Sorting apparatus and method for sorting objects

Abstract

Sorting apparatus (100) comprising: an input feed mechanism (102) configured to feed objects (120) towards an inspection zone; a deflector (112), configured to deflect the objects (120) leaving the input feed mechanism (102); and a sensor-based inspection unit (104), configured to inspect the objects (120) when passing through the inspection zone, and to classify the objects (120), wherein the sorting apparatus (100) further comprises an ejection mechanism (106) configured to eject objects (120) classified in a first ejection category, but to let other objects (120) that fail to be classified in the first ejection category pass, and a flow output mechanism (108) configured to receive the other objects (120).

Description

[0001]SORTING APPARATUS AND METHOD FOR SORTING OBJECTS Technical field The present invention generally relates to sorting of objects. Background There is a general increase and interest in automated analysis of objects. Byautomated analysis of objects, the objects may be classified according to apredetermined criterion and enable sorting the objects according to thepredetermined criterion. There is always an interest in increasing the accuracy of a sorting systemworking at high speed while simultaneously ensuring a cost-effective solution. Manytimes, the matter is to be sorted in at least two different directions, or to two differentdestinations, dependent on a predetermined set of properties, such as if the matterhas e.g. an acceptable amount of surface irregularities (Category 1) or a non-acceptable amount of surface irregularities (Category 2). The accuracy of the sortingmay be increased, e.g. by increasing the accuracy of the analyzing step so fewerobjects are classified as Category 2 when they actually belong to Category 1, andvice versa; and / or by increasing the accuracy at the ejection step so that the objectsare ejected in the correct direction or to the correct destination.In view of the above, an object of the present invention is to provide a cost-effective inspection system that enables a higher sorting accuracy while preferablymaintaining or increasing the throughput capability. To achieve this object, and / orother objects that will be evident from the following description, an inspection systemhaving the features defined in claim 1 is provided according to the present invention.Preferred embodiments of the inspection system will be evident from the dependentclaims. Summary It would be desirable to improve performance in automatic handling of objects. It is an object of this disclosure to address at least one of the issues outlined above. Further, there is an object to devise an arrangement and a method that facilitates increased precision in automatic sorting processes. These objects may be met by an arrangement and a method according to the attached independent claims. According to a first aspect, a sorting apparatus for sorting objects is provided.The sorting apparatus comprises: an input feed mechanism configured to feed theobjects towards an inspection zone and into a free fall path; a deflector, configured toguide the objects when in said free fall path; and a sensor-based inspection unit, configured to inspect the guided objects when passing through the inspection zone,and to classify the inspected objects in at least a first ejection category. The sortingapparatus comprises further an ejection mechanism configured to eject objectsclassified in the first ejection category, but to let other objects that fail to be classified in the first ejection category pass, and a flow output mechanism configured to receivethe other objects.According to another aspect, a sorting apparatus for sorting objects isprovided. The sorting apparatus comprises: an input feed mechanism configured tofeed the objects towards an inspection zone; a deflector, configured to deflect theobjects leaving the input feed mechanism; and a sensor-based inspection unit, configured to inspect the objects when passing through the inspection zone, and toclassify the objects. The sorting apparatus comprises further an ejection mechanismconfigured to eject objects classified in a first ejection category, but to let other objects that fail to be classified in the first ejection category pass, and a flow output mechanism configured to receive the other objects. The deflector may be configured to suppress rotation of the objects. The sorting apparatus may further comprise on or more ejection output mechanisms configured to receive the objects classified in the first ejection category. The input feed mechanism may comprise a conveyor belt, and both the flow output mechanism and the one or more ejection output mechanisms may be located lower than a top surface of the conveyor belt. The inspection zone may be located lower than the input feed mechanism, buthigher than the flow output mechanism and higher than the one or more ejection output mechanisms. The width of the deflector may extend across a width of the input feed mechanism and a length of the deflector may extend along a part of a flow trajectory for objects leaving the input feed mechanism. The lower surface of thedeflector may comprise a concave form. The sensor-based inspection unit may bearranged to inspect the objects when passing the inspection zone, and after moving past the deflector. The ejection mechanism may be configured to be activated by the inspectionunit and redirect the objects towards the first ejection output mechanism. The ejection mechanism may comprise at least one of: a plurality of mechanical deflectors; and air nozzles. According to another aspect, a method of sorting objects is provided andcomprises: feeding objects to be sorted towards an inspection zone and into a free fall path by an input feed mechanism; guiding, by a deflector, objects leaving theinput feed mechanism and / or objects within the free fall path; inspecting, by a sensor-based inspection unit, the guided objects while the guided objects are passingthrough the inspection zone, and classifying the guided objects into at least a firstejection category. The method further comprises ejecting, by an ejection mechanism, objects that have been classified in