Waste classification system for operation of automated separation station

Abstract

A waste classification system for operation of an automated separation station, according to the present invention, comprises: a conveyor for intermittently moving waste; an image collection unit for collecting waste images of the waste on the conveyor in real time; an artificial intelligence determination unit for analyzing the waste images using an artificial intelligence model and determining target objects to be classified and non-target objects not to be classified; a plurality of robot arms for picking the target objects on the conveyor and moving the target objects to a collection box; and a driving control unit for classifying the target objects by controlling the robot arms when the conveyor is stopped, and moving the waste by restarting the conveyor when the classification of the target objects is completed.

Description

Waste sorting system for operating automated recycling centers

[0001] The present invention relates to a waste sorting system for operating an automatic waste sorting facility, and more specifically, to a waste sorting system for an automatic waste sorting facility operated in a confined space.

[0002] This patent application claims priority to Korean patent application No. 10-2024-0140294 filed with the Korean Intellectual Property Office on October 15, 2024, and the disclosures of said patent application are incorporated herein by reference.

[0003] Recently, there has been an increase in automated household waste collection facilities that use vacuum technology to automatically collect discharged household waste. These facilities can be installed inside high-rise buildings, such as apartment complexes, to collect waste from each household in the building's basement, or installed outside the building to collect waste at a designated collection point located at a certain distance. Automated household waste collection facilities enable the convenient and hygienic transportation of household waste from its point of generation to the collection point.

[0004] Since these automated household waste collection facilities do not separate waste by type, recyclable and non-recyclable household waste are currently being discharged mixed together. Consequently, household waste collected through these facilities must undergo a sorting process again to separate recyclable waste.

[0005] However, operating a large-scale sorting facility to collect and sort household waste discharged from various automated waste collection and processing facilities is highly inefficient from an economic and environmental perspective.

[0006] Meanwhile, conventional waste sorting systems were not only large and heavy but also difficult to install, making it impossible to install them in the same space as automated household waste collection and processing facilities. Additionally, because they perform waste sorting continuously at high speed, they suffered from low efficiency when sorting small quantities of waste.

[0007] To solve the aforementioned problems, the present invention aims to provide a waste sorting system that allows household waste collected through an automated household waste collection facility to be sorted at the location where the automated household waste collection facility is installed, without transporting the collected waste to a separate sorting facility.

[0008] A waste sorting system for operating an automatic waste sorting facility according to an embodiment of the present invention may include: a conveyor that intermittently moves waste; an image collection unit that collects waste images of waste on the conveyor in real time; an artificial intelligence discrimination unit that analyzes the waste images using an artificial intelligence model and distinguishes between target objects to be classified and non-target objects not to be classified; a plurality of robot arms that pick the target objects on the conveyor and move them to a collection bin; and a drive control unit that controls the robot arms to classify the target objects when the conveyor stops, and restarts the conveyor to move the waste when the classification of the target objects is completed.

[0009] The above image collection unit may include a vision sensor capable of acquiring the waste image.

[0010] At least one of the above vision sensors is positioned on each robot arm, and images of waste within the working section of the robot arm can be acquired in real time.

[0011] The robot arm may include a first robot arm equipped with a suction gripper that picks up the target object using air suction force; and a second robot arm equipped with a finger gripper that can grasp the target object using a finger structure.

[0012] The artificial intelligence discrimination unit can analyze the waste image to determine the target objects to be classified by the first robot arm and the target objects to be classified by the second robot arm among the waste.

[0013] The above artificial intelligence discrimination unit can analyze waste images collected in real time to determine whether the robot arm has completed the assigned classification task.

[0014] When the first robot arm and the second robot arm complete the sorting operation, the drive control unit can restart the conveyor so that the work section where the first robot arm performed sorting is transferred to the work section of the second robot arm.

[0015] A waste sorting system for operating an automatic waste sorting facility according to an embodiment of the present invention may further include a frame that forms the skeleton of the waste sorting system and fixes the conveyor and the robot arm.

[0016] The above frame may be equipped with a moving device capable of moving the waste sorting system.

[0017] A waste classification system for operating an automatic waste sorting facility according to an embodiment of the present invention may further include a discharge device for discharging the waste from a storage device in which the waste is collected to the conveyor.

[0018] The above discharge device is equipped with a screw and can discharge a certain amount of the waste by utilizing the rotation of the screw.

