Patent Description:
The introduction of recycling robotics for sorting materials has led to increased productivity and decreased contamination for Material Recovery Facilities (MRFs). Robots have been utilized as a viable replacement, or supplement, for human sorters due to their speed, reliability, and durability. The objective of recycling robots is to recover the specific target material(s) and eject them into bunkers without introducing other materials (contaminants) into the sorted bunkers. A common technique used by these recycling robots involves the use of suction gripper. A suction cup gripper connected to a pneumatic system would generate a substantial suction force to grasp targeted objects. Application of the suction force may be curtailed once the objected is picked from conveyor belt to direct the item into the proper collection bunker.

Robotic sorting has proven to be exceptionally good at picking and placing rigid objects with surface areas greater than or equal to three square inches. Non-rigid objects such as plastic bags have a lower success rate due to their tendency to deform and lose viable surface area to wrinkles and creases and interfere with suction. Objects smaller than three square inches in cross sectional area have trouble being picked and placed into appropriate bins since suction cups have difficulty sealing on them. Moreover, the robotic apparatus used to position the suction gripper, while less expensive over time as compared to human sorters, still require a significant capital expense that leaves some material economically infeasible for collection and recycling.

For example, many Material Recovery Facilities request their customers not include items smaller than three square inches and thin film in their recycling, even though they are made of recyclable materials. Material Recovery Facilities will often tend to avoid retrieving paper since an excessive number of material and physical picks are required to accumulate an economical amount of mass. Rapidly moving mechanical elements can also present a hazard to facility personnel working near the sorting robot.

<CIT> describes systems and methods for sorting seeds based on identified phenotypes of the seeds. The system includes an optics and controller station structured and operable to collect image data of a top portion, a bottom portion and a plurality of side portions of each respective seed in a set of seeds, and to analyze the collected image data to determine whether each seed exhibits a desired phenotype. The system further includes a seed loading, transporting and sorting station structured and operable to singulate each seed of the set of seeds from a plurality of seeds in a bulk seed hopper, transport the set of seeds to the optics and controller station, and selectively sort each seed to a respective one of a plurality of seed repositories based on whether each respective seed exhibits the desired phenotype.

<CIT> describes a container inspection system for inspecting a moving container, which includes a radiation source positioned to direct radiation at the moving container. A radiation detector is positioned to receive a portion of the radiation from the radiation source that is not absorbed or blocked by the moving container and to generate electrical signals in response thereto. Processing circuitry produces multi-dimensional image data for the moving container based on the electrical signals generated by the radiation detector, and compares at least a first portion of the multi-dimensional image data to a corresponding portion of the multi-dimensional image data for a standard container. Thereafter, the processing circuitry determines, based on a result of the comparison, one or more characteristics of the container from the set of characteristics including the fill level of the container, whether the container is underfilled, whether the container is overfilled, whether the container is properly pressurized, and whether the container is sealed.

<CIT> describes a device for processing a batch of small light weight objects, the objects having an average dimension. The device comprises a transportation unit comprising an object carrier having a top surface suitable for carrying small light weight objects and a plurality of openings through the object carrier to the top surface, a filling section configured for scattering small light weight objects on the top surface of the object carrier, an inspection section, a removal section configured for selectively removing objects from the top surface, and, a control unit. The device is configured to scatter in the filling section the objects on the top surface such that the objects essentially lie side to side on the top surface, and the openings have an in-between distance which is smaller than an average dimension of the objects.

<CIT> describes a device for processing a batch of small light weight objects. The device comprises a tray filling section configured for scattering small light weight objects on the top surface of a tray, an inspection section configured for determining for each pocket of the array of pockets a quality measure associated with the object in said pocket, a selective removal section configured for selectively removing objects from said array of pockets in dependence of the quality measure for each pocket and, a control unit configured for controlling the tray filling section, the inspection section and the selective removal section. The device comprises a transportation unit configured for repeatedly vice versa and linearly moving the tray from a first position to a second position along the tray filling section, inspection section and selective removal section.

<CIT> describes a system and a method of sorting scrap particles, which includes imaging a moving conveyor containing scrap particles using a vision system to create an image. A computer analyzes the image as a matrix of cells, identifies cells in the matrix containing a particle, and calculates a color input for the particle from a color model by determining color components for each cell associated with the particle. A light beam is directed to the particle on the conveyor downstream of the vision system, and at least one emitted band of light from the particle is isolated and detected at a selected frequency band to provide spectral data for the particle. The computer generates a vector for the particle containing the color input and the spectral data, and classifies the particle into one of at least two classifications of a material as a function of the vector.

