical position higher than an outlet of the container; A rejection device configured to selectively prevent the one or more objects placed in the collection device from being received by the receiving portion A system comprising.

80. The system according to claim 1, wherein the rejection device is configured to prevent the one or more objects placed in the collection device from being received by the receiving portion when the one or more objects include two or more objects.

81. The system according to claim 79, wherein the rejection device is configured to prevent the one or more objects placed in the collection device from being received by the receiving portion when the one or more objects include two or more objects.

82. A container for receiving an object; An average volume of less than 5,000 cm ３ A conveyor belt including a plurality of collection devices having an average volume of less than 5,000 cm, the conveyor belt being configured to collect an object from the container to one of the plurality of collection devices; A camera configured to image one or more of the plurality of collection devices containing the object; A rejection device configured to selectively remove an object from the one or more collection devices; A processor: Obtaining an image from the camera; Determining the number of objects in the one or more collection devices based at least in part on the acquired image; and Controlling the rejection device to remove an object from the one or more collection devices when the number of objects is two or more A processor configured as such and A system comprising.

83. Sensing the recyclable in the plurality of collection devices includes sensing the number of recyclable in the plurality of collection devices and rejecting the recyclable based on the number of recyclable, according to the method of claim 54 or 55. Claim 84 Putting recyclable materials in a container, where at least 50% by weight of the recyclable materials are cans or bottles; Spacing the recyclable materials on the receiving part to physically separate the recyclable materials such that at least 90% of the recyclable materials are separated by at least 5 cm; Obtaining an image of the recyclable materials on the receiving part; Sorting the recyclable materials based at least in part on the image A method comprising the above steps. Claim 85 The average volume of the plurality of collection devices is less than 3,000 cm ３ The method according to claim 61 or 82, wherein the average volume of the plurality of collection devices is less than 3,000 cm Claim 86 The average volume of the plurality of collection devices is less than 3,000 cm ３ The system according to claim 50, wherein the average volume is less than 3,000 cm

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