FR3137594A3 - device and method for autonomous selective sorting of waste - Google Patents

Abstract

The invention relates to a device (DV1) for the autonomous selective collection of waste (15), comprising: a receiving chamber 10 for receiving waste in bulk; locating means for locating a target waste (15a) among the bulk waste (15); an analysis receptacle (26); robotic gripping means (20) for picking up the target waste (15a) in the receiving chamber (10) and depositing the target waste in the analysis receptacle (26); control means (30) configured to measure at least one physical characteristic of the target waste (15a) once positioned in the analysis receptacle (26) and to select a container (40a) from a plurality of possible containers (40) depending on said at least one physical characteristic; conveying means (34) for conveying the target waste (15a) from the analysis receptacle (26) into the selected container (40a). Figure for abstract: Fig. 2.

Description

device and method for autonomous selective sorting of waste

The invention relates to the field of selective waste collection and relates more particularly to a device and method for the autonomous selective collection of waste. The invention aims in particular to sort waste into appropriate containers.

The current global context is experiencing an undeniable deterioration of the environment and its biodiversity. Waste production is endogenous to human activities and threatens the existence of future generations. According to a World Bank report, global waste production will increase by 70% by 2050 if nothing changes. Due to urbanization and population growth, the quantity of waste produced each year is reaching record levels, which poses a problem.

Global organizations particularly highlight the crucial importance of household waste management for sustainable, healthy and inclusive urban development, and highlight that this often neglected sector contributes significantly to global warming. In high-income countries, only a third of waste is recovered or recycled.

Waste can be a source of serious pollution, in particular due to toxic components which significantly degrade air quality through emissions of methane, dioxin, hydrochloric acid, etc. Added to this is the pollution of water, agricultural land, rivers, oceans, and the deterioration of balances in the oceans.

Furthermore, ensuring good waste management is an economic obviousness to the extent that uncollected and poorly treated waste can have serious consequences on human health (for example due to endocrine disruptors) as well as on the entire food chain and the environment. Waste sorting is therefore also a public health issue. The sometimes high costs resulting from waste treatment can also be difficult to bear on the scale of, for example, a community or a city.

Sorting and waste management, both on an individual and collective level, has therefore become an essential issue in our societies. It is known that separating different streams of waste to be recycled at source allows better sorting, for example streams such as: a stream of glass, a stream for paper or cardboard, a stream for polymers, a stream for steel, a stream for aluminum, a stream for organic waste, etc. Good recycling is only possible if appropriate sorting of waste has been carried out beforehand.

However, the sorting process is not natural and proves complex for users, especially since regulations evolve over time and vary geographically. This problem is particularly critical when large volumes of waste must be sorted, for example on a community scale.

The increasing complexity of waste (types of material, recyclable or non-recyclable packaging), or the indications or labels that are difficult to understand on certain packaging, also constitute obstacles to effective sorting of waste.

One of the objects of the present invention is to solve at least one of the problems or deficiencies of the technological background described above.

Another object of the present invention is to enable autonomous selective collection of waste.

According to a first aspect, the present invention relates to a sorting device (for example a mini-central) for the autonomous selective collection of waste, comprising:
- a reception chamber configured to receive in bulk a plurality of waste;
- locating means configured to determine a position of a target waste in the reception chamber among the plurality of bulk waste;
- an analysis receptacle separate from the reception chamber;
- robotic gripping means (for example a robotic assembly) configured to pick up the target waste in the receiving chamber at said position and deposit said target waste in the analysis receptacle;
- control means configured to measure at least one physical characteristic of the target waste once positioned in the analysis receptacle and to select a container from a plurality of possible containers according to said at least one physical characteristic; And
- conveying means configured to convey the target waste from the analysis receptacle into the selected container.

According to a particular embodiment, the device further comprises:
- at least one inlet mouth configured to allow introduction of the plurality of bulk waste from outside the device into the reception chamber through said at least one inlet mouth;
- shutter means configured to switch between a closed position prohibiting said introduction and an open position authorizing said introduction;
- authentication means configured to acquire authentication data from a user and perform authentication based on the authentication data; And
- shutter control means configured to control the positioning of the shutter means in the closed or open position depending on a result of said authentication.

According to a particular embodiment, the device comprises a plurality of said inlet mouths independent of each other to allow the simultaneous introduction of the plurality of bulk waste from outside the device into the reception chamber through said plurality of inlet vents.

According to a particular embodiment, the device further comprises:
- a user interface configured to display information representative of at least one of an analysis result obtained from said at least one physical characteristic and a sorting result representative of the selected container.

According to a particular embodiment, the reception chamber comprises at least one reception tray positioned so that the plurality of waste falls by gravity in bulk into said at least one reception tray.

According to a particular embodiment, said at least one receiving bin is rotatably mounted around an axis of rotation and configured to contain waste in bulk;
the device further comprising:
- a drain tray positioned under each receiving tray;
- at least one level sensor configured to detect when a drain tank reaches a limit filling level; And
- tray control means configured to rotate said receiving tray in order to cause draining by gravity into the underlying drain tray.
According to a particular embodiment, the control means are configured to cause a sending to a remote server of level data representative of a filling level reached by said drain tank.

According to a particular embodiment, the bin control means are configured to operate rotary oscillations of said at least one receiving bin around its axis of rotation so as to stabilize the plurality of waste arranged in bulk in said at least one bin reception without causing draining.

According to a particular embodiment, the device comprises:
- at least one measurement sensor configured to measure the quality of the surrounding air; And
- communication means configured to send air quality data representative of the quality of the surrounding air to a remote server.

According to a particular embodiment, the location means comprise at least one position sensor configured to determine spatial coordinates of the target waste in said plurality of waste arranged in bulk in the reception chamber,
the robotic gripping means being configured to pick up said target waste at said position defined by the spatial coordinates.

According to a particular embodiment, the control means are configured to determine at least one material making up the target waste from said at least one measured physical characteristic, said selected container being a function of said at least one determined material, said at least a physical characteristic comprising at least one of the following characteristics of the target waste:
- electrical conductivity and/or electrical resistivity;
- thermal conductivity ;
- electrical conductance and/or electrical resistance;
- thermal conductance and/or thermal resistance;
- dimensions and/or shape;
- magnetic permeance and/or magnetic reluctance;
- permittivity;
- weight ;
- frequency response at millimeter wavelengths;
- frequency response to sound and/or ultrasound waves;
- absorption spectrum at incident light; And
- temperature.