the first ejection category but letting other objects that fail to be classified in the first ejection category pass; and receiving, by a flow output mechanism, the other objects that fail to be classified in the first ejection category. According to further aspect, a method of sorting objects is provided and comprises: feeding objects to be sorted towards an inspection zone by an input feed mechanism; deflecting, by a deflector, objects leaving the input feed mechanism; inspecting, by a sensor-based inspection unit, the objects while passing through the inspection zone, and classifying the objects. The method further comprises ejecting, by an ejection mechanism, objects that have been classified in a first ejection category but letting other objects that fail to be classified in the first ejection category to pass; and receiving, by a flow output mechanism, the other objects that fail to be classified in the first ejection category. By arranging a deflector for objects leaving an input feed mechanism, e.g. by suppressing rotation or wobbling, the objects may follow their respective flow trajectories more precisely. Thereby, especially for unconventionally formed objects, e.g. oblong or elongated objects, their travel through an inspection zone may be smoother and controlled. This may give rise to some advantages, e.g. a more reliable inspection, improved precision in sorting, and less object collisions with machine parts. Moreover, as the number of bouncing objects about the flow outputmechanism may be decreased, collisions with subsequent objects in the flow may belimited. Brief description of the drawings The above, as well as additional objects, features, and advantages of thepresent inventive concept, will be better understood through the following illustrativeand non-limiting detailed description, with reference to the appended drawings. In thedrawings like reference numerals will be used for like elements unless statedotherwise.Fig. 1a-c show schematic views of a sorting apparatus, where objects areunsuccessfully sorted, according to an example.Fig. 2 shows a schematic view of a sorting apparatus, according to anexemplifying embodiment.Fig. 3a-b show schematic detail views of a sorting apparatus, according to anexemplifying embodiment.Fig. 4 shows a view of a sorting apparatus, according to an exemplifyingembodiment.Fig. 5 shows a view of a sorting apparatus, according to an exemplifyingembodiment.Fig. 6 shows a flow chart of a sorting method, according to an exemplifyingembodiment. Detailed description Objects to be sorted, e.g. in food industry may have unconventional forms, but indeed be of high quality. As the inventors herein have recognized, for elongated objects like russet potatoes, sweet potatoes, cucumbers, carrots, un-pealed peanuts,and the like, conventional sorting machines may sort objects in wrong categories, orworse as waste. The objects may further be damaged and destroy other objects such that shelf-life and best-before-dates for products are decreased. Within this disclosure the term “deflector” is used to denote a guide arranged to control and direct elongated objects when they leave a transport means, e.g. a conveyor belt. In contrary, the term “ejector” or ejection mechanism is used to denote anactive mechanism configured to eject sorted objects out of their flow trajectories. I.e.the ejection mechanism actively executes the sorting of objects by either ejecting them away from the flow or allowing them to continue in the flow. The deflector and / or the deflection zone is preferably to be arranged aboveand before an inspection zone, while the ejector and / or ejection zone instead isarranged below and after the inspection zone. The principles of the detector and theejector may be further understood from the below described embodiments.With respect to this disclosure, the term "flow trajectory" denotes the trajectories an object may follow to end up at the intend destination. In free fall there are multiple flow trajectories that leads to the intended ejection or output mechanism. A wrongly sorted object did not follow any of its flow trajectories. An elongated object normally has at least one elongation, which elongation separates two remote ends. When the elongated object is transported with one of these remote ends facing in the direction of transportation, that end is the front end of the elongated object. With reference to the Figures 1a-c, which is a schematic view, a sortingapparatus will be illustrated in accordance with some examples. The sorting apparatus 100 comprises an input feed mechanism 102, at whichobjects 120 to be sorted are fed to a sorting mechanism. In these examples, theobjects to be sorted are russet potatoes which have an elongated shape. The sortingapparatus further comprises a sensor-based inspection unit 104, an ejectionmechanism 106, and a flow output mechanism 108. The sorting apparatus 100 mayinclude only one output mechanism or may further comprise one or more additional output mechanisms such as a first ejection output mechanism 110. The sensor-based inspection unit 104 may use various techniques that may illuminate the objects using lights or lasers in wavelengths in the visible spectrum, the infrared spectrum, the ultraviolet spectrum, the x-ray spectrum, and anycombinations thereof. The images may be captured using a monochromatic camera,a color camera, a laser sensor, multispectral imaging, hyperspectral imaging, etc, and combinations thereof. The input feed mechanism 102 is shown as a conveyor belt but could instead be a shaker, a chute, a cone, another style of conveyor, etc, and combinations thereof may be used before an object transitions to cascadingflight. The ejection mechanism 106 is shown as a plurality of mechanical deflectorsthat can extend into the flow to deflect objects to eject them away from the flow andcan retract to allow subsequent objects to continue in the flow. I.e. the ejectionmechanism 106 actively executes the sorting of objects by either ejecting them awayfrom the flow or allowing them to continue in the flow. However, the ejectionmechanism 106 may include other mechanical systems, pneumatic systems, etc andcombinations thereof to perform the ejection. For