[0019] A waste sorting system for operating an automatic waste sorting facility according to an embodiment of the present invention may further include a magnetic separator installed at the front end of the conveyor and classifying metallic objects using magnetic force.

[0020] A waste sorting system for operating an automatic waste sorting facility according to an embodiment of the present invention may further include a disc separator installed on one side of a magnetic separator and equipped with a plurality of rotating shafts and a plurality of discs installed on the rotating shafts to separate waste of a certain size or smaller.

[0021] According to the present invention as described above, the following effects are achieved.

[0022] The present invention enables the sorting of recyclable waste more accurately and easily using an artificial intelligence model, without the need for a person to manually sort the recyclable waste.

[0023] The present invention is designed so that the waste sorting process can be performed intermittently, and can be installed and operated in a confined space.

[0024] The present invention can efficiently classify small amounts of waste.

[0025] The present invention includes different types of grippers, so that waste can be effectively sorted even if the shape and type of the waste are different.

[0026] The present invention is equipped with a means of transport, allowing for easy transportation and installation without being constrained by installation space.

[0027] In addition, other features and advantages of the present invention may be newly identified through the embodiments of the present invention.

[0028] FIG. 1 is a diagram showing the system of an automatic household waste collection facility including a waste classification system for operating an automatic sorting facility according to one embodiment of the present invention.

[0029] FIG. 2 is a diagram showing the configuration of a waste classification system for operating an automatic waste sorting facility according to an embodiment of the present invention.

[0030] FIG. 3 is a drawing for explaining the types of grippers according to one embodiment of the present invention.

[0031] FIG. 4 is a diagram illustrating the process of identifying a target object using artificial intelligence according to an embodiment of the present invention.

[0032] FIG. 5 is a diagram illustrating a waste classification process according to one embodiment of the present invention.

[0033] It should be noted that in assigning reference numbers to the components of each drawing in this specification, identical components are given the same number as much as possible, even if they are shown in different drawings.

[0034] Meanwhile, the meaning of the terms described in this specification should be understood as follows.

[0035] A singular expression should be understood to include a plural expression unless the context clearly defines otherwise, and terms such as "first," "second," etc., are intended to distinguish one component from another, and the scope of rights shall not be limited by these terms.

[0036] Terms such as "include" or "have" should be understood as not excluding in advance the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0037] Hereinafter, preferred embodiments of the present invention designed to solve the above problems will be described in detail with reference to the attached drawings.

[0038] In the following, the waste classification system (1000) for operating an automatic waste sorting facility will be described as a waste classification system (1000).

[0039] FIG. 1 is a diagram showing the system of an automatic household waste collection facility including a waste classification system for operating an automatic sorting facility according to one embodiment of the present invention.

[0040] Referring to FIG. 1, a waste classification system (1000) according to one embodiment of the present invention can be connected to an automatic household waste collection facility.

[0041] The automatic household waste collection facility may include a pipe (20) for transporting household waste discharged from each household (10) and a storage device (30) for storing the household waste transported through the pipe (20).

[0042] When household waste is discharged into an inlet connected to the pipe (20) in each household, the household waste can travel along the pipe (20) and be collected in a storage device (30). The storage device can be installed in any space inside or outside the building. For example, the storage device can be installed in the basement space of the building.

[0043] The storage device (30) can be connected to a waste sorting system (1000). The waste sorting system (1000) can receive household waste stored from the storage device (30) and sort recyclable household waste.

[0044] A waste classification system (1000) according to one embodiment of the present invention needs to be installed in a space such as a storage device (30), so it can be manufactured in a compact size that can be installed in a confined space.

[0045] According to another embodiment of the present invention, the automatic household waste collection facility may be a facility that automatically collects not only household waste but also other types of waste, such as factory waste, construction waste, and agricultural and fisheries waste, depending on the installation location. The types of waste collected by the automatic collection facility and processed by the waste classification system (1000) are not limited.

[0046] According to another embodiment of the present invention, the waste classification system (1000) can be operated in a place where only a storage device (30) is installed, regardless of the installation of an automatic household waste collection facility.

[0047] The waste classification system (1000) can classify waste that is recyclable among the waste as target objects and waste that is not recyclable as non-target objects.

[0048] FIG. 2 is a diagram showing the configuration of a waste classification system for operating an automatic waste sorting facility according to an embodiment of the present invention.