According to a particular embodiment, the analysis receptacle has a transverse section in the shape of a “V” to ensure sliding by gravity of the target waste until reaching an analysis position at the base of the analysis receptacle and allowing to stabilize the target waste.

According to a particular embodiment, the device further comprises:
- an analysis chamber containing the analysis receptacle; And
- compression means configured to extend into the analysis chamber so as to compress the target waste when the latter is positioned in the analysis receptacle.

According to a particular embodiment, the compression means comprise compression devices, each compression device comprising:
- a plate configured to retract from an extended position to a retracted position against a stop when said plate is compressed against the target waste; And
- at least one drilling member configured to extend through an orifice arranged in the plate to pierce the target waste when the plate is in the retracted position.

According to a second aspect, the present invention relates to a method of controlling the device according to the first aspect of the invention. In particular, the invention provides a method for controlling a device for the autonomous selective collection of waste, said method comprising:
- bulk reception of a plurality of waste in a reception chamber;
- determining a position of a target waste in the reception chamber among the plurality of bulk waste;
- collection of the target waste in the reception chamber at said position and deposit of said target waste in the analysis receptacle by robotic gripping means;
- measurement of at least one physical characteristic of the target waste once positioned in the analysis receptacle and selection of a container from a plurality of possible containers based on said at least one physical characteristic; And
- routing of the target waste from the analysis receptacle into the selected container.

Note that the different embodiments mentioned above (as well as those described below) in relation to the device of the invention as well as the associated advantages apply analogously to the method of the invention. For each step of the method according to the second aspect of the invention, the device according to the first aspect of the invention may comprise corresponding means configured to carry out said step.

Other characteristics and advantages of the present invention will emerge from the description of the particular and non-limiting examples of embodiment of the present invention below, with reference to the attached Figures 1 to 9, in which:

There schematically represents a selective collection device according to at least one embodiment of the invention;

There schematically represents certain elements of the device of the according to at least one embodiment of the invention;

There schematically represents a receiving tray of the device of the according to at least one embodiment of the invention;

There schematically represents the emptying of a receiving tray of the device of the according to at least one embodiment of the invention;

There schematically represents the analysis chamber of the device of the according to at least one embodiment of the invention;

There schematically represents the compression of a waste by the device of the according to at least one embodiment of the invention;

There schematically represents a compression system of the device of the according to at least one embodiment of the invention;

There schematically represents the device of the according to at least one embodiment of the invention;

There represents, in the form of a diagram, steps of a selective collection process according to at least one embodiment of the invention.

Examples of implementations of the invention will now be described in what follows with reference jointly to Figures 1-9. Unless otherwise indicated, elements common or similar to several figures bear the same reference signs and have identical or similar characteristics, so that these common elements are generally not described again for the sake of simplicity.

The terms “first(s)” (or first(s)), “second(s)”, etc.) are used in this document by arbitrary convention to help identify and distinguish different elements (such as operations, threshold values, etc.) implemented in the embodiments described below.

In particular in order to resolve the problems and deficiencies noted above, the present invention proposes to provide a selective sorting device (or a station, or a sorting station), this device allowing selective collection (or selective sorting), autonomous and efficient, multiple wastes whatever their nature.

According to particular embodiments, the invention aims at a sorting device (or mini-central) for the autonomous selective collection of waste, comprising: a reception chamber configured to receive in bulk a plurality of waste; locating means configured to determine a position of a target waste in the receiving chamber among the plurality of bulk waste; an analysis receptacle separate from the reception chamber; a gripping robot (or robotic gripping means, or robotic assembly) configured to pick up the target waste in the receiving chamber at said position and deposit said target waste in the analysis receptacle; recognition means configured to measure at least one physical characteristic of the target waste once positioned in the analysis receptacle and to select a container from a plurality of possible containers based on said at least one physical characteristic; and delivery means configured to deliver the target waste from the analysis receptacle into the selected container

The invention is based in particular on the observations presented above as well as on the observation that errors and inconveniences linked to sorting are inherent to human intervention. Also, the invention aims to eliminate human intervention in the sorting process.

The invention allows users to empty their bags of bulk waste into a reception chamber (a bin for example) of the selective collection device. Users are then relieved of any sorting operation. The device is configured to autonomously sort all waste. This device eliminates the problems linked to conventional waste sorting and the irritants linked to the sorting process. The invention is aimed at individuals as well as professional actors and public establishments. Once the waste has been deposited in bulk in the station, all sorting operations are carried out without human intervention, which makes it possible to improve waste sorting (better reliability, fewer errors in sorting), saving time for users and to effectively adapt the management of waste flows according to applicable rules and territories.

The invention also makes it possible to obtain better acceptability of the sorting process among users, without disrupting the current pattern of waste collection and management. The invention allows significant gains in terms of economic costs, time, and protection of the environment and public health.

As described below, the selective collection device of the invention may in particular involve one or more computer programs equipped with artificial intelligence (AI) making it possible to effectively control the operation of said device (location of waste, recognition of waste, sorting of waste, routing of waste in an appropriate container, or even compacting if necessary, or even management of data sent to users).

Particular embodiments of a selective collection device DV1 are now described with reference to Figures 1-9. Note that certain elements generally present in a sorting station have been deliberately omitted because they are not necessary for understanding the present invention. Furthermore, the embodiments described below constitute only particular and non-limiting examples of embodiment of the invention, other implementations being however possible. Those skilled in the art will understand in particular that certain elements of the DV1 device illustrated in the figures or described below are only intended to facilitate the understanding of the invention, variant embodiments being however possible without such elements.

As shown in Figures 1-2, the selective collection device DV1 (also known more simply as “device”, or “station”, or “sorting station”) comprises in particular the following elements: at least one receiving chamber 10, locating means 50, a gripping robot (or automated gripping means) 20, an analysis receptacle 26 separate from the reception chamber 10, control means 30 and conveying means 34.