example, the ejection mechanism106 may utilize a plurality of air nozzles that direct jets of air into the flow to deflectthe objects. The flow output mechanism 108 may be a chute or conveyancemechanism. In the sorting examples to be described with reference to the Figures 1a-c, the deflector 112 as shown has been raised above a top surface of the input feed mechanism 102 and therefore not located within an expected trajectory of the objects 120. In this position the deflector is not in use, it has been raised above a top surface of the input feed mechanism 102 so as not to influence the ballistic trajectories of theobjects 120 leaving the input feed mechanism 102. The functionality of the deflector112 will be defined later and in conjunction with exemplifying embodiments. In Fig 1a, the russet potato 120 has left the input feed mechanism 102 and isejected along a ballistic trajectory towards the lower placed flow output mechanism108. For both conventionally formed objects and elongated object, their mass centresfollow their respective ballistic trajectories. However, for an elongated object like arusset potato, a sweet potato, etc., even if the mass centre follows the ballistictrajectory, the elongated form may result in a part colliding with surrounding machineparts, which affects the travel along the ballistic trajectory such that the object maytake an undesirable trajectory, rotate, bump into something undesirable, etc. In fig1a, one can see that the front part of the russet potato 120 bumps into a component105, and further in fig 1b how the russet potato 120 changes direction towards thefirst ejection output mechanism 110. As a result, a russet potato 120 which shouldhave been approved by the sensor-based inspection unit 104 and passed on to theflow output mechanism 108 is instead wrongly sorted in to the first ejection category at the first ejection output mechanism110. In Fig.1c, another situation is shown, where the travel along the ballistictrajectory for the russet potato 120 results in the russet potato 120 is bumping into anedge of the flow output mechanism 108 as it enters the flow output mechanism 108. As bumps and collisions with edges or other machine parts may harm or damage food objects 120, damaged objects of lower quality may be sorted into the flow outputmechanism 108. Thus, objects continuing in the flow to the flow output mechanism108, may be damaged after the ejection process. Damaged food objects 120, suchas for example a bruised fruit or vegetable, may cause damage to other objects in storage such that shelf-life and best-before dates of the objects are decreased.Accordingly, the bumped object may negatively affect a whole bag or quantity ofobjects that were not ejected.It is to be noted that even though the example described above is directed to asorting machine that may eject objects from a flow, the corresponding reasoning mayby applied also for sorting machines configured to sort objects in further categories,where typically each category is associated with a respective flow trajectory. Forinstance, the first ejection category may comprise sub-categories. For a three-waysorting machine the objects ejected may further be sorted in two sub-categories, e.g.a sub-category “a” for approved objects of a lower quality than the objects that werenot ejected, and another sub-category “b” for waste.Such a three-way sorting may be implemented by configuring the ejectionmechanism 106 to eject objects 120 from their ballistic trajectory to an appropriateflow trajectory to further respective ejection output mechanisms 110, or alternativelyby arranging further levels of ejection mechanisms 106 and corresponding ejection mechanisms 110 under each other. Additional deflectors may be used to guide theelongated objects into a flow trajectory more appropriate for inspection and / orejection. As the inventors herein have recognized, there is a need for improving performance of automated sorting, as well for sorting in two categories and in further categories of sub-categories. With reference to Figure 2, which is a schematic view, a sorting apparatus will now be described in accordance with an exemplifying embodiment. The sorting apparatus 100 is related to the above described examples, andthe same reference numbers have been applied where appropriate. However, inFigure 2 the deflector 112 has been lowered (as compared to Figures 1a-1c) to belocated within and / or guide objects along a potential trajectory (i.e. flow trajectory) ofobjects 120 as the objects 120 travel in the flow from the input feed mechanism 102towards an inspection zone to be inspected by a sensor-based inspection unit 104.More details about the deflector 112 may be found below. The sorting apparatus 100 comprises an input feed mechanism 102 forfeeding objects 120 in a flow in free-fall towards a lower placed flow outputmechanism 108. The fed objects 120 are fed by the input feed mechanism 102, hereimplemented as a conveyor belt (but as described below could be another type ofinput feed mechanism), to be inspected by a sensor-based inspection unit 104. Asexplained above, for both conventionally formed objects and elongated objects,unguided, their mass centres follow their respective ballistic trajectories. Thedeflector 112 is arranged to affect the travel of elongated, or unconventionally formedobjects 120, e.g. to more precisely follow their respective flow trajectories andprevent them from bumping into machine parts. When an elongated object 120leaves the output flow mechanism 102 it has a speed and an orientation along itsballistic trajectory. The elongated object may further rotate about its mass centerduring its flight. In the figure, the elongated object 120 is aligned with the input feedmechanism 102, i.e. the elongated object 120 is directed and transported with afront-end (i.e. nose) before its mass-center and with its back-end (i.e. tail) after its mass-center. When leaving the input feed mechanism 102, the front-end will come in contact with the deflector 112 and be pressed downwards by the deflector 112 as theelongated object slides along the deflector 120. In this embodiment, the deflector 112has concave surface with a curvature adapted to the conform with