RU2611285C2 - Rejector device and array, method of sorting discrete objects and corresponding computer program - Google Patents

Abstract

FIELD: food industry.

SUBSTANCE: disclosed is an invention for automatic sorting of fruit and vegetables etc. Rejector device for use within a system for sorting discrete objects, rejector device comprising at least one divert device arranged to change trajectory of an object, and drive means arranged to drive divert device between at least three discrete positions such that in use, at least one of said discrete objects passes along one of three paths, and a method of sorting discrete objects comprising steps of positioning a divert device in one of three discrete positions; and varying trajectory of at least one of said discrete objects when said divert device is positioned in two of said three discrete positions.

EFFECT: proposed invention provides technical problem, on how to sort discrete objects, such as fruit or vegetables, into three or more classes, while minimising possibility of damage of such fragile objects and avoiding use of a plurality of successive sorting devices.

17 cl, 6 dwg

Description

FIELD OF TECHNOLOGY

The present invention relates to methods and systems for automated sorting, in particular, but not exclusively, to automated sorting of fruits and vegetables. The scope of the invention also extends, but without limitation, to methods and systems for use in the separation of waste, in sorting and processing, and in the separation and sorting of solid granular raw materials, such as mineral ores.

BACKGROUND

In some automated sorting optical systems for fruits and vegetables, the product to be sorted is unloaded from the end of the horizontal conveyor belt. The product to be sorted is optically scanned when it is on the conveyor belt and / or when dropped from the end of the belt, and the decision on acceptance / removal is made on the basis of the scan (s). If the product is to be removed, it will be directed away from its normal flight path and rejected into the deflection trough. If it is to be accepted, it will continue to follow its normal flight path, continuously up to the receiving trough. This is a characteristic of the main two-way sort operation.

In practice, more complex sorting operations are often required. It may be necessary to sort products into more than two categories, for example, Class A, Class B, and Garbage, or alternatively, Reception, Recycling, and Garbage. Initially, these more complex sorting operations were performed by passing one of the two threads from the first two-way sorting through the second sorter. This required two different sorting systems (two optical scanners, two electronics decision makers, two deflection devices, two sets of transportation systems, etc.). In addition to the cost associated with products undergoing two complete sorting operations, this also led to the possibility of unwanted product damage.

In the current art, as shown in FIG. 1, a single deviation device 101 is used to achieve three-way sorting with two deviation devices 102, 103 (or two rows of such deviation devices) cascaded one after another. A single optical scanner and decision apparatus 104 is used to make a three-way sort decision. When the product 110 passes through the first rejection device 102, an initial sorting is performed, and the products classified as belonging to the first category, “Garbage,” for example, are rejected down to the dedicated channel 107, leaving products passing to the second rejection device 103. When the product 110 passes the second deflection device, a second sorting is performed, and products classified as belonging to the second category (“Class B” for example) are rejected into the second dedicated channel 108, leaving the third product category (“Class A”, for example) to go through to the non-deviating third channel 109.

Instead of the need for two complete sorters, the only element that is duplicated is the deviation device. However, there are some disadvantages with this arrangement. It should be possible to drop products from a higher height to feed them to two deflection devices in series. This increases the risk of product damage. In addition, when the products reach the second deflection device, they travel an additional drop distance, so that the control and predictability of their location becomes less accurate. This reduces the accuracy of the second sorting operation by increasing the number of “missing views” (that is, products that were selected for rejection but which were actually missed by the rejection device due to the out of sync of the product entering the rejection device). It also reduces the accuracy of the second sorting operation by increasing the number of “random views” (that is, products that were not selected for rejection, but which were actually rejected by the rejection device due to the retracting action, which coincides with the desynchronized hit of the product in the rejection device). In addition to these problems, although the cost of such a device is lower than for one with two full sorters, there are still costs associated with having two full deflection devices. In addition, this configuration is complex and therefore subject to mechanical failure.

US patent 7,041,926 is directed to a method and system for separating stones of gravel mixtures according to one or more specified parameters. This is achieved by passing the gravel mixture through the pressure pipe, which passes through many connections, each of which is connected to three outlets: the first distribution sleeve, the second distribution sleeve and the continuation of the pressure pipe. A pair of independently articulated tapping devices are located in each connection, and each pair of tapping devices is jointly articulated so that only one of the three outputs in the connection will be open at any given time. Although this arrangement allows complex sorting at a single point, it still appears necessary to maintain the cost and mechanical complexity of the two deflection devices. In addition, this arrangement requires coordination of the movement of both independently articulated tapping devices, in addition to the complexity of the complete system.