In essence, the receiving chamber 10 is configured to receive in bulk a plurality of waste (or articles, or products, objects) 15. The locating means 50 are configured to determine a position of a waste 15a, called “target” waste. », in the reception chamber 15 among the plurality of waste 15 in bulk. The gripper robot 20 is configured to pick up the target waste 15a in the receiving chamber 10 at said position and to deposit the target waste 15a in the analysis receptacle 26. The control means 30 are configured to measure at least one physical characteristic of the target waste 15a once positioned in the analysis receptacle 26 and to select a container 40a from a plurality of possible (or available) containers 40 as a function of said at least one physical characteristic. The conveying means 34 are configured to convey the target waste 15a from the analysis receptacle 26 into the selected container 40a. The characteristics and operation of these different elements are described in more detail in the following.

More precisely, the DV1 device comprises control means 30 which constitute the central control body making it possible to control the different functionalities of the DV1 device. These control means 30 may comprise at least one processor configured to execute at least one computer program PG1, this program being able to be stored in a non-volatile memory 32 of said control means 30. The configuration and operation of the control means 30 will appear more precisely in view of what follows.

The memory 32 can constitute an information medium according to a particular embodiment in that it comprises the computer program PG1 comprising instructions for carrying out the steps of a selective collection method of the invention as described below. -after in particular examples.

The computer program PG1 can involve (or understand) artificial intelligence (AI), that is to say a set of machine learning and deep learning algorithms, including in particular a neural network, implementing a set models established from machine learning training (known as “machine learning”) using a database sampling a set of data (“dataset”). This AI can advantageously intervene at different stages of the selective collection process to control the different functionalities of the DV1 device.

According to a particular example, the control means 30 comprise autonomous learning means (automated training) configured to develop a new model from samples to apply the selective collection process to new types of waste (packaging, etc. ). Such learning can make it possible to improve the management of the control means 30 in the event of pre-emption errors in the robotics or assemblies of the packaging material detection means.

The control means 30 take for example the form of computer equipment placed in a compartment (cabinet or other) provided for this purpose in the device DV1.

The DV1 device may comprise one or more reception chambers 10 configured to receive in bulk a plurality of waste 15. It is subsequently assumed for simplicity that the DV1 device only comprises one reception chamber, although it is possible to provide a plurality of distinct reception chambers 15, for example to increase the reception capacity or treat distinct flows of waste 15 separately. Each reception chamber 15 may comprise one or a plurality of reception bins 11 (figures 3-4) configured to receive waste 15 in bulk, the configuration of these bins being able to be adapted as appropriate. Likewise, the nature and number of waste (or objects) 15 deposited in the reception chamber 15 may vary depending on the case.

According to a particular example, the device DV1 comprises at least one inlet mouth 2 ( ) configured to allow introduction of the plurality of waste 15 in bulk from outside the device DV1 into the reception chamber 10 through said at least one inlet mouth 2. By definition, the bulk deposition of waste 15 implies that the latter do not need to be arranged in an organized or predefined manner so that the device DV1 can perform the operations described below.

Each inlet mouth 2 allows waste 15 to fall by gravity into the reception chamber 10 (possibly distinct flows of waste 15 in separate bins from the reception chamber 10) located in the lower part (under the mouth of entry 2). The inlet mouth(s) can be equipped with a chute system (not shown) inside the DV1 device to facilitate the conveying of waste 15 in bulk into the reception chamber 10.

The inlet mouth(s) 2 may comprise closing means (or locking means) 4 configured to switch between a closed position prohibiting the introduction of waste 15 into the DV1 device and an open position authorizing said introduction of waste 15 These shutter means 4 include for example a movable door (or hatch). These shutter means 4 are controlled by shutter control means, namely the control means 30 in this example. The shutter means 4 are for example actuated by mechanical drive means (comprising a motor for example) actuable by the control means 30.

It is assumed in the following that the device DV1 includes only one input port 2 for the sake of simplicity, although examples with several input ports 2 are possible.

According to a particular example, the device DV1 comprises authentication means 8 configured to acquire (or obtain) authentication data DT1 from a user ( ) and perform authentication using the DT1 authentication data. The nature of the authentication data DT1 depends on the type of authentication means 8 used, the latter being able to include for example a QRC reader (for QR code or "Quick Response Code" in English), an NFC reader (for "Near Field Communication" in English), a card reader (magnetic card or smart card, for example by contact or contactless reading) or a biometric fingerprint reader (reading a fingerprint, a fingerprint iris, facial recognition, etc.). A user wishing to use the DV1 device can thus provide this identification data which is acquired by the authentication means 8 in order to authenticate the user which triggers the start of the sorting process.

The control means 30 can then be configured to control the positioning of the shutter means 4 in the closed or open position depending on a result of the authentication. If the authentication is carried out successfully, the control means 30 trigger the opening of the inlet mouth 2 by positioning the shutter means 4 in the open position.

This authentication can be carried out by the control means 30 cooperating with the authentication means 8.

According to a particular example, the control means 30 are configured to consult a database (for example a base stored in the device DV1 or a remote base) comprising user data representative of at least one user, authentication being carried out by a comparison of the authentication data DT1 acquired by the authentication means 8 with the user data retrieved from the database. The DV1 station can optionally communicate with a remote server (for example DV2) to perform authentication.

According to a particular example, the inlet mouth 2 is by default in the closed position. Upon detection that the authentication of a user has been carried out successfully, the control means 30 send a command to the shutter means 4 so that the latter are placed in the open position.

According to a particular example, the device DV1 comprises a plurality of inlet mouths 2 independent of each other to allow the simultaneous introduction of the plurality of waste 15 in bulk from the outside of the device DV1 into the reception chamber 15 at through said plurality of inlet mouths 2. Each inlet mouth 2 can then be independent of one another so that it is possible for several users to simultaneously deposit waste 15 in the station DV1.

According to a particular example, the device DV1 comprises a plurality of inlet mouths 2. In addition, another specific inlet mouth 2a is configured to allow the introduction of caps and/or batteries into the receiving chamber 10 a specific tray located under the receiving bin(s) 10.

In fact, electric batteries pose a problem to the extent that users often mix these batteries with other waste, which can cause fires in sorting centers and can also cause problems of environmental harm (waste toxicity). One of the main reasons for the poor management of this type of waste is that the collection of this waste is often planned outside sorting centers, outside homes or in shopping centers and others, so that users forget to bring them which leads to the aforementioned problems. The separate collection of this type of waste by the DV1 station provides a response to these problems, as well as increased comfort, particularly in terms of ergonomics for users.