<CIT> describes automatic evaluation of cereal kernels or like granular products handled in bulk, where the kernels are conveyed on a vibrating conveyor belt. Owing to the vibrations, the kernels are spread and settled in grooves in the belt so as to be oriented in essentially the same direction. A video camera produces digital images of all the kernels on the belt. The kernels are identified in the images, and for each kernel input signals are produced and then sent to a neural network based on picture element values for the picture elements representing each kernel. A neural network then determines which of a plurality of predetermined classes that each kernel belongs.

For the reasons stated above and for other reasons stated below which will become apparent to those skilled in the art upon reading and understanding the specification, there is a need in the art for system and methods for vacuum extraction for material sorting applications.

According to an aspect of the present invention, there is provided a vacuum object sorting system according to any of claims <NUM> to <NUM>.

According to another aspect of the present invention, there is provided a method for vacuum object sorting according to any of claims <NUM> to <NUM>.

Embodiments of the present disclosure can be more easily understood and further advantages and uses thereof more readily apparent, when considered in view of the description of the preferred embodiments and the following figures in which:.

In accordance with common practice, the various described features are not drawn to scale but are drawn to emphasize features relevant to the present disclosure. Reference characters denote like elements throughout figures and text.

The present disclosure illustrates various example embodiments of vacuum extraction for material sorting applications. As discussed below, a sorting machine based on vacuum extraction as described herein can quickly and accurately remove materials from a moving conveyor mechanism to allow facility operators, such as but not limited to Material Recovery Facilities, to consider a wider variety of recyclable materials and/or remove non rigid contaminants in an efficient and effective manner. In this way, smaller rigid and non-rigid materials may be captured along with relatively larger rigid materials using vacuum extraction as described herein.

More specifically, several of the embodiments presented herein disclose a vacuumed extraction assembly. In some embodiments, the vacuum extraction assembly, which would take the place of the robotic elements and suction gripper of known systems, may be (but is not limited to) a mechanically static apparatus that removes objects from a moving conveyor line (for example) using a plurality of individual vacuum extractors positioned over the moving conveyor. In some embodiments, an external control system and visual recognition system will determine which vacuum extractor of the vacuum extraction assembly to engage to pick a target object and send control signals to execute the capture action.

<FIG> is a diagram illustrating vacuum sorting system <NUM> of one embodiment of the present disclosure. The vacuum extraction assembly <NUM> is designed to retrieve objects along the width of a moving conveyor mechanism <NUM>, such as a conveyor belt, as depicted in <FIG>. Although waste products travelling on a conveyer belt are used as example target objects in the example embodiments described herein, it should be understood that in alternate implementations of these embodiments, the target objects need not be waste materials but may comprise any type of material for which it may be desired to sort and/or segregate. Moreover, although a conveyer belt is used as an example conveyance mechanism for transporting the target objects within reach of the suction gripper, it should be understood that in alternate implementations of these embodiments, other conveyance mechanism may be employed. For example, for any of the embodiments described below, in place of an active conveyance mechanism such as conveyor belt, an alternate conveyance mechanism may comprise a chute, slide or other passive conveyance mechanism through and/or from which material tumbles, falls, or otherwise is gravity fed as it passes by the imaging device. In some embodiments, the conveyor mechanism <NUM> may comprise a conveyor mechanism or conveyor belt that comprises holes <NUM> which may serve to increase airflow available as intake into the vacuum extraction assembly <NUM>. In other embodiments, the conveyor mechanism <NUM> may include other raised, recessed, or perforation features that increase airflow available as intake into the vacuum extraction assembly <NUM>. For example, cleats, treads, or other raised or recessed surface features in, or on, the conveyor mechanism <NUM> may be included in various alternative implementations.

In the example shown in <FIG>, vacuum extraction assembly <NUM> comprises a plurality of individual vacuum extractor devices <NUM>. The devices may be mounted to a mounting structure <NUM> such as a mounting frame or other structure. In the example depicted, the vacuum extraction assembly <NUM> comprises a plurality of vacuum extractors <NUM> that are positioned a distance above the conveyor mechanism <NUM>. This allows material objects <NUM> to pass below the multiple vacuum extractors <NUM>. For example, the vacuum extraction assembly <NUM> may be positioned to give a clearance of approximately six inches. Other clearance may be provided depending on the dimensions of the objects expected on the conveyor mechanism <NUM>. In some embodiments, the vacuum extraction assembly <NUM> may be adjustable so that the clearance above the conveyor mechanism <NUM> can be increased or decreased. For example, in some embodiments, the vacuum extraction assembly <NUM> can be dynamically raised to allow objects to pass if a clog or jam of materials or other obstruction is detected.