ballistictrajectories of transported objects, i.e. the mass-centres’ paths. Therefore, forelongated objects 120 traveling with their extensions aligned with the input feedmechanism 102, the front-ends are pressed down by the deflector 112 when sliding along the deflector 112 but their mass-centers will substantially proceed along theirrespective ballistic trajectories. For elongated objects 120 not fully aligned with theinput feed mechanism 102, there is a risk that they will describe a wobbling travelalong their ballistic trajectories. However, as the deflector 112 press down the front-ends but let the mass-centers proceed along the ballistic trajectories, the travel of theelongated objects 120 will be guided and their orientation controlled, wobbling maybe effectively suppressed too.Thus, by arranging the deflector 112 slightly above the ballistic trajectories ofthe objects 120 leaving the input feed mechanism 102, elongated formed objects 120 will be guided with their orientation controlled to substantially follow the ballistic trajectories. Thereby, the elongated objects 120 will be prevented from rotating and thereby bumping into machine parts to be damaged of wrongly sorted. In addition, aswobbling may be decreased, the flow trajectories will be smoother which mayachieve as well higher precision in the inspection and the sorting procedures. An object 120 makes contact with the deflector 112 at an angle and speed that deflects the object 120 towards a shorter flow trajectory of reduced horizontalcomponent to decrease a likelihood that the object 120 will bump into another portionof the sorting apparatus 100 as the object 120 travels toward an inspection zone tobe inspected by a sensor-based inspection unit 104. The deflector 112 may be configured in a manner to not significantly impede the flow of objects 120 from the input feed mechanism 102 to the inspection zone. The deflector 112 may be configured in a manner to gently deflect the objects 120 in order to reduce the likelihood of potential damage to the objects 120. The shape, position, location, or angle of the deflector 112, and any combinations thereof, may vary depending on the objects 120 to be sorted. While the deflector 112 is illustrated as an inverted chute, the deflector 112 could be anything that deflects an object 120. As described above, the input feed mechanism 102 may be a variety of types of input feed mechanisms. As illustrated in an embodiment in Figure 2, the input feed mechanism may include a conveyor belt. In such an embodiment, a belt speed of the conveyor belt and the shape, position, location, or angle of the deflector 112, and any combinations thereof, may vary depending on the objects 120 to be sorted. In an embodiment, an object 120 makes contact with the deflector 112, thedeflector 112 is preferably configured, with respect to shape, orientation and position,such that it deflects the object 120, thereby changing the ballistic trajectory of theobject 120 into a flow trajectory as the object 120 proceeds towards the sensor-based inspection unit 104. In an embodiment, an object 120 may slide along the deflector 112. When the objects 120 leave the deflector 112 they pass an inspectionzone between the deflector 112 and an ejection mechanism 106. When passing theinspection zone, the objects 120 are inspected by a sensor-based inspection unit104. The sensor-based inspection unit 104 determines whether or not an inspectedobject 120 has a quality, condition, or criterion and whether the object 120 shall beejected from its flow trajectory or fails to be classified as belonging to the first ejectioncategory and allowed to pass. If the object 120 fails to be classified as the first ejection category, the ejectionmechanism 106 is not activated and the object 120 proceeds along its flow trajectoryto the feed output mechanism 108. If, instead, the object 120 is determined to notfulfil the quality condition or criterion, the ejection mechanism 104 are activated andwill force the object 120 to proceed its travel to the first ejection output mechanism 110, i.e. be sorted in a first ejection category. The ejection mechanism 106 and their functionalities will be further explained and illustrated in the figures 3a-b. Furthermore, elongated objects 120 may be affected by rotation or wobblingwhen being fed by the input feed mechanism 102 into a flow, which further affectsand disturbs their travel along their ballistic trajectories as well as the accuracy of thedetermination of the sensor-based inspection unit 104, especially when the input feed mechanism 102 runs at high speeds. Such rotation and wobbling may be suppressed by the deflector 112. The deflector 112 covers the width of the input feed mechanism and is preferably designed slightly wider to ensure that objects 120 fed close to the edges of the input feed mechanism 102 are reliably deflected when being fed by the input feed mechanism 102. In figure 2, the length of the deflector 112 proceeds along and above the objects’ 120 flow trajectories. The deflector 112 may have a concave form to adapt to the flow trajectories, as shown in Figure 2. However, the skilled person is not limited to the shown design, and he / she understands how to design the deflector 112 alternatively within the inventive concept to improve precision of the objects’ travel from the input feed mechanism102, e.g. to supress rotation of the objects 120, or decrease wobbling. He / she maydesign the deflector 112 with an appropriate surface and dimensions, e.g. flat surface, a convex surface, a roller, a series of rollers, etc. He / she may further provide the surface of the deflector 112 with appropriate friction characteristics and adapt it to which objects to be sorted. It is also to be noted that the Inventive concept may be applied for a suitable number of sorting categories and sub-categories. The exemplifying embodiments ofthis disclosure may be implemented for sorting machines sorting in two or furthercategories, by implementing an appropriate type or number of ejection mechanism 106, and / or output mechanisms. Moreover, even though the sorting apparatuses and the methods of theembodiments of this disclosure are described for flows where objects are determinedto be