Accordingly, there is a need for improved methods and systems for automatically sorting into multiple classes.

SUMMARY OF THE INVENTION

In accordance with the present invention, there is provided a deviation device for use within a system for sorting discrete objects, a deviation device comprising at least one diverting device configured to change the path of the object; and drive means configured to drive the tapping device between at least three discrete positions so that when using at least one of said discrete objects extends along one of the three channels.

Preferably, at least one diverting device is configured to come into contact with said at least one object when it is in at least two of said at least three discrete positions.

The deviation device may be arranged to sort objects while said objects fall.

Preferably, the at least one outlet device comprises a blade.

In an alternative embodiment, the at least one diverting device may comprise a flexible trough having an input and a movable terminal driven between said at least three discrete positions.

The drive means may comprise a three-position pneumatic cylinder. This is advantageous because it is mechanically relatively simple compared to alternative drive means. The drive means may alternatively comprise an electric motor.

The present invention further provides a deviation kit comprising a plurality of deviation devices, as defined above. Preferably, each deviation device is independently activated.

The present invention further provides a sorting system comprising at least one deflection device as described above.

A tapping device of said at least one deflection device may be arranged in at least two of at least three positions for tapping the object into a corresponding deflecting channel.

The present invention further provides a method for sorting discrete objects comprising the steps of i) positioning a tapping device in one of three discrete positions; and ii) changing the path of at least one of said discrete objects when said tap device is positioned in two of said three discrete positions.

Step ii) may comprise the abduction of said discrete object by said abstraction device.

Step ii) preferably comprises changing a path of at least one of said discrete objects when said at least one discrete object falls.

Preferably, step ii) comprises changing a path of at least one of said discrete objects into one of two respective deflecting channels.

The method may further comprise changing the position of the outlet device between two of the three discrete positions between the passage of successive discrete objects.

A computer program is also provided comprising program instructions for stimulating a computer program to execute the aforementioned method, which may be implemented on a recording medium, a signal carrier, or read-only memory.

SUMMARY OF THE INVENTION

The invention will be better understood from the following description of its embodiment, given only as an example, in connection with the accompanying drawings, in which:

FIG. 1 is a side view of a three-way sorting system using two consecutive two-way deflection devices according to an embodiment of the prior art.

FIG. 2 is a side view of a three-way sorting system using a single three-way deflection device in accordance with an embodiment of the present invention.

FIG. 3 is a side view of a three-way deviation device of an embodiment of the present invention in a fully retracted position.

FIG. 4 is a side view of a three-way deviation device of an embodiment of the present invention in a half-extended, or “middle,” position.

FIG. 5 is a side view of a three-way deviation device of an embodiment of the present invention in a fully extended position.

FIG. 6 is a side view of a three-way deviation device of an embodiment of the present invention in a fully extended position, the three-position cylinder being in an alternative state relative to that depicted in FIG. 5.

DETAILED DESCRIPTION

As described above, FIG. 1 shows a three-way sorting system 101 in accordance with a prior art system. This system for sorting objects 110 comprises a conveyor 105, an optical apparatus 104, a pair of two-way deviation devices 102, 103 and three mutually exclusive channels 107, 108 and 109. The objects to be sorted 110 are transported along the conveyor 105 and have the ability to fall at the end of the conveyor 105, where they pass in free fall. Since the mass of all data of sorted objects usually follows a known distribution, and since the conveyor runs at a given speed, it becomes possible to evaluate the path of 106 objects as soon as they begin to fall freely. Channels 107, 108, and 109 are located below the conveyor so that the irreversible free-falling object will go along the channel 109, while the withdrawn free-falling object will go along the channel 107 or 108 depending on the degree of its removal.

An optical device 104 having a field of view 111 is positioned along the intended path 106 so that freely falling objects first pass through the field of view 111. The optical device 104 can scan an object that passes through the field of view 111 and real-time determines if whether the scanned object can be sorted into channel 107, 108 or 109. The optical apparatus 104 can then transmit the appropriate commands to deviation devices 102, 103 to ensure that the scanned object is sorted into a specific channel l. Deviation devices 102, 103 ensure that the scanned object is sorted in accordance with what will be described below.