[0049] Referring to FIG. 2, a waste classification system (1000) according to one embodiment of the present invention may include a magnetic separator (1100), a disc separator (1200), a conveyor (1300), an image collection unit (1400), an artificial intelligence identification unit (1500), a robot arm (1600), a drive control unit (1700), a separate collection bin (1800), and a frame (1900).

[0050] Although not shown in the image, the waste sorting system (1000) may further include a discharge device.

[0051] A discharge device according to one embodiment of the present invention can discharge waste from a storage device in which waste is collected to a conveyor (1300). The discharge device can be connected to the storage device.

[0052] More specifically, the discharge device may be equipped with a screw. A certain amount of waste can be discharged by utilizing the rotation of the screw. For example, when the screw of the discharge device rotates, the waste inside the storage device (30) is pushed by the blades of the screw and moved, and can be discharged to the conveyor (1300).

[0053] The waste classification system (1000) can control the amount of waste discharged by controlling the rotational speed of the screw included in the discharge device.

[0054] The waste classification system (1000) may include a magnetic separator (1100) that classifies metallic objects using magnetic force.

[0055] According to one embodiment of the present invention, a magnetic separator (1100) may be installed after the discharge device and at the front end of the conveyor. The magnetic separator (1100) can classify metallic objects among the waste discharged from the discharge device.

[0056] The magnetic separator (1100) can generate magnetic force using a permanent magnet or an electromagnet to classify ferrous metal objects among metallic objects. Alternatively, the magnetic separator (1100) can generate eddy currents to classify non-ferrous metal objects.

[0057] The magnetic separator (1100) may include additional components to classify metallic objects, and its structure or shape is not limited.

[0058] The waste classification system (1000) may include a disc separator (1200) for separating waste of a certain size or smaller.

[0059] According to one embodiment of the present invention, a disc separator (1200) may be installed on one side of a magnetic separator (1100). For example, by installing the disc separator (1200) at the bottom of the magnetic separator (1100), the classification of metallic objects and the classification of waste smaller than a certain size can be performed simultaneously.

[0060] The disc separator (1200) may be equipped with a plurality of rotating shafts and a plurality of discs installed on the rotating shafts. As the discs installed on the rotating shafts rotate, waste materials larger than a certain size may be moved in the direction of travel of the conveyor, and waste materials smaller than a certain size may be discharged to the bottom of the disc separator (1200).

[0061] According to one embodiment of the present invention, the lower part of the disc sorter (1200) may further include a separate conveyor for transporting waste of a certain size or smaller that has been discharged.

[0062] The disc sorter (1200) may include additional components to classify waste of a certain size or smaller, and its structure or shape is not limited.

[0063] The waste sorting system (1000) may include a conveyor (1300) for moving waste.

[0064] A conveyor (1300) according to one embodiment of the present invention can intermittently move waste. For example, when a certain amount of waste is discharged from a discharge device, the conveyor (1300) can move the waste to a certain section and then stop operation. The conveyor (1300) can move the waste to a certain section by being restarted under the control of a drive control unit (1700) while in a stopped state.

[0065] The conveyor (1300) may include additional components to move waste, and its structure or shape is not limited.

[0066] The waste classification system (1000) may include an image collection unit (1400) that collects waste images of waste on a conveyor.

[0067] An image collection unit (1400) according to one embodiment of the present invention can collect waste images in real time. That is, by continuously collecting waste images on a conveyor, the image collection unit (1400) can acquire waste images of the entire process in which waste is transported, classified, and then transported again.

[0068] The interval at which the image collection unit (1400) collects waste images can be appropriately selected and is not limited.

[0069] The image collection unit (1400) may include a vision sensor (1410) capable of acquiring an image of waste.

[0070] For example, the vision sensor (1410) may be a vision camera capable of acquiring 2D images or 3D images. However, the type of vision sensor (1410) is not limited, and an appropriate type of vision sensor (1410) may be selected considering the conditions under which the waste sorting system (1000) is operated.

[0071] The vision sensor (1410) may include additional components to acquire images of waste, and its structure or form is not limited. For example, the vision sensor (1410) may include Time of Flight (TOF) or Light Detection and Range (LiDAR).

[0072] At least one vision sensor (1410) may be placed on each robot arm (1600). The location where the vision sensor (1410) is placed is not limited and can be appropriately selected.