For example, a compartmentalized block can be provided in the front part (façade) of the DV1 device to separately receive the caps and electric batteries in order to allow this waste to be collected separately (independent flow) inside by one or more bins reception room 11 dedicated to reception room 10.

According to a particular example, the device DV1 comprises a user interface 6 ( ) allowing a user to interact with the DV1 device, for example to present him with useful information when using the DV1 device. This user interface 6 can for example be used by the user to interact with the device DV1 during authentication via the authentication means 8 as already described. The configuration of the user interface 6 may vary depending on the case. It includes all means (screens, keys, indicator lights, sound warning means, voice synthesizer, etc.) allowing a user to send (or enter) instructions or commands to the DV1 device and/or to receive information provided by the DV1 device.

The use of sound warning means or voice synthesizers can make it possible, for example, to warn the neighborhood of the presence of the DV1 device (to avoid, for example, the random abandonment of waste in nature or places not intended for this purpose). ).

The user interface 6 can for example display on a screen a set of information (for example in real time and in an individualized manner), such as at least one of: an operating state (activated or deactivated state) of the device DV1, a carbon footprint associated with the user, gamification, a level of CO2 saved thanks to the sorting carried out by the DV1 device, qualitative and quantitative sorting data from the sorting, etc.

The user interface 6 can for example be configured to display or restore information representative of at least one of: an analysis result obtained from said at least one physical characteristic measured by the control means 30 and a sorting result representative of the selected container.

The user interface 6 can interact with the user through a voice synthesizer to ergonomically guide the user in using the device.

The DV1 device can for example be configured to communicate with a remote server (from an administrator center for example), the user interface 6 making it possible to display or restore information exchanged with the DV2 server.

As already indicated, the reception chamber 10 comprises at least one reception tray 11 (Figures 3-4) positioned so that the plurality of waste 15 falls by gravity in bulk into said at least one reception tray 11. As already indicated, it is assumed in what follows that the reception chamber 10 only includes a single reception tray 11, although variants are possible with several reception trays 11.

According to a particular example, the receiving bin 11 is rotatably mounted around an axis of rotation 12 (Figures 1 and 3-4) and configured to contain the waste 15 in bulk. The device DV1 can further comprise:

- a drain tray 16 positioned under the receiving tray 11 allowing food residue to be received; And

- bin control means configured to rotate the receiving bin 11 in order to cause emptying by gravity of the waste 15 into the underlying drain bin 16. This rotational movement is actuated for example by motorized drive means 14 controlled by the control means 30 ( ).

According to a particular example, the drain tank 16 comprises at least one level sensor 51 ( -4) configured to detect when the drain tank 16 reaches a limit filling level (corresponding for example to a predefined value). Thus, upon detection that the drain tank 16 reaches a limit filling level, the control means 30 can trigger the sending of alert data, for example to the DV2 server, to indicate that the drain tank 16 is full.

The receiving tray 11 is for example of semi-cylindrical shape in order to facilitate the emptying of the waste 15 if necessary.

It is subsequently assumed that these bin control means are an integral part of the control means 30.

It may indeed happen that the waste 15 received in bulk in the receiving bin 11 is mixed with other undesirable waste 15, for example bio-waste such as vegetable or fruit peelings, bread, etc. In order to facilitate and accelerate the sorting process for these unwanted elements, the receiving bin 11 can therefore be equipped with a motor allowing it to be rotated around the axis of rotation 12 under the control of the control means 30 in order to remove these small unwanted items (evacuation by gravity) and stabilize the reception of waste received in bulk.

According to a particular example, the receiving bin(s) 11 may have undergone an anti-rust treatment, for example according to a specific internal and external configuration to facilitate both the reception of materials received in bulk and the work of the gripper robot. These bins can be made of steel and/or plastic and/or any other suitable materials.

According to a particular example, the control means 30 are configured to cause a sending to the remote server DV2 of level data representative of a filling level reached by the receiving tray 15. It is thus possible to send an alert to the various maintenance services and operators when a level becomes critical in a receiving bin 11.

According to a particular example, the control means 30 are configured to operate rotary oscillations of the receiving bin 11 around its axis of rotation 12 so as to stabilize the plurality of waste 15 arranged in bulk in the receiving bin 11 without causing any damage. draining into the underlying drain pan 16. To do this, it is possible to configure the rotary oscillations so that the angle of rotation of the bin 11 around its axis 12 does not exceed a predefined limit value beyond which the waste 15 risks falling into the bin underlying drain 16.

During the sorting process, mini-rotations can thus be carried out (alternating rotary movements in both directions of rotation) in order to stabilize the waste 15 in the receiving bin 11. During this phase, it may in fact happen that the waste waste 15 undergoes kinetic forces that can cause disruptions in the sorting process. To avoid these occasional disruptive phenomena, the oscillating movements of the receiving tray 11 can be managed by the control means 30 which actuate stabilizers in an automated manner. The configuration of these oscillations (or mini-oscillations) in particular terms of frequency, amplitudes, etc. can be adapted as appropriate, depending in particular on the arrangement of the receiving tray 11 and the desired use.

According to a particular example, at least one evacuation orifice is provided at the base of the receiving tank 11 to allow the evacuation of a residual fluid in the underlying draining tank (while allowing the receiving tank 11 to conserve waste 15). These orifices (or holes) can thus be provided at the bottom or at the base of the receiving tank 11 to facilitate the evacuation of fluids (liquids or others) towards the corresponding drain tank 16 located below. At least one level sensor 51 is configured to detect when a drain tank reaches a limit filling level for fluids, this information being sent to the remote server.

According to one example, the reception chamber 10 comprises two reception trays 11 (or more), each of them being configured according to one or more of the embodiments and variants described above, so for example as to be tiltable in rotation under the control of the control means 30, to produce oscillations in rotation and/or to have at least one orifice, etc.

According to a particular example, the DV1 device comprises (for example in the lower part of the front face) one or more doors allowing access to and emptying of the drain bin(s) 16 in order to evacuate unwanted waste, food remains, bio-waste residuals, etc.