In addition, along the assumed path l06 (that is, after the optical apparatus), the first two-way deflection device 102 is positioned so that when it is in the retracted position, the object in free fall passes by the device 102, its path does not deviate and moves in the direction of the channel 109. The deviation device 102, being extended at the appropriate time during the free fall of the object, will divert the object's trajectory so that it goes along channel 107. Commands from the optical apparatus 104, determining that the object should be sorted If the optical device determines that the object should be directed along channel 108 or 109, then it will cause the deviation device to remain retracted. As soon as the trajectory of objects in free fall can be estimated, then the position of the object can be estimated from this assumed trajectory at a given moment in time. Also, it is possible to evaluate when the first two-way deviation device must be extended to ensure that the object is rejected on channel 107.

Further down the assumed path 106 (i.e., after the optical apparatus and the first deflection device) is a second two-way deflection device 103. Only those objects that passed the first deflection device undetected (that is, those that still continue to move in the direction of channel 109 and have not been diverted along channel 107) will have their own trajectories retracted by the second deflection device. When the second deflection device is in the retracted position, the deflected object passing by the device 103 will pass with its undeveloped path and will go along the channel 109. If such an object extends at the appropriate time during the free fall of the object, the deflection device 103 will take the path of the object so that it will is routed on channel 108. As with the first deviation device 102, the optical apparatus 104 will send commands to the deviation device 103 if a free-falling object is to be tapped on channel 108, and the device A deviation 103 will be put forward at the appropriate time.

Moreover, this three-way sorting system of the prior art achieves the possibility of three-way sorting by placing a cascading pair of two-way deviation devices 102, 103 along the free fall path of objects 110 that fall at the end of the conveyor 105.

Turning now to an embodiment of the invention, FIG. 2 shows a three-way sorting system 201 for sorting objects 210, comprising a conveyor 205, an optical apparatus 204, a single three-way deviation device 212, and three mutually exclusive channels 207, 208, and 209. As with the system of FIG. 1, the objects to be sorted 210 are transported along the conveyor 205 and are able to fall at the end of the conveyor 205, where they begin to fall freely. As previously described, the path 206 of freely falling objects can be estimated. Channels 207, 208, and 209 are located below the conveyor so that an unallocated freely falling object will go along channel 209, while a retracted freely falling object will go along channel 207 or 208 depending on the degree to which it is allotted.

The optical apparatus 204 is located along the assumed path 206 and is configured similarly to the optical apparatus 104 for the system 101 so that freely falling objects first pass through the field of view 211 of the optical apparatus 204, where they can be scanned. Then, a real-time determination can be made as to whether the scanned object should be sorted into channel 207, 208 or 209, and the corresponding commands can then be transmitted to the three-way deviation device 212 to ensure that the scanned object is sorted into a specific channel. The three-way deflection device 212 can be held in retracted position or extended to one of two different extended positions — the “middle” extended position and the “full” extended position. The three-way deflection device 212 ensures that the scanned object is sorted accordingly, as will be described in more detail in connection with FIG. 3, 4, 5 and 6.

The three-way deviation device 212 is located along the assumed path 206 so that it is located further along the path than the optical apparatus 204. The device 212 is installed so that when the device 212 is in the retracted position, the object in free fall will pass by the device 212, following an uncharted path. Additionally, the device 212 is installed so that when the device 212 is in the "middle" or "full" extended positions, the object in free fall will be diverted from its normal path. When extended to the “average” position at the appropriate time during the free fall of the object, the three-way deviation device 212 will divert the path of the object so that it goes along the channel 208. When extended to the “full” position at the appropriate time during the free fall of the object, the three-way device 212 deviations will divert the object’s trajectory so that it goes along channel 207. Commands from the optical apparatus 204, determining that the object should be sorted by channel 208 or 207, will cause the device to be rejected I move to the "middle" and "full" positions, respectively, at such a moment in time to ensure that the object will go through channel 208 or 207, as required. If the optical apparatus determines that the object should be directed along the channel 209, then this will cause the deviation device 212 to remain retracted.

In FIG. 3 shows a deviation device 301 in accordance with one embodiment of the invention. The deviation device 301 comprises a blade installation portion 304, a discharge blade 302, a three-position pneumatic cylinder 303, and a main body (not shown). The outlet blade 302 is pivotally attached along one of its ends to the blade installation portion 304. The blade installation portion 304 is supported statically by the main body (not shown) so that the outlet blade 302 can rotate around its pivot point 311 relative to the blade installation portion 304 and the main body. The blade installation portion 304 may be attached to the main body or be an integral part of the main body of the deflection device.