[0073] A vision sensor (1410) is positioned on each robot arm (1600) so that an image of waste in the area where each robot arm (1600) performs work can be acquired. For example, the vision sensor (1410) can be positioned at the center of the robot arm to acquire an image of waste within the robot arm's work section in real time. In this case, the vision sensor (1410) can acquire an image of the robot arm's work in addition to a static image of waste.

[0074] The area where the vision sensor (1410) can acquire a waste image or video can be appropriately selected and is not limited.

[0075] The waste sorting system (1000) may include a plurality of robot arms that pick target objects on a conveyor (1300) and move them to a collection bin. The robot arms can perform a pick-and-place operation on the target objects. The robot arms perform the pick-and-place operation using a gripper provided at one end of the robot arms.

[0076] FIG. 3 is a drawing for explaining the types of grippers according to an embodiment of the present invention. Referring to FIG. 3, the gripper according to an embodiment of the present invention may be either the suction gripper shown in (a) or the finger gripper shown in (b).

[0077] A suction gripper can pick and place a target object using air suction force. A waste sorting system (1000) according to one embodiment of the present invention may include an air suction device capable of driving a suction gripper.

[0078] A finger gripper can perform pick-and-place by gripping a target object using a finger structure. A finger gripper according to one embodiment of the present invention may be characterized by including a servo motor, a wormhole, and a worm gear, and capable of high-speed picking operation.

[0079] The robot arm (1500) may be equipped with other types of grippers in addition to the suction gripper or finger gripper, and an appropriate type of gripper may be selected depending on the installation conditions of the waste sorting system (1000).

[0080] A robot arm (1500) according to one embodiment of the present invention may include a first robot arm (1510) equipped with a suction gripper and a second robot arm (1520) equipped with a finger gripper.

[0081] The first robot arm (1510) can classify target objects that are favorable for the suction gripper to pick up. For example, the suction gripper can easily suck up flat plastic containers, compressed PET bottles, flat paper, etc.

[0082] The second robot arm (1520) can classify target objects that are easy for the finger gripper to pick up. For example, the finger gripper can easily grasp glass bottles, cuboid-shaped paper boxes, complex-shaped PET bottles, etc.

[0083] A waste classification system (1000) according to one embodiment of the present invention can provide the effect of increasing the success rate of waste classification by using a first robot arm and a second robot arm having different types of grippers.

[0084] The waste classification system (1000) may include an artificial intelligence discrimination unit (1600) that uses an artificial intelligence model to analyze the waste image and distinguish between target objects to be classified and non-target objects not to be classified.

[0085] FIG. 4 is a diagram illustrating the process of identifying a target object using artificial intelligence according to an embodiment of the present invention.

[0086] Referring to FIG. 4, the artificial intelligence identification unit (1600) can identify the attributes of the waste using a learned artificial intelligence model. Through this, the artificial intelligence identification unit (1600) can determine whether the waste is a target object to be classified because it is recyclable, or a non-target object not to be classified because it is not recyclable.

[0087] An artificial intelligence model according to one embodiment of the present invention may utilize deep learning or a neural network. The neural network models may include, but are not limited to, various types of models such as Convolutional Neural Networks (CNN), Region with Convolutional Neural Networks (R-CNN), Region Proposal Networks (RPN), Recurrent Neural Networks (RNN), Stacking-based Deep Neural Networks (S-DNN), State-Space Dynamic Neural Networks (S-SDNN), Deconvolution Networks, Deep Belief Networks (DBN), Restructured Boltzmann Machines (RBM), Fully Convolutional Networks, Long Short-Term Memory Networks (LSTM), and Classification Networks, such as GoogleNet, AlexNet, and VGG Network.

[0088] An artificial intelligence model according to one embodiment of the present invention may be characterized by being trained using waste images labeled according to a preset waste classification standard table as training data.

[0089] The artificial intelligence discrimination unit (1600) can analyze the waste image to determine the target object to be classified by the first robot arm and the target object to be classified by the second robot arm among the waste.

[0090] An artificial intelligence model according to one embodiment of the present invention may be characterized by being trained using waste images labeled according to a preset waste picking difficulty as training data.