According to a particular example, the device DV1 comprises at least one measurement sensor 27 ( ) configured to measure the quality of the surrounding air, as well as communication means configured to send air quality data representative of the quality of the surrounding air to a remote server DV2. This or these measurement sensors 27 can be positioned for example on an upper external wall of the device DV1 in order to facilitate measurements.

It is thus possible to make estimates of the purity or quality of the surrounding air (for example in real time) from the measurements taken. To do this, the DV1 station can send air quality data to a control center (administrator center, communities, etc.) to monitor changes in air quality based on the data received (detections abnormal pollution peaks) and take appropriate actions if necessary.

Urban centers have been experiencing pollution peaks for some time, causing serious health problems among vulnerable people (children, the elderly, etc.). This solution ensures that the air surrounding the DV1 device is of good quality.

According to a particular example, the device DV1 further comprises at least one collector, independent of the reception chamber 10, for receiving waste of a predefined type (other than waste 15). One or more independent collectors can equip the DV1 device to collect bio-waste, plastic bags, cardboard, glass, sanitary masks, etc.

For example, the DV1 device can be equipped with an opening (for example in the front part) configured to slide large folded boxes or other waste of a predefined type into it. The collector onto which the opening opens is arranged independently of the reception chamber 10 and, where applicable, independently of each other collector, in particular to avoid the risk of fire in the event of malicious intent.

Each collector can be equipped with a dedicated door (or hatch, or shutter) to allow access to the corresponding waste and facilitate collection by the competent services. This door can be secured to control access to this waste, in particular to limit fire, health and mixing risks. The door may be provided with actuation means controlling the opening of the door, for example based on prior authentication of a user by appropriate authentication means (for example via the user interface). These actuation means can themselves be controlled by the control means 30. In the event of unauthorized access attempt, communication means (anti-intrusion) of the DV1 device can be configured to send an alert to the remote server DV1, to notify for example an administrator center, an operator, etc.

In order to provide a response to the anti-waste law on biowaste, biowaste could, for example, be used to make natural fertilizers or supply the biogas chain. The collection of bio-waste can be done for example by a side part separately from the receiving chamber 10.

The aforementioned collectors can also be optionally equipped with level sensors and connected to the remote server DV2 (for example from an administrator center) for the management of user and operator data.

According to a particular example, the location means 50 ( ) comprise at least one position sensor configured to determine spatial coordinates of the target waste 15a in the waste 15 arranged in bulk in the receiving chamber 10. The gripper robot 20 is then configured to pick up the target waste 15a at the position defined by spatial coordinates.

As illustrated in Figures 1-2, the waste 15 arriving in bulk in the reception chamber 10, they are generally intertwined, nested and/or mixed, one above the other in a space in several dimensions (length, width, height). Another difficulty results from the fact that the waste 15 thus arranged in bulk can have very variable characteristics of shape, hardness, etc. For example, a can is often cylindrical in steel and of different hardness and density than a plastic bottle which often has streaks. Another difficulty results from the difficulty for the robotic assembly (also called gripper robot or robotic gripping means) 20 to effectively grasp the target waste 15a.

The location means 50 constitute vision means allowing the control means 30 to identify the target waste 15a that we wish to treat. The control means 30 can for example be configured to send instructions determined from the spatial coordinates to the robotic assembly 20, these instructions commanding the robotic assembly 20 to pick up the target waste 15a at the position defined by the spatial coordinates. . These instructions can also define the way in which the target waste 15a is captured, or even each movement carried out by the robotic assembly 20.

According to a particular example, the location means 50 comprise one or more position sensors (dynamic sensors, cameras, etc.) configured to acquire object data, for example volumetric data, representative of the different objects/waste 15 nested in bulk in the receiving chamber 10 (in the receiving bin 11). These object data are then recovered and interpreted by the control means 30 to determine the spatial coordinates of the target waste 15a and to transmit to the gripper robot 20 instructions defining a gripping operation to pick up the target waste 15a at the spatial coordinates. These instructions cause the robotic assembly 20 to execute a gripping operation (also called “pick and place”) of the target waste 15a and the transfer of this waste into the analysis receptacle 26.

The AI of the control means 30 can in particular carry out processing from the object data to determine the best way to catch the target waste 15a by means of the robotic assembly 20, in order to take the target waste 15a in the best conditions and in particular prevent this target waste 15a or another object 15 from falling. A simple error in the gripping process would result in a failure of several tonnes per year to the extent that this error could be repeated each time a new target waste is gripped.

Note that the manner in which the target waste 15a is selected from the plurality of waste 15 arranged in bulk in the reception chamber 10 can be adapted depending on the case. It is assumed in this document that the device DV1 can treat a plurality of target waste 15a sequentially in an identical manner.

As already indicated, the robotic assembly 20 has the particular function of taking each target waste 15a from among the waste 15 arranged in bulk in the reception chamber 10 and conveying it to the analysis receptacle 26 ( ) to be subjected to a material recognition and then sorting phase as described previously.

The configuration of the robotic assembly 20 can be adapted according to the case, to the extent that it allows good gripping of the waste that we wish to handle. For this purpose, the robotic assembly may comprise gripping means 24 arranged on a movable mechanical arm (robotic arm) 22. These gripping means 24 include for example suction means (or vacuum handling system (of the type suction cup for example, sucking up the product which is the simplest and quickest), and/or a system comprising at least one mechanical gripper as illustrated in Figures 1-2 (more precise but less rapid). In the example considered, the arm 22 and the gripping means 24 are controlled by the control means 30 to carry out the operations of picking up and moving each target waste 15a.

It is important to adapt the configuration of the robotic assembly 20 depending for example on the number of cycles per minute necessary (that is to say the number of articles which must be moved per minute), the maximum weight supported by the gripping system (taking into consideration the type of products to be handled), the space needed by the robot or the installed artificial vision system (sensors or cameras).

In general, the use of a robot is made easier on a traditional production line by manual tasks which make it possible, in particular, to scatter the elements to be caught. Conversely, the robotic assembly 20 of the DV1 device can be finely controlled by the control means 30 using an AI which has previously been subjected to machine learning from samples as already described.