The three-position pneumatic cylinder 303 comprises a cylinder shell 317, a front end 316 and a rear end 315. The cylinder shell 317 is mounted on the main body of the deflection device 301. The pneumatic cylinder further comprises a rear chamber 305 located adjacent to the rear end 316, and a front chamber 308 located adjacent to the front end 316, individual chambers 305, 308 are formed by a partition wall 313 within the cylinder 303.

The front chamber 308 of the three-position cylinder 303 covers the front piston 309, from which the first end of the front piston rod 310 extends. The second end of the front piston rod 310 extends through an opening in the cylinder liner 317 and is rotationally connected to the outlet blade 302 at the joint point 312. The movement of the front piston 310 toward the end of the cylinder 316 thus moves the blade 302 away from the end of the cylinder 316. The front piston 309 is positioned within the front chamber 308 so that it defines a first front chamber section 318 and a second front chamber section 314. The first front chamber section 318 is connected to an air pressure source operating with a first valve (not shown). A constant return force is maintained in the second front chamber section 314 to bias the front piston 309 towards the partition wall 313. This return force is applied by connecting a constant air pressure to the second front chamber section 314. The air pressure supplied to the second front chamber section 314 is less than the air pressure supplied to the front chamber section 318 when the first valve is in the open position. When the front piston 309 is near the separation wall 313, the front piston 309 is in a fully retracted state.

The rear chamber 305 of the three-position cylinder 303 covers the rear piston 306 and the layout of the rear piston rod 307. The rear chamber 305 and the rear piston 306 have a shorter stroke than the front chamber 308 and the front piston 309. The separation wall 313 includes an opening through which the rear piston rod 307 can pass. An airtight seal around the rear piston rod 307 is provided by an opening in the separation wall 313. The rear piston 306 is located within the rear chamber 305 so that it defines a first section 319 of the rear chamber and a second section 320 of the rear chamber. The first section 319 of the rear chamber is connected to an air pressure source controlled by a second valve (not shown).

By controlling the pressures within the front chamber sections 314 and 318, it is possible to move the front piston 309 between the fully retracted state, the middle extended state and the fully extended state. The front piston 309 is fully extended when it is opposite the front wall 316. The rear piston is fully extended when it is opposite the partition wall 313. It should be noted that when the rear position is fully extended, the free end of the rear piston rod 307 protrudes in the first section 318 of the front camera. The length of the rear piston rod 307 is such that when the rear piston 306 is fully extended, the rear piston rod 307 can act on the front piston 309 to push it at an intermediate point between the front end of the cylinder 316 and the dividing wall 313. In this case, the front the piston 309 is neither fully retracted nor fully extended, but is in an “average” extended state. When the first valve prevents the application of air pressure to the first section 318 of the front chamber, the return force of constant air pressure in the second section 318 of the front chamber is damped against further movement of the front piston 309 to its fully extended state.

As shown in FIG. 3, the deviation device 301 is in the retracted position. The second valve is actuated to prevent the application of air pressure to the first section 319 of the rear chamber, and the air available here exits the cylinder 303. The first valve is actuated to prevent the application of air pressure to the first section 319 of the rear chamber, and the air available here from the cylinder 303. The return force in the second section 314 of the front chamber pushes the front piston 309 and, therefore, the rear piston 306 to their retracted states. As a result, the front piston rod 310 places the blade 302 in a fully retracted state. In this case, the deviation device 301 is in the fully retracted position. A fully retractable deflection device located within the three-way sorting system in accordance with FIG. 2, will allow objects 110 to fall freely from the conveyor, without affecting the scapula, and through channel 209.

As shown in FIG. 4, the deviation device 301 is in the middle extended position. The second valve is actuated to apply air pressure to the first section 319 of the rear chamber, translating the rear piston 306 to its extended state. The first valve is actuated to prevent the application of air pressure to the first section 318 of the front chamber, and the air available here exits the cylinder 303. The return force in the second section 314 of the front chamber pushes the front piston 309 towards the partition wall 313 until it abuts into the stem 307 of the rear piston. The force transmitted by the air pressure applied to the first section 319 of the rear chamber is greater than the return force in the second section 314 of the front chamber. Accordingly, the rear piston 306 remains in its fully extended state, and the front piston 309 is therefore held in the middle extended state. As a result, the front piston rod 310 places the blade 302 in the middle extended state. In this case, the deviation device 301 is in the middle extended position. When the deviation device 301 located within the three-way sorting system in accordance with FIG. 2 is in the middle extended position, objects 110 falling from the conveyor 205 will roll or slide off the blade 302 and along the channel 208. In a preferred embodiment, the average extended position is the default position of the deflection device.