ejected from the flow, the corresponding arrangements and methods may be applied for determining that objects should not be ejected. In some embodiments, it may be determined that the objects of lower quality are sorted out from a flow. Insome embodiments, arrangements and methods may be applied for finding andsorting out approved objects in a flow of lower quality. In corresponding and relatedexemplifying embodiments, instead a flow of mainly lower quality objects, objects ofhigher quality may be identified and ejected away. I.e., as well sorting arrangements and methods for sorting out and ejecting lower quality objects from a flow, as well as arrangements and methods for identifying and ejecting high quality objects from a flow, and also as well as arrangements and methods for identifying and ejecting objects that are different from the non-ejected objects without any evaluation ofquality, are all covered by the inventive scoop, as well as any combination thereof.Additionally, while the description herein describes the sorting of elongated foodobjects, specifically russet potatoes, arrangements and methods for identifying andejecting objects from a flow may be used to identify and eject non-elongated andnon-food objects from a flow. With reference to the Figures 3a-b, that are schematically views, details of anabove described sorting machine will now be described in accordance with anexemplifying embodiment. The sorting machine 100 relates to other embodiments of this disclosure and the corresponding reference numbers will be applied where appropriate. In Figure 3a, a potato 120 has been fed by the input feed mechanism 102. Thepotato 120, i.e. the object to be sorted moves along a flow trajectory. The potato 120makes contact with the deflector 112. The deflector 112 deflects the ballistic trajectory of the potato 120 as the potato 120 proceeds towards the sensor-basedinspection unit 104. The potato 120 passes through an inspection zone of the sensor-based inspection unit 104 and proceeds (dashed arrow) towards the first outputmechanism 108. In this Figure, the end and underside of the input feed mechanism102 and also the deflector 112 is seen. The sensor-based inspection unit 104 hasdetermined to eject the potato 120 and has activated the ejection mechanism 106 byextending some of a plurality of mechanical deflectors into the flow to redirect thepotato 120 to prevent the potato 120 from reaching the first output mechanism 108. It can be seen that the mechanical deflectors in the path of the anticipated flow of the potato 120 have been extended into the flow. If the sensor-based inspection unit 104 had determined that the potato 120 should not be ejected, the extended mechanical deflectors would be retracted like the other mechanical deflectors in a manner that would have allowed the potato 120 to continue on to the first output mechanism 108.Figure 3b shows the modified flow trajectory (dashed arrow) of the potato 120 afterthe ejection mechanism 106 has ejected the potato 120 towards the first ejectionoutput mechanism 110.The ejection mechanism 106 may be implemented as a plurality of mechanical deflectors that extend into the flow to deflect objects (here a potato) from the flow, and retract to allow objects to pass, or a plurality of air nozzles that direct a jet of air into the flow to deflect objects. Furthermore, as outlined above, the ejection mechanism 106 may be arranged in a plurality of levels to enable sorting in further categories and sub-categories. The ejection mechanism 106 may further eject with different forces to redirect the objects120 towards multiple output mechanisms. For instance, to facilitate sorting in three orfurther categories. With reference to Figures 4 and 5, which are schematic side views, a sortingmachine will now be described in accordance with exemplifying embodiments. The sorting machine 100 relates to sorting machines of above-described embodiments and the corresponding reference numbers have been applied where appropriate. The sorting machine 100 has an input feed mechanism 102 along whichobjects 120 to be sorted are fed. The objects 120, here elongated potatoes, aredeflected by a deflector 112 along their flow trajectories when leaving the input feed mechanism 102. After the deflector 112, the objects 120 passes an inspection zone(between dashed lines) where they are inspected by a sensor-based inspectionmechanism 104. In Figure 4, the objects 120 fail to be classified as the first ejectioncategory and proceed towards a first output mechanism108.In Figure 5, instead the objects 120 were classified as a first ejection category, and the ejection mechanism 106 ejects them towards a first ejection output mechanism 110 to be removed from the flow towards the first output mechanism 108. In the figures 4 and 5, the first ejection category represents objects 120 to be ejected away to leave the flow. I.e. ejected objects do not reach the first output mechanism 108. Instead they will be ejected and transported away by the second output mechanism 110. In the embodiments described in this disclosure, the deflector 112 is fixedlyarranged at the sorting machine 100, when in operation, and guides the elongatedobject towards the inspection zone in a controlled manner. It is also to be noted that even if the inspection unit 104 in the figures is illustrated as being located below the deflector 112, it is not limited thereto. Insteadand alternatively, the inspection unit 104 may be located before the deflector 112, toinspect the objects 120 before being guided, within the inventive concept, Theinspection unit 104 may instead and alternatively be located to inspect the objects 120 during the deflector’s 112 guidance of the objects 120, i.e. the inspection unit 104 inspects the objects 120 with the deflector 112 as background. For these alternative embodiments, the inspection zone is then before or at the detector 112. With reference to Figure 6, which is a schematic flow chart, a method of sorting objects will now be described in accordance with one exemplifying embodiment. The method may apply a sorting apparatus of some above-described embodiments of this disclosure. When put into practice the actions 602-612 are performed