In some implementations, vacuum sorting system <NUM> further comprises at least one object recognition device <NUM>. In some embodiments, the object recognition device may comprise an imaging device <NUM> (such as, for example, an infrared camera, visual spectrum camera, or a some combination thereof) directed at a conveyer belt <NUM> that transports target objects (shown at <NUM>) within the operating reach of the vacuum sorting system <NUM>. In some embodiments, the imaging device <NUM> produces a signal that is delivered to the sorting control logic and electronics <NUM> and which may be used by sorting control logic and electronics <NUM> to send airflow control signals to the vacuum control system <NUM> of the vacuum sorting system <NUM> (and in some embodiment the vacuum extraction assembly <NUM>), in order to initiate a capture action on a target object <NUM>. It should be understood that utilizing an imaging device for the object recognition device <NUM> is presented as an example implementation. The embodiments described herein, however, may implement the object recognition device <NUM> utilizing any form of a sensor configured for detecting, for example, non-visible electromagnetic radiation (such as a hyperspectral camera, infrared, or ultraviolet), a magnetic sensor; a capacitive sensor; or other sensors commonly used in the field of industrial automation. As such, the signal that is delivered to the sorting control logic and electronics <NUM> from the object recognition device <NUM> may comprise, but is not necessarily, an image signal.

As shown in <FIG>, in some embodiments, the sorting control logic and electronics <NUM> comprises one or more Neural Processing Units <NUM>, a Neural Network Parameter Set <NUM> (which stores learned parameters utilized by the Neural Processing Units <NUM>), and Data Storage <NUM> that stores, for example, the raw images received from the imaging device <NUM>, processed images comprising labeled data, and may further be used to store other data such as material characterization data generated by the Neural Processing Units <NUM>. The Neural Network Parameter Set <NUM> and Data Storage <NUM> may either be implemented together on a common physical non-transient memory device, or on separate physical non-transient memory devices. In some embodiments, the Data Storage <NUM> may comprise a removable storage media.

In various embodiments, the sorting control logic and electronics <NUM> may be implemented using a microprocessor coupled to a memory that is programed to execute code to carry out the functions of the sorting control logic and electronics <NUM> described herein. In other embodiments, the sorting control logic and electronics <NUM> may additionally, or alternately, be implemented using an application specific integrated circuit (ASIC) or field programmable gate array (FPGA) that has been adapted for machine learning. In operation, in some embodiments, the imaging device <NUM> is directed towards the conveyor belt <NUM> in order to capture an overhead view of the materials <NUM> being transported by the conveyor belt <NUM>. The imaging device <NUM> produces a signal that is delivered to the sorting control logic and electronics <NUM>.

In some embodiments, within the sorting control logic and electronics <NUM>, these image frames are provided input to one or more neural network and artificial intelligence algorithms (shown as the Neural Processing Units <NUM>) to locate and identify material appearing within the image frames. A feed of image frames captured by the imaging device <NUM> is fed to a machine learning inference algorithm implemented by the Neural Processing Units <NUM>. The sequence of captured image frames may be processed by multiple processing layers, or neurons, of the Neural Processing Units <NUM> to evaluate the correlation of specific features with features of objects that it has previously learned. Alternative algorithms to detect objects within an image include Fully Convolutional Neural Network, Multibox, Region-based Fully Convolutional Networks (R-FCN), Faster R-CNN, and other techniques commonly known to those skilled in the art as object detection, instance-aware segmentation, or semantic segmentation algorithms described in available literature. Further details regarding examples of the process of detecting objects in captured images which may be used in the present embodiments may be found in the reference <NPL>.

The vacuum control system <NUM> provides an air supply for operating and individually controlling the vacuum extractor devices <NUM> of the vacuum extraction assembly <NUM>. When the object recognition device <NUM> identifies an object <NUM> to remove from the conveyor belt <NUM>, an electrical signal is sent to the vacuum control system <NUM> to activate an air supply. As illustrated in <FIG> and <FIG>, upon airflow engagement, a powerful suction air flow is generated at the vacuum inlet of the selected vacuum extractor device <NUM>, removing the target object <NUM> identified and selected by the sorting control logic and electronics <NUM> from the conveyor belt <NUM>. This capture action is depicted generally at <NUM> in <FIG> and at <NUM> in <FIG>. Each vacuum extractor device <NUM> can be augmented with other attachments <NUM>, such as a funnel, to direct the airflow over a specific area or assist in guiding the material into the vacuum produced by the vacuum extractor device <NUM>. Other attachments may include, for example, material shredders or material sorting features. In some embodiments, the inlet and exhaust of the vacuum generator <NUM> are augmented with attachments that improve the flow through the use of a converging cone or geometry on the inlet, and/or a diverging cone or geometry on the exhaust.