[0091] The waste picking difficulty can be set differently depending on the type of gripper. For example, an image of a glass bottle may be labeled 'Difficult to pick' when picked with a suction gripper. On the other hand, an image of a glass bottle may be labeled 'Easy to pick' when picked with a finger gripper. As another example, an image of a flat plastic container may be labeled 'Easy to pick' when picked with a suction gripper, and 'Difficult to pick' when picked with a finger gripper.

[0092] In this way, the first robot arm equipped with a suction gripper and the second robot arm equipped with a finger gripper can determine the target object to be classified by using an artificial intelligence model that has learned the picking difficulty according to the type of gripper of the artificial intelligence discrimination unit (1600).

[0093] The artificial intelligence discrimination unit (1600) can determine the target object to be classified by the first robot arm and the target object to be classified by the second robot arm, and then assign the task to each robot arm.

[0094] The artificial intelligence determination unit (1600) can determine whether the robot arm (1500) has completed the assigned sorting task by analyzing the waste images collected in real time.

[0095] The artificial intelligence determination unit (1600) receives waste images collected in real time from the image collection unit (1400) and analyzes them to determine whether the robot arm (1500) has completed the classification work.

[0096] The waste sorting system (1000) may include a drive control unit (1700) that controls a robot arm (1500) to sort target objects when the conveyor (1300) stops, and restarts the conveyor (1300) to move the waste when the sorting of target objects is completed.

[0097] FIG. 5 is a diagram illustrating a waste classification process according to one embodiment of the present invention.

[0098] Referring to FIG. 5, the drive control unit (1700) can operate the conveyor (1300) to position waste in the work section (c) of the first robot arm (1510) and the work section (d) of the second robot arm (1520). When waste is positioned in each work section, the drive control unit (1700) stops the operation of the conveyor (1300).

[0099] The image collection unit (1400) can collect images of waste within the working section of the first robot arm through a vision sensor (1410a) installed on the first robot arm, and can collect images of waste within the working section of the second robot arm in real time through a vision sensor (1410b) installed on the second robot arm.

[0100] The artificial intelligence identification unit (1600) receives and analyzes waste images from the image collection unit (1400) and can identify target objects among the waste. The artificial intelligence identification unit (1600) can determine whether the first robot arm (1510) or the second robot arm (1520) will classify the identified target objects according to the picking difficulty level based on the type of gripper.

[0101] The drive control unit (1700) receives judgment information from the artificial intelligence discrimination unit (1600) and can perform classification by controlling the first robot arm (1510) and the second robot arm (1520).

[0102] The image collection unit (1400) can continue to collect waste images in real time even while the robot arm (1600) is performing classification. The artificial intelligence determination unit (1600) can analyze the waste images collected in real time in this way to determine whether each robot arm has completed the assigned classification task.

[0103] When the drive control unit (1700) receives information from the artificial intelligence discrimination unit (1600) that each robot arm has completed the assigned sorting task, it restarts the stopped conveyor (1300). The drive control unit (1700) restarts the conveyor (1300) to discharge waste that was in the work section of the second robot arm (1520) and places waste that was in the work section of the first robot arm (1510) in the work section of the second robot arm (1520). Accordingly, waste discharged from the disc sorter (1200) can be placed in the work section of the first robot arm (1510).

[0104] In this way, the drive control unit (1700) can control the operation and stop of the conveyor (1300) and the robot arm (1500) to alternately perform the task of sorting waste during the time the conveyor (1300) is stopped.

[0105] The waste sorting system (1000) can efficiently perform waste sorting work even in a confined space through intermittent operation, and can efficiently sort small amounts of waste.

[0106] The waste sorting system (1000) may include a sorting bin (1800) for collecting target objects picked by a robot arm (1500) on one side of a conveyor (1300). The sorting bin (1800) may be divided into multiple zones depending on the type of target object.

[0107] The waste sorting system (1000) may include a frame (1900) that forms the framework of the waste sorting system and secures the conveyor and robot arm. The frame (1900) may be made of an appropriate size and shape that can include all the components constituting the waste sorting system (1000).

[0108] A frame (1900) according to one embodiment of the present invention may be equipped with a moving device (1910) capable of moving a waste sorting system (1000). For example, the moving device (1910) may be a plurality of wheels, but is not limited thereto. The moving device (1910) may further include a fixing device capable of fixing the waste sorting system (1000) after moving.