As shown in FIG. 5, the deviation device 301 is in the fully extended position. The first valve is actuated to apply air pressure to the first section 318 of the front chamber. The force transmitted by air pressure applied to the first section 318 of the front chamber is greater than the return force in the second section 314 of the front chamber. Accordingly, the front piston 309 is brought into its extended state. As a result, the front piston rod 310 places the blade 302 in a fully extended state. In this case, the deviation device 301 is in the fully extended position. In the sorting system in accordance with FIG. 2, objects 110 sliding downward from the edge of the outlet blade 302 in the middle extended position will fall into the channel 207 if the deflection device moves to the fully extended position at that moment.

It should be noted that in FIG. 5, the second valve is actuated to prevent the application of air pressure to the first section 319 of the rear chamber, and the rear piston 306 is not in its extended state. When the front piston 309 is in its fully extended state, this does not significantly affect the position of the deflection device 301.

In FIG. 6 shows an alternative configuration of the deviation device 301 in its fully extended position, where the only difference with the configuration in FIG. 5 is that the rear piston 306 is also in its extended state. As can be seen, this does not affect the position of the deviation device 301, which remains, as in FIG. 5, in its advanced state.

Although the deflection device 301 comprises an exhaust blade 302, alternative embodiments of the invention may include alternatives to the exhaust blade, which should also function as a diversion means. Such alternatives include, but are not limited to, a retracting finger or a flexible retracting chute having a fixed input and a movable output.

Similarly, although the deflection device 301 comprises a three-position pneumatic cylinder, alternative embodiments of the invention may include alternatives to the three-position cylinder, which should also function as a drive means for coupling with the outlet device. Such an alternative configuration may comprise a pair of separate piston cylinders mounted adjacent to each other (commonly known as a four-position cylinder). In such an alternative, the protruding end of the piston rod of one cylinder may be rotationally attached to the outlet means, and the protruding end of the piston rod of another cylinder may be attached to the main body of the deflection device. Another alternative comprises a pair of cylinders with different strokes mounted next to each other, so that the piston rods of both cylinders come in contact with (but are not held together by) a diverting means. An additional alternative drive means comprises an electric motor configured to move the discharge means between the retracted, “middle” extended and fully extended positions. It should be noted that these alternative drive means are given as an example and are not intended to limit the scope of the invention.

In addition, although the return force in the second front chamber section 314 is characterized by being transmitted by a constant air pressure connection biasing the front piston 309 toward the partition wall 313, alternative embodiments of the invention may include alternative arrangements. For example, the return force may be transmitted by a coil spring mounted within the second front chamber section 314. Alternatively, the return force can be transmitted by a leaf spring integrated in the outlet blade 302 and biased towards the retracted position. It should be noted that these alternative means of obtaining a return force are given as an example and are not intended to limit the scope of the claims of the invention.

Additional embodiments of this invention comprise a deflection device configured to move between more than three positions. This can be achieved by replacing the three-position cylinder with a four-position cylinder containing two closely spaced cylinders with single pistons with different strokes. However, further embodiments of such embodiments of the invention are also contemplated.

Where is the sorting system as shown in FIG. 2 contains a conveyor 205 of a given width, a group of deflection devices can be installed, one next to the other across the width of the conveyor. In this arrangement, an object falling off from the end of the conveyor begins to fall freely at a given point across the width of the conveyor. The corresponding one or more deflection devices corresponding to this given point across the width of the conveyor can then be actuated to retract the object as required. Thus, multiple objects can be sorted simultaneously, since they are transported from the end of the conveyor at the same time at different points across the width of the conveyor and retracted by one or more deflection devices as necessary.

Although the sorting system in FIG. 2 contains an optical apparatus 204 for scanning sortable objects, the present invention is not limited to scanning using a visible component of the electromagnetic spectrum. Alternative embodiments of the invention contemplate alternative scanning means. In one alternative, the scanning means may comprise an infrared scanner, and in another alternative, the scanning means may comprise an X-ray scanner. Other scanning means are also contemplated, including, but not limited to, scanning means that use other components of the electromagnetic spectrum. Furthermore, although the optical apparatus 204 in FIG. 2 shows how to scan sortable objects falling in free fall, in alternative embodiments of the invention, the scanning means may also, or alternatively, scan objects before they fall into free fall. For example, in embodiments containing a conveyor, objects can also, or alternatively, be scanned when they are on the conveyor.