simultaneously for a flow of food objects. However, to facilitate the understanding, the process is described in a stepwise manner and following one object through a sorting flow. In an initial action 602, objects to be sorted are fed by an input feedmechanism towards an inspection zone. The objects may be vegetables, fruit, rootfruits, other food objects, or other non-food objects to be classified and sorted.In a following action 604, when the objects leave the input feed mechanism,they are ejected along a ballistic trajectory towards a flow output mechanism. As unconventionally formed objects, especially elongated objects may rotate, wobble, or risk to be damaged by collisions with machine parts, these unconventionally formed objects are deflected by a deflection mechanism. The deflection mechanism has been described above in conjunction with other embodiments. Conventionally, formed objects may not necessary be deflected. Deflecting the objects may preferably comprise suppressing rotation and / or wobbling of the objects. In a subsequent action 606, the objects are inspected by a sensor-based inspection unit while passing an inspection zone and based on the inspection the objects are classified. According to the classification the objects classified in a firstejection category will be ejected and other objects that fails to be classified in the firstejection category will pass, in a following action 608. The other objects that failed to be classified in the first ejection category arereceived by a flow output mechanism in an action 610.In a related exemplifying embodiment that is based on the above-described embodiment, the objects that were classified in the first ejection category and wereejected may instead be received by an ejection output mechanism in another action612. Thus, a sorting apparatus 100 for improved sorting accuracy of elongated objects and gentler handling of the objects during sorting is described herein. As described above in conjunction with other related embodiments, the inventive concept is not limited to sort in only two categories. Instead a sorting apparatus 100 for sorting in an appropriate number of categories and sub-categories may be designed by means of the embodiments described herein. ITIMIZED SET OF EMBODIMENTS Embodiment 1. A sorting apparatus (100) for sorting objects 120, the sortingapparatus 100 comprising: ^an input feed mechanism (102) configured to feed the objects towardsan inspection zone, ^a deflector (112), configured to deflect the objects (120) leaving theinput feed mechanism (102), ^a sensor-based inspection unit (104), configured to inspect the objects(120) when passing through the inspection zone, and to classify the objects (120), ^an ejection mechanism (106) configured to eject objects (120) classifiedin a first ejection category, but to let other objects (120) that fail to be classified in the first ejection category pass, ^a flow output mechanism (108) configured to receive the other objects(120).Embodiment 2. The sorting apparatus (100) according to embodiment 1,wherein the deflector (112) is configured to suppress rotation of the objects (120).Embodiment 3. The sorting apparatus (100) according to embodiment 1 or2, further comprising one or more ejection output mechanisms (110) configured to receive the objects (120) classified in the first ejection category.Embodiment 4. The sorting apparatus (100) according to embodiment 3,wherein the input feed mechanism (102) comprises a conveyor belt, and wherein both the flow output mechanism (108) and the one or more ejection output mechanisms (110) are located lower than a top surface of the conveyor belt.Embodiment 5. The sorting apparatus (100) according to embodiment 3,wherein the inspection zone is located lower than the input feed mechanism (102), but higher than the flow output mechanism (108) and higher than the one or more ejection output mechanisms (110).Embodiment 6. The sorting apparatus (100) according to any of the previousembodiments, wherein a width of the deflector (112) extends across a width of the input feed mechanism (102) and a length of the deflector (112) extends along a part of a trajectory for objects (120) leaving the input feed mechanism (102).Embodiment 7. The sorting apparatus (100) according to embodiment 6,wherein the lower surface of the deflector (112) comprises a concave form.Embodiment 8. The sorting apparatus (100) according to any of the previousembodiments, wherein the sensor-based inspection unit (104) is arranged toinspect the objects (120) when passing the inspection zone, and after moving past the deflector (112).Embodiment 9. The sorting apparatus (100) according to any of the previousembodiments, wherein the ejection mechanism (106) is configured to beactivated by the inspection unit (104) and redirect the objects (120) towards the first ejection output mechanism (110).Embodiment 10. The sorting apparatus (100) according to embodiment 8,wherein the ejection mechanism (106) comprises at least one of: a plurality of mechanical deflectors; and air nozzles.Embodiment 11. A method of sorting objects, comprising:^ feeding (602) objects to be sorted towards an inspection zone by aninput feed mechanism, ^deflecting (604), by a deflector, objects leaving the input feedmechanism, ^inspecting (606), by a sensor-based inspection unit, the objects whilepassing through the inspection zone, and classifying the objects, ^ejecting (608), by an ejection mechanism, objects that have beenclassified in a first ejection category, but letting other objects that fail to be classified in the first ejection category to pass, ^receiving (610), by a flow output mechanism, the other objects that failto be classified in the first ejection category.Embodiment 12. The method according to embodiment 12, further comprisingreceiving (612), by an ejection output mechanism, objects that have been classified in the first ejection category.Embodiment 13. The method according to embodiment 11 or 12, whereindeflecting (604) the objects comprises suppressing rotation of the objects.Embodiment 14. The method according to any of the embodiments 12 to 13,wherein ejecting (608) the objects comprises to activate the ejection mechanism by the inspection unit.