According to a particular example, the robotic assembly 20 is configured to be capable of carrying out a set of operations over 360° and diving deep directly into a receiving tray 11 in three dimensions to search for a target waste 15a nested in bulk whatever whatever its position, hardness, density, etc. For example, the gripper robot 20 can be configured to grab the target waste 15a according to a grip configuration (orientation, gripping force, position, etc.) which is a function of the type of target waste considered (ribbed mineral bottle, a plastic box). cardboard, etc.).

To limit environmental impact, all DV1 elements can be powered at 24 volts. The grip can be powered by compressed air.

As already indicated, the control means 30 are configured to measure at least one physical characteristic of the target waste once the latter is positioned in the analysis receptacle 26 and to select a container 40a from a plurality of possible (or available) containers 40. as a function of said at least one measured physical characteristic (Figures 1-2).

According to a particular example, the control means 30 are configured to determine at least one material composing the target waste 15a from said at least one measured physical characteristic, the selected container 40a being a function of said at least one determined material. Said at least one physical characteristic thus measured may comprise at least one of the following characteristics of the target waste 15a:
- electrical conductivity and/or electrical resistivity;
- thermal conductivity ;
- electrical conductance and/or electrical resistance;
- thermal conductance and/or thermal resistance;
- dimensions and/or shape;
- magnetic permeance and/or magnetic reluctance;
- permittivity;
- weight ;
- frequency response at millimeter wavelengths;
- frequency response to sound and/or ultrasound waves;
- absorption spectrum to incident light (for example in the visible, infrared, and/or ultraviolet, etc.); And
temperature.

For this purpose, the control means 30 use for example sensors (or measuring means) 28 to acquire the physical characteristic(s) of the target waste 15a positioned in the analysis receptacle 26. The device DV1 comprises for example a chamber of detection 25 ( ) comprising the analysis receptacle 26 and at least one sensor 28 for measuring the physical characteristic(s) of the target waste 15a. These measurement sensors 28 are connected to the control means 30 so that the latter can recover and process the measurement data from these sensors.

According to a particular example, the detection chamber 25 is provided with a set of dynamic sensors 28 connected to the control means 30, these sensors being configured to acquire measurement data representative of the physical characteristic(s) of the target waste 15a. These measurement data are then sent to the control means 30. These control means 30 then interpret these measurement data and, from this interpretation, control a sorting process comprising the selection of the appropriate container 40a and the routing of the waste target 15a by the routing means 34 in the selected container 40a.

The detection chamber 25 may optionally also include at least one dynamic sensor 28 (bar code reader, QR code or others) configured to acquire original data representative of an origin or identification (brand or other) of the target waste 15a. This original data can be transmitted by means of communication from the DV1 device to the remote DV2 server (from an administrator center or other), to allow analysis and monitoring of the waste of the user concerned. These original data, or tracking data obtained from these original data, can possibly then be made available to users and manufacturers, for example via an application on a terminal, in order to allow the people concerned to better understand their respective impact, for example in environmental and/or economic terms.

According to a particular example, the measurement sensors 28 comprise a weight sensor capable of measuring the weight of the target waste 15a. The weight data thus collected by the control means 30 for each target waste 15a can be transmitted to the remote server DV2, or processed by the control means 30, to obtain qualitative and quantitative data intended for users, operators, etc. This data may in particular be used for pricing purposes by the operator.

According to a particular example, the control means 30 are configured to measure said at least one physical characteristic of the target waste 15a while the latter is the only waste disposed in or on the analysis receptacle 26, in order to facilitate the measurements and optimize the reliability of recognition and sorting results.

According to a particular example, the robotic assembly 20 is configured to successively place a plurality of target waste 15a (one after the other) in the analysis receptacle 26 so that this waste is treated by the control means 30 and the routing means 34. To do this, the same operations are repeated by the device DV1 for each new target waste 15a.

Note also that the configuration of the analysis receptacle 26 may vary depending on the case. According to a particular example, the analysis receptacle 26 has a transverse section in the shape of a “V” to ensure sliding by gravity of the target waste 15a until reaching an analysis position at the base of the analysis receptacle 26. As illustrated in , the analysis receptacle 26 may comprise for example two inclined planes 27 which meet at the base of the receptacle. This particular arrangement of the analysis receptacle 26 ensures natural and precise positioning of each target waste 15a at the appropriate position in the analysis receptacle 26, so as to achieve a precise and reliable measurement of the physical characteristics of the target waste. 15a. By its design, the analysis receptacle 26 can thus receive all types of waste 15 whatever their shapes, densities, materials, etc. Other configurations of the analysis receptacle 26 are however possible.

As already indicated, the DV1 device may comprise an analysis chamber 25 containing the analysis receptacle 26. According to a particular example, the DV1 device further comprises compression means (or stabilizing means) 60 as illustrated in Figures 5- 7. These compression means 60 are configured to extend into the analysis chamber 25 so as to compress the target waste 15a when the latter is positioned in the analysis receptacle 26. These compression means 60 can have the function of stabilization of the target waste 15a in the analysis receptacle and/or the compaction of the target waste 15a once the measurements of the physical characteristics have been completed.

These compression means 60 associated with the “V” shape of the analysis receptacle 26 make it possible, for example, to prevent the target waste 15a from bouncing back into the analysis chamber 25 once deposited by the robotic assembly 20, with the risk of falling for example into a container 40 (garbage bin, pit, etc.) without it being identified or sorted by the control means 30. To do this, the compression means 60 apply pressure on the target waste 15a when it reaches the analysis receptacle 26.

These same compression means 60 can possibly serve as a press for the waste to compact it, preferably with a design adapted to avoid damaging the detection chamber 25 and avoiding any damage to all the functionalities of the DV1 device (including the sensors). included in the analysis chamber 25). These compression means 60 can for example be powered electrically at 24 V or by a pneumatic or hydraulic system and controlled by the control means 60, for example by means of processors and algorithms specific to these functionalities.

According to a particular example, the compression means 60 comprise compression devices 61, each compression device 61 comprising (Figures 5-7):
- a plate 62 (movable or retractable plate) configured to retract from an extended position inside the analysis chamber 25 to a retracted position against a stop when said plate 62 is compressed against the target waste 15a ( translation following x); And
- at least one drilling member 70 configured to extend through an orifice 72 arranged in the plate 62 to pierce the target waste 15a when the plate 62 is in the retracted position.