[0109] By using a moving device (1910), the waste sorting system (1000) can be easily installed in a confined space, and the waste sorting system (1000) can be easily moved during maintenance of the automatic household waste collection facility.

[0110] The use of all examples or exemplary terms (e.g., etc.) in the present invention is merely for the purpose of describing the invention in detail, and the scope of the invention is not limited by such examples or exemplary terms unless limited by the claims. Furthermore, a person skilled in the art will understand that various modifications, combinations, and changes may be made according to design conditions and factors within the scope of the claims or equivalents to which they are added.

[0111] It will be obvious to those skilled in the art that the present invention described above is not limited to the aforementioned embodiments and attached drawings, and that various substitutions, modifications, and changes are possible within the scope of the technical concept of the present invention.

[0112] The waste sorting system for operating an automatic waste sorting facility according to the present invention comprises: a conveyor that intermittently moves waste; an image collection unit that collects waste images of waste on the conveyor in real time; an artificial intelligence discrimination unit that analyzes the waste images using an artificial intelligence model and distinguishes between target objects to be classified and non-target objects not to be classified; a plurality of robot arms that pick the target objects on the conveyor and move them to a collection bin; and a drive control unit that controls the robot arms to classify the target objects when the conveyor stops, and restarts the conveyor to move the waste when the classification of the target objects is completed, and can be installed and operated in a confined space to configure an automatic waste sorting facility.

Claims

1. A conveyor that intermittently moves waste; An image collection unit that collects waste images of the waste on the conveyor in real time; An AI discrimination unit that uses an AI model to analyze the waste image and distinguishes between target objects to be classified and non-target objects not to be classified; A plurality of robot arms that pick up the target object on the conveyor and move it to a collection bin; A waste sorting system for operating an automatic sorting facility, comprising a drive control unit that controls the robot arm to sort the target object when the conveyor stops, and restarts the conveyor to move the waste when the sorting of the target object is completed.

2. In Paragraph 1, A waste sorting system for operating an automatic waste sorting facility, wherein the image collection unit includes a vision sensor capable of acquiring the waste image.

3. In Paragraph 2, A waste sorting system for operating an automatic sorting facility, wherein at least one vision sensor is disposed of for each robot arm, and images of waste within the working section of the robot arm are acquired in real time.

4. In Paragraph 1, The above robot arm is A first robot arm equipped with a suction gripper that picks up the target object using air suction force; and A waste sorting system for operating an automatic sorting facility, comprising a second robot arm equipped with a finger gripper capable of grasping the target object using a finger structure.

5. In Paragraph 4, A waste classification system for operating an automatic waste sorting facility, wherein the artificial intelligence discrimination unit analyzes the waste image to determine the target object to be classified by the first robot arm and the target object to be classified by the second robot arm among the waste.

6. In Paragraph 4, A waste sorting system for operating an automatic sorting facility, wherein the artificial intelligence discrimination unit analyzes waste images collected in real time to determine whether the robot arm has completed the assigned sorting task.

7. In Paragraph 4, A waste sorting system for operating an automatic sorting facility, wherein the drive control unit restarts the conveyor so that the work section where the first robot arm performed sorting is transferred to the work section of the second robot arm when the first robot arm and the second robot arm complete the sorting work.

8. In Paragraph 1, A waste sorting system for operating an automatic sorting facility, further comprising a frame that forms the skeleton of the waste sorting system and fixes the conveyor and the robot arm.

9. In Paragraph 8, The above frame is a waste sorting system for operating an automatic sorting facility, in which a moving device capable of moving the waste sorting system is installed.

10. In Paragraph 1, A waste sorting system for operating an automatic waste sorting facility, further comprising a discharge device for discharging the waste from a storage device in which the waste is collected to the conveyor.

11. In Paragraph 10, A waste sorting system for operating an automatic waste sorting facility, wherein the discharge device is equipped with a screw and discharges a certain amount of waste using the rotation of the screw.

12. In Paragraph 1, A waste sorting system for operating an automatic sorting facility, further comprising a magnetic separator installed at the front end of the above conveyor and classifying metallic objects using magnetic force.

13. In Paragraph 1, A waste sorting system for operating an automatic sorting facility, further comprising a disc separator installed on one side of a magnetic separator and having a plurality of rotating shafts and a plurality of discs installed on the rotating shafts to separate waste of a certain size or smaller.

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