Claims

Claims1. A sorting apparatus (100) for sorting objects (120), the sorting apparatus 100comprising: a. an input feed mechanism (102) configured to feed the objects towardsan inspection zone, b. a deflector (112), configured to deflect the objects (120) leaving theinput feed mechanism (102), c. a sensor-based inspection unit (104), configured to inspect the objects(120) when passing through the inspection zone, and to classify the objects (120), d. an ejection mechanism (106) configured to eject objects (120) classifiedin a first ejection category, but to let other objects (120) that fail to be classified in the first ejection category pass, e. a flow output mechanism (108) configured to receive the other objects(120).

2. A sorting apparatus (100) for sorting objects (120), the sorting apparatus 100comprising: a. an input feed mechanism (102) configured to feed the objects (120)towards an inspection zone and into a free fall path, b. a deflector (112), configured to guide the objects (120) when in saidfree fall path, c. a sensor-based inspection unit (104), configured to inspect the guidedobjects (120) when passing through the inspection zone, and to classify the inspected objects (120) in at least a first ejection category,d. an ejection mechanism (106) configured to eject objects (120) classifiedin the first ejection category, but to let other objects (120) that fail to beclassified in the first ejection category pass, e. a flow output mechanism (108) configured to receive the other objects(120).

3. The sorting apparatus (100) according to any of the previous claims, whereinthe feed mechanism comprises a transporting surface leading to said free fall path, and the deflector (112) comprises a concave guiding surface, wherein at least a portion of the concave guiding surface, with respect to gravity, is arranged above and to the side of the transporting surface,and wherein said concave guiding surface is optionally a single curved surface.

4. The sorting apparatus according to any of the preceding claims, wherein saidinput feed mechanism is configured to feed the objects as a flow of objects, which flow of objects comprises elongated objects.

5. The sorting apparatus according to claim 4, wherein the deflector by geometryand position is configured to restrict the trajectory and / or control the orientation of all or a portion of the elongated objects in the flow of objects.