Although the sorting system in FIG. 2 has been shown as having a substantially or completely horizontally oriented conveyor, alternative embodiments of the invention are contemplated, wherein the conveyor is substantially or completely not horizontal. In such embodiments, surface irregularities extending across the entire width of the conveyor can hold the sortable objects in a substantially static position when they are carried along the conveyor.

Furthermore, although the sorting system in FIG. 2 is shown as containing a conveyor 205, such that the objects to be sorted fall into free fall as they break away from the end of the conveyor; alternative means of tearing are contemplated in alternative embodiments of the invention. In one alternative, the stall means comprises a vibratory feed. In another alternative, the tearing means comprises a sliding trough. In a further alternative, the stall means comprises a fluidized bed. Additional alternative disruption remedies are also contemplated.

Embodiments of the invention described in connection with the drawings comprise a computer apparatus and / or processes carried out in a computer apparatus. However, the invention also extends to computer programs, in particular computer programs stored on or in a carrier adapted to translate the invention into practice. The program may be in the form of source code, object code or a code between the source and object code, for example, in a partially compiled form or in any other form suitable for use in implementing the method in accordance with the invention. The carrier may comprise a storage medium, such as a ROM, such as a CD ROM, or a magnetic storage medium, such as a floppy disk or a hard disk. The carrier may be an electrical or optical signal that can be transmitted through an electrical or optical cable, or by radio, or by other means.

What is described here includes examples of one or more objects. Of course, it is impossible to describe every conceivable combination of components or methodologies for the purpose of describing the aforementioned objects. One skilled in the art will understand that many additional combinations and permutations of various objects are possible. Accordingly, the described objects are intended to cover all such changes, modifications and variations that are within the essence and scope of the claims of the attached claims. In addition, to the extent that the terms “includes” or “including” or any variations thereof are used, either in the detailed description or in the claims, such terms are intended to mean inclusion, similarly to the term “comprising”, if "comprising" is interpreted as a transition word in the claims.

Claims (23)

1. The deviation device for use in the system for sorting discrete objects, and the deviation device contains: at least one blade made with the possibility of changing the trajectory of the falling object; and drive means configured to drive the vanes between at least three discrete positions, such that when using at least one of the discrete objects extends along one of the three channels. 2. The deviation device according to claim 1, wherein at least one blade is configured to come into contact with said at least one object when it is in at least two of said at least three discrete positions. 3. The deviation device according to claim 1, wherein the at least one outlet device comprises a flexible trough having an input and a movable terminal driven between the at least three discrete positions. 4. The deviation device according to claim 1, wherein the drive means comprises a three-position pneumatic cylinder. 5. The deviation device according to claim 1, wherein the drive means comprises an electric motor. 6. A deviation set comprising a plurality of deviation devices according to any one of paragraphs. 1-5. 7. A set of deviations according to claim 6, wherein each of said plurality of deviation devices is independently activated. 8. A sorting system containing at least one deviation device according to any one of paragraphs. 1-5. 9. The sorting system according to claim 8, wherein the tapping device of said at least one deflection device is located in at least two of at least three positions for tapping the object into a corresponding deflecting channel. 10. A method for sorting discrete falling objects, comprising the steps of: i) positioning the blade in one of three discrete positions; and ii) changes in the trajectory of at least one of said discrete objects when said blade is placed in two of said three discrete positions. 11. The method according to p. 10, wherein step ii) comprises the abduction of said discrete object by said abstraction device. 12. The method of claim 11, wherein step ii) comprises changing a path of at least one of said discrete objects when said at least one discrete object falls. 13. The method according to any one of paragraphs. 10-12 wherein step ii) comprises changing a path of at least one of said discrete objects into one of two corresponding deflecting channels. 14. The method according to any one of paragraphs. 10-12, further comprising changing the position of the tap device between two of the three discrete positions between successive discrete objects. 15. The method according to p. 13, further comprising changing the position of the outlet device between two of the three discrete positions between successive discrete objects. 16. A computer-readable medium containing a computer program containing a means of code of a computer program, configured to perform all the steps according to any one of paragraphs. 10-15 when said program is executed on a computer. 17. A computer-implemented system for use in a system for sorting discrete objects according to claim 1, comprising: means for positioning the outlet device in one of three discrete positions; and means for changing the trajectory of at least one of the aforementioned discrete objects when the aforementioned tapping device is placed in two of the aforementioned three discrete positions.

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