To do this, each compression device 61 can comprise a shaft 63 (Figures 5-7) movable in longitudinal translation (along x) under the control of the control means 30, the plate 62 being arranged at the distal end of this shaft to engage in the analysis chamber 25 when the plate 62 is in the extended position.

According to a particular example, the compression means 60 of the DV1 device comprise at least one compression device 61 and can be positioned facing each other to compress the target waste 15a in opposite directions in the analysis chamber 25. The drilling member(s) 70 may have various configurations of shape, size, etc. insofar as they make it possible to penetrate the target waste 15a considered. These drilling members 70 can for example include rods or picks (for example made of steel), or any other pointed or sharp members. These piercing elements 70 make it possible in particular to pierce packaging containing air, so as to significantly reduce their size and facilitate their handling, sorting and conveying.

Each compression device 61 may further comprise at least one spring 68 or equivalent ( ) exerting an opposing mechanical force against the movable plate 62, that is to say which opposes the retraction of said movable plate 62 towards the retracted position, so that this movable plate 62 returns to the extended position when it is not compressed against the target waste 15a.

As illustrated for example in the example of the , each compression device 61 can comprise 3 substantially parallel plates, namely the plate 62 movable in translation along x), can be fixed to the fixed plate 66 on the one hand and resting against the movable plate 62 on the other hand to allow free longitudinal translation of the movable plate 62 relative to the holding rod 64. The spring 68 is mounted on the surfaces of the plates 62 and 64 facing each other so as to exert an opposing force on the movable plate 62 relative to the fixed plate 64. This mechanism allows the movable plate 62 to move freely in translation along x until to reach its retracted position, abutting against the stop element 67, under the effect of a pressure applied by the movable plate 62 on the target waste 15a (and vice versa) in the analysis chamber 25.

Furthermore, as already indicated, once the control means 30 have measured the physical characteristics of the target waste 15a and they have selected the container 40a accordingly from the plurality of possible containers 40, the target waste 15a is ejected by an automatic compressed air system 56 ( ) controlled by the control means 30 to the conveying means 34 which are used to convey the target waste 15a from the analysis receptacle 26 into the selected container 40a (Figures 1-2).

According to a particular example, the routing means 34 comprise an automated switch 36 configured to evacuate each target waste 15a from the analysis receptacle 26 into a respective selected container 40a. In particular, the conveying means 34 may comprise, at the outlet of the analysis chamber 25, a directional sorting or switching system 36 configured to direct the waste ejected by an automated compressed air system 56 or other mechanical system from the analysis chamber 25 selectively in the corresponding selected container 40a (trash can, pit, etc.). The switch 36 can be configured to independently direct different streams of sorted waste, either into an appropriate bin 40a, or into an appropriate pit 40a (in the case, for example, where the sorting station DV1 is located on the public highway).

The conveying means 34 may include, at the outlet of the switch 36, a conveying and expulsion system for transporting each target waste 15a into the selected container 40a.

The routing means 34 are for example controlled in an automated manner by the control means 30 of the device DV1. To operate these conveying means 34, the latter may comprise a set of dynamic sensors and motorized actuators, controllable by the control means 30, to allow the conveyance of the target waste 15a to the selected container 40a.

According to a particular example, the conveying means 34 comprise an expulsion system 56 (or ejection system) configured to expel the target waste 15a by air (or gas) and/or by mechanical action out of the chamber. analysis 25 and a set of electronic actuators (managed by algorithms) configured to convey the target waste 15a into the selected container 40a once expelled from the analysis chamber 25.

The expulsion dosage can for example be controlled by a set of algorithms implemented by the control means 30 in order to dose the appropriate quantity of air or gas without causing a malfunction of the robotics and the expulsion systems. A pneumatic system can be used for this purpose, this system comprising a set of electrically powered dynamic controllers. It is thus possible not to disrupt the other operating phases upstream and downstream.

The interior of the switch 36 may in particular comprise a directional system which directs the waste flows, evacuated from the analysis receptacle 26, directly and independently into the appropriate container 40a (trash bin or pit), in order to avoid risks sorting or mixing errors. This directional system can have a variable configuration, comprising for example a conveyor system making it possible to convey the target waste 15a, in particular when significant distances separate the analysis chamber 25 from the containers 40. Once arrived at the level of the selected container 40a , another ejection system by compressed air (or gas) and/or by mechanical action allows the ejection of the target waste 15a into the container 40a. All of these mechanisms, including dynamic sensors to monitor the progress of the target waste 15a, can be managed in an automated manner by the control means 30 (by AI).

There schematically illustrates the selective collection device DV1 as previously described above with reference to Figures 1-7, according to a particular embodiment.

The DV1 device comprises one (or more) processor(s) 80 configured to execute instructions for carrying out the steps of the selective collection process as described below. To do this, the processor 80 can include integrated memory, an input/output interface, and various circuits known to those skilled in the art. The DV1 device may further comprise at least one non-volatile memory 82 corresponding for example to a volatile and/or non-volatile memory and/or comprises a memory storage device which may comprise volatile and/or non-volatile memory, such as EEPROM, ROM, PROM, RAM, DRAM, SRAM, flash, magnetic or optical disk.

The computer code of the embedded software(s) comprising the instructions to be loaded and executed by the processor 80 is for example stored on the memory 82. The memory 82 can constitute an information medium according to a particular embodiment in that it comprises a computer program (for example PG1 in Figures 1-2) comprising instructions for carrying out the steps of the method of the invention.

To do this, the DV1 device can comprise at least one communication interface 84 allowing the DV1 device to cooperate with the different elements of the DV1 device, in particular the location means 50, the robotic assembly 20, the measurement sensors 28 and the routing means 34, as well as possibly other elements of the DV1 device such as the user interface 6, the authentication means 8 and/or the motorized drive means 14. The DV1 device may further comprise a communication interface 84 suitable for communicating with the remote server DV2 (wired or wireless communication, for example by communication via a cellular network).

There illustrates together with Figures 1-8 a diagram of the different stages of a method of controlling the selective collection device DV1 as previously described.

During a reception step S2, the device DV1 receives in bulk a plurality of waste 15 in its reception chamber 10.

During a determination step S4, the device DV1 determines a position of a target waste 15a in the reception chamber 10 among the plurality of waste 15 in bulk.