6. The sorting apparatus (100) according to any of claims 3 to 5 , wherein theconcave guiding surface extends along the full width of the transporting surface.

7. The sorting apparatus (100) according to any one of the preceding claims,wherein the deflector (112) is configured to suppress rotation of the objects (120).

8. The sorting apparatus (100) according to any one of claims 5-7 whendependent on claim 4, wherein the deflector (112) is configured to guide the elongated objects (102) by forcing a front end of the elongated object (120) downwards.

9. The sorting apparatus (100) according to any one of the preceding claims,wherein one or all of: the input feed mechanism (102) and the flow output mechanism comprises at least one of: a conveyor belt and a chute. 10.The sorting apparatus (100) according to any of the preceding claims, wherein the ejection mechanism is configured to act on the objects classified in the first ejection category in an ejection zone, and wherein the inspection zone with respect to gravity is located lower than the input feed mechanism (102), buthigher than the ejection zone. 11.The sorting apparatus (100) according to any of the previous claims, wherein the sensor-based inspection unit (104) is arranged to inspect the objects (120)when passing the inspection zone, and after moving past the deflector (112). 12.The sorting apparatus (100) according to any of the previous claims, wherein the ejection mechanism (106) is configured to be activated by the inspectionunit (104) and to redirect the objects (120) towards at least a first ejection output mechanism (110), which first ejection output mechanism optionallycomprises at least one of a conveyor belt and a chute. 13.The sorting apparatus (100) according to any of the preceding claims , wherein the ejection mechanism (106) comprises at least one of: a plurality of mechanical deflectors; and air nozzles. 14.A method of sorting objects, comprising: a. feeding (602) objects to be sorted towards an inspection zone by aninput feed mechanism, b. deflecting (604), by a deflector, objects leaving the input feedmechanism, c. inspecting (606), by a sensor-based inspection unit, the objects whilepassing through the inspection zone, and classifying the objects, d. ejecting (608), by an ejection mechanism, objects that have beenclassified in a first ejection category, but letting other objects that fail to be classified in the first ejection category to pass, e. receiving (610), by a flow output mechanism, the other objects that failto be classified in the first ejection category.

15. A method of sorting objects, comprising:a. feeding (602) objects to be sorted towards an inspection zone and intoa free fall path by an input feed mechanism,b. guiding (604), by a deflector, objects leaving the input feed mechanismand / or objects within the free fall path,c. inspecting (606), by a sensor-based inspection unit, the guided objectswhile the guided objects are passing through the inspection zone, and classifying the guided objects into at least a first ejection category,d. ejecting (608), by an ejection mechanism, objects that have beenclassified in the first ejection category, but letting other objects that fail to be classified in the first ejection category pass,e. receiving (610), by a flow output mechanism, the other guided objectsthat fail to be classified in the first ejection category. ethod of sorting objects, comprising:a. feeding (602) the objects to be sorted towards an inspection zone andinto a free fall path by an input feed mechanism,b. deflecting and / or guiding, by a deflector, the objects when in said freefall path,c. inspecting (606), by a sensor-based inspection unit, the objects whilepassing through the inspection zone and after the objects have been guided by the deflector, and classifying the objects into at least a first ejection category,d. ejecting (608), by an ejection mechanism, the objects that have beenclassified in the first ejection category, but letting other objects that fail to be classified in the first ejection category to pass,e. receiving (610), by a flow output mechanism, the other objects that failto be classified in the first ejection category.17.The method according to any of claims 14 to 16, further comprising receiving (612), by an ejection output mechanism, objects that have been classified in the first ejection category, which ejection output mechanism optionally comprises at least one of a conveyor belt and a chute. 18.The method according to claim 14 or 16, wherein the objects to be sorted comprises elongated objects and deflecting (604) the objects comprises suppressing, by the deflector, a rotation of the elongated objects.19.The method according to any of claims 14, 16 to 18, wherein the objects, when being deflected, slides against the deflector, and optionally slides against a concave surface of the deflector.20.The method according to claims 15 or 16, wherein the objects to be sortedcomprises elongated objects and guiding (604) the objects comprises suppressing, by the deflector, a rotation of the elongated objects. 21.The method according to any of claims 15 or 16 or 20, wherein the objects, when being guided, slides against the deflector, and optionally slides against a concave surface of the deflector.22.The method according to claims 18 or 20, wherein suppressing a rotation ofthe objects comprises pressing down the front ends of the elongated objects. 23.The method according to any of the claims 14 to 22, wherein ejecting (608) the objects comprises to activate the ejection mechanism by the inspection unit.

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