While the vacuum extractor device <NUM> may be controlled by the sorting control logic and electronics <NUM> in response to signals from the object recognition device <NUM>, it should be understood that in other embodiments, a vacuum extractor device <NUM> may be manually controlled by an operator (either locally or remotely). Alternatively, they may be responsive to either manual controls and/or control signals from the sorting control logic and electronics <NUM>. For example, the sorting control logic and electronics <NUM> may be bypassed by a manual override that permits the operator to control individual, or groups of, vacuum extractor device <NUM>.

In some embodiments, each vacuum extractor device <NUM> comprises a vacuum generator <NUM> that generates the vacuum force used to extract the object <NUM> from the conveyor <NUM>, as opposed to merely communicating a vacuum force generated by the vacuum control system <NUM>. In some embodiments, vacuum generator <NUM> is coupled to the vacuum control system <NUM> by air supply tubing <NUM>. In some embodiments, the vacuum generator <NUM> comprises a compressed air driven vacuum generator, such as a Venturi and/or Coanda vacuum generator for example. That is the motive force that pulls a vacuum through vacuum extractor device <NUM> is the result of a flow of a compressed air stream, supplied by an air source <NUM> of vacuum control system <NUM> that flows through the vacuum generator <NUM>. In the example embodiments depicted in <FIG>, <FIG>, and <FIG>, straight-through Venturi and/or Coanda style vacuum generators are used. With a straight-through design, the vacuum port and an exhaust path of the for each vacuum extractor device <NUM> may be placed inline. These unique devices can achieve high volumetric flow rates and perform exceptionally well in dirty environments because they are self-cleaning, non-clogging, and never lose suction over time. Depicted in <FIG>, the straight-through vacuum design easily allows objects to pass through with the airflow. Utilization of compressed air driven vacuum generators, such as a Venturi and/or Coanda vacuum generator, addresses the problem of pulling dirty (that is, particulate heavy) air into an intake of a vacuum motor. The utilization of a Venturi and/or Coanda vacuum generator in combination with the vacuum, extraction assembly <NUM> reduces the need for particulate filtration because such a vacuum system can internally separate dust particles from the airflow received through the vacuum extraction devices <NUM>. Dust that is not separated by the vacuum system may be conveniently discharged, for example into an optional holding container, as opposed to being pulled into a vacuum motor. In some embodiments, multiple vacuums generators <NUM> may be attached in a series or in parallel to adjust flow and pressure at the inlet of a vacuum extraction device <NUM>.

In operation, the positive pressure airflow applied at a pressurized air input port <NUM> flows across one or more Venturi and/or Coanda feature within vacuums generators <NUM> to create a negative air pressure that pulls air into the intake of the vacuum extraction device <NUM>, thus creating suction at the intake capable of pulling objects <NUM> in and through the vacuum extraction device <NUM>. One example of a device comprising such a Venturi vacuum generator is the "Adjustable Inducer / Venture System" by Airtrim Pneumatic Conveyance Systems described in <CIT>. See also <CIT> and <CIT>.

Once the target object <NUM> is removed from the conveyor belt <NUM> and passes through the vacuum extraction device <NUM>, in some embodiments, the materials may be transported by a hood, hoses, ducts or tubes <NUM> leading to a holding bin, tank, bunker or other receptacle <NUM> where extracted objects <NUM> are deposited. The particular destination for items removed from the conveyor belt may depend upon whether they are contaminants or desired materials. In some embodiments the receptacle <NUM> may be adjacent to the vacuum sorting system <NUM> while in others, it may be remotely located away from the vacuum sorting system <NUM>. In some embodiments, the receptacle <NUM> may comprise a cargo area of a truck or other vehicle so that removed objects <NUM> are directly loaded onto the vehicle for transport. In some embodiments, the hood, hoses, ducts or tubes <NUM> may include controllable valves or other controllable diverters that control the material flow of removed objects <NUM> that have entered the suction ducting <NUM> in order that various object disposal locations (that is, multiple alternate receptacles <NUM>) may be selected for any of the plurality of the vacuum extractor device <NUM>. That is, the ducting <NUM> may be configurable and re-configurable using the controllable valves or other controllable diverters (by the electronics <NUM> or other controller) such that objects <NUM> extracted by one vacuum extractor device <NUM> of assembly <NUM> may be routed to a different receptacle <NUM> than objects <NUM> extracted by another one vacuum extractor device <NUM> of assembly <NUM>. Moreover, if a receptacle <NUM> is reaching full capacity, the ducting <NUM> may be re-configured to route extracted objects <NUM> to a different receptacle <NUM>.