During a step S6, the device DV1 picks up the target waste 15a in the reception chamber 10 at said position and deposits this target waste 15a in the analysis receptacle 26 by means of the robotic assembly 20.

During steps S8 and S10, the device DV1 measures at least one physical characteristic of the target waste 15a once the latter is positioned in the analysis receptacle 26, optionally compresses the target waste 15a as already described, selects a container 40a from among a plurality of possible containers 40 depending on said at least one physical characteristic of the target waste 15a and conveys (or ejects) the target waste 15a to the container 40a.

During a routing step S12, the device DV1 routes the target waste 15a from the analysis receptacle 26 into the selected container 40a.

A person skilled in the art will understand that the embodiments and variants described above constitute only non-limiting examples of implementation of the invention. In particular, those skilled in the art may consider any adaptation or combination of the embodiments and variants described above, in order to meet a very specific need in accordance with the claims presented below.

The present invention is therefore not limited to the exemplary embodiments described above but extends in particular to a control method which would include secondary steps without thereby departing from the scope of the present invention. The same would apply to a device configured to implement such a process.

Claims (15)

Device (DV1) for autonomous selective sorting of waste, said device comprising:
- a reception chamber (10) configured to receive in bulk a plurality of waste (15);
- locating means (50) configured to determine a position of a target waste (15a) in the reception chamber (10) among the plurality of bulk waste;
- an analysis receptacle (26) separate from the reception chamber;
- robotic gripping means (20) configured to pick up the target waste (15a) in the receiving chamber at said position and deposit said target waste in the analysis receptacle;
- control means (30) configured to measure at least one physical characteristic of the target waste (15a) once positioned in the analysis receptacle (26) and to select a container (40a) from a plurality of possible containers (40) ) as a function of said at least one physical characteristic; And
- conveying means (34) configured to convey the target waste (15a) from the analysis receptacle (26) into the selected container (40a). Device according to claim 1, further comprising:
- at least one inlet mouth (2) configured to allow introduction of the plurality of bulk waste from outside the device into the reception chamber through said at least one inlet mouth;
- shutter means (4) configured to switch between a closed position prohibiting said introduction and an open position authorizing said introduction;
- authentication means (8) configured to acquire authentication data and perform authentication based on the authentication data; And
- shutter control means (30) configured to control the positioning of the shutter means in the closed or open position depending on a result of said authentication. Device according to claim 2, wherein the device comprises a plurality of said inlet mouths independent of each other to allow the simultaneous introduction of the plurality of bulk waste from outside the device into the receiving chamber through of said plurality of inlet vents. Device according to any one of the preceding claims, further comprising:
- a user interface (6) configured to display information representative of at least one of an analysis result obtained from said at least one physical characteristic and a sorting result representative of the selected container. Device according to any one of the preceding claims, wherein the receiving chamber (10) comprises at least one receiving bin (11) positioned so that the plurality of waste falls by gravity in bulk into said at least one receiving bin. Device according to one of claim 5, in which said at least one receiving tray (11) is rotatably mounted around an axis of rotation (12) and configured to contain waste in bulk;
the device further comprising:
- a drain tray (16) positioned under each receiving tray;
- at least one level sensor configured to detect when the drain tank (16) reaches a limit filling level; And
- tray control means configured to rotate said receiving tray in order to cause draining by gravity into the underlying drain tray. Device according to claim 6, in which the control means (30) are configured to cause a sending to a remote server (DV2) of level data representative of a filling level reached by said drain tank. Device according to claim 6 or 7, in which the bin control means are configured to operate rotary oscillations of said at least one receiving bin around its axis of rotation so as to stabilize the plurality of waste arranged in bulk in said at least one receiving bin. less than one receiving tray without causing emptying. Device according to any one of the preceding claims, in which the device comprises:
- at least one measurement sensor (27) configured to measure the quality of the surrounding air; And
- communication means configured to send air quality data representative of the quality of the surrounding air to a remote server (DV2). Device according to any one of the preceding claims, in which the location means (50) comprise at least one position sensor configured to determine spatial coordinates of the target waste in said plurality of waste arranged in bulk in the reception chamber,
the robotic gripping means being configured to pick up said target waste at said position defined by the spatial coordinates. Device according to any one of the preceding claims, in which the control means (30) are configured to determine at least one material composing the target waste from said at least one measured physical characteristic, said selected container (40a) being a function of said at least one specific material, said at least one physical characteristic comprising at least one of the following characteristics of the target waste:
- electrical conductivity and/or electrical resistivity;
- thermal conductivity ;
- electrical conductance and/or electrical resistance;
- thermal conductance and/or thermal resistance;
- dimensions and/or shape;
- magnetic permeance and/or magnetic reluctance;
- permittivity;
- weight ;
- frequency response at millimeter wavelengths;
- frequency response to sound and/or ultrasound waves;
- absorption spectrum at incident light; And
- temperature. Device according to any one of the preceding claims, in which the analysis receptacle (26) has a “V”-shaped transverse section to ensure sliding by gravity of the target waste until reaching an analysis position at the base of the analysis receptacle and allowing the target waste to be stabilized. Device according to any one of the preceding claims, in which the device further comprises:
- an analysis chamber (25) containing the analysis receptacle (26); And
- compression means (60) configured to extend into the analysis chamber so as to compress the target waste when the latter is positioned in the analysis receptacle. Device according to claim 13, in which the compression means (60) comprise compression devices (61), each compression device comprising:
- a plate (62) configured to retract from an extended position to a retracted position against a stop (67) when said plate is compressed against the target waste; And
- at least one drilling member (70) configured to extend through an orifice arranged in the plate to pierce the target waste when the plate is in the retracted position. Method for controlling a device for the autonomous selective collection of waste, said method comprising:
- bulk reception of a plurality of waste in a reception chamber (10);
- determining a position of a target waste in the reception chamber among the plurality of bulk waste;
- collection of the target waste in the reception chamber at said position and deposit of said target waste in the analysis receptacle by robotic gripping means;
- measurement of at least one physical characteristic of the target waste once positioned in the analysis receptacle, selection of a container from a plurality of possible containers based on said at least one physical characteristic; And
- routing of the target waste from the analysis receptacle into the selected container.