In some embodiments, vacuum control system <NUM> utilizes an air manifold <NUM> or some other pressurized air distribution mechanism. In some embodiments, the air manifold <NUM> may be further pneumatically coupled to the air source <NUM>. In alternate implementations, the air source <NUM> may comprise a blower, an air compressor, a compressed air storage tank, or some combination thereof. Although this disclosure may refer to "air" with regards to "airflow", "air compressor" and other elements, it should be understood that the term "air" is used in a generic sense to refer to any compressible gas or mixture of gasses.

The air manifold <NUM> may comprise a series of control valves <NUM> that may operate in response to control signal generated by the sorting control logic and electronics <NUM>. As such, to communicate control signals, sorting control logic and electronics <NUM> may further comprise elements to generate electrical and/or control pneumatic signals to the vacuum extraction assembly <NUM>. In some embodiments, the control signals may be used to turn the suction force applied by a vacuum extractor device <NUM> on or off. In some embodiments, the control signals may adjust a control valve <NUM> to vary air flow applied to a vacuum extractor device <NUM> and thus regulate a vacuum force applied by that vacuum extractor device <NUM> on a target object <NUM>. In still other embodiments, the vacuum extractor device <NUM> may be optionally configured to use the air flow from the air manifold <NUM> to produce a reverse airflow through the vacuum extractor device <NUM>, for example, in order to blow out material that may have become lodged in the intake of the vacuum extractor device <NUM>. In some embodiments, reversal of airflow through vacuum extractor device <NUM> may be controlled by the sorting control logic and electronics <NUM>.

In embodiments of the present invention, each vacuum extractor device <NUM> uses a sensor (for example, at their outlet) to send feedback to the sorting control logic and electronics <NUM> when a collected item fully passes through the vacuum extractor device <NUM>, or to indicate when a collected item has not fully passed through the vacuum extractor device <NUM> (for example, become lodged). This will allow the sorting control logic and electronics <NUM> to operate the air manifold <NUM>, valves <NUM> and or vacuum extractor device <NUM> to turn off the vacuum force off at the appropriate time (and conserve energy) and/or reverse the airflow through a vacuum extraction device <NUM> if necessary. Similarly, the sensor output may be used to detect a clog or jam and trigger raising or lowering of the vacuum extraction assembly <NUM>. Such a sensor is not limited to any particular technology, and may comprise, for example, a pressure sensor, ultrasonic sensor, infrared sensor, opacity sensor, or the like.

It should be understood that in alternate implementations, the vacuum extractor devices <NUM> may be positioned on the vacuum extraction assembly <NUM> in various arrangements or geometries. That is, in some embodiments, the vacuum extraction assembly <NUM> may comprise a single row of vacuum extraction devices <NUM> arranged in a line across the conveyor device <NUM> perpendicular with respect to the direction of material travel. In other embodiments, such as shown in <FIG>, the vacuum extraction assembly <NUM> may comprise a plurality of rows of vacuum extraction devices <NUM>, where vacuum extraction devices <NUM> of one row are offset from the vacuum extraction devices <NUM> of another row so that material that pass between vacuum extraction devices <NUM> may be better aligned to the vacuum extraction devices <NUM> of the next row for capture. As such the sorting control logic and electronics <NUM> may actuate the vacuum extraction device <NUM> best aligned for capturing a target device <NUM> (for example, based on a position of the target device <NUM> on the conveyor <NUM> as determined from a captured image). However, it should also be understood that in some embodiments, a vacuum extraction assembly <NUM> may comprise only a single vacuum extraction device <NUM>.

Where the vacuum extraction assembly <NUM> does comprise a plurality of vacuum extraction devices <NUM>, they need not be uniform in size. For example, a vacuum extraction assembly <NUM> may comprise one or more vacuum extraction devices <NUM> of a first size, and one or more vacuum extraction devices <NUM> of a second size. They also need not be uniform in geometry. For example, the sorting control logic and electronics <NUM> may determine that the a target object <NUM> has a certain characteristic (for example, size, shape, orientation, material type or composition or any other characteristic discernable by the sorting control logic and electronics <NUM>) and correlated that characteristic with a specific vacuum extraction device <NUM> of the vacuum extraction assembly <NUM> best suited for capturing objects having that characteristic. Vacuum extraction device <NUM> with wider diameters may be used for flexible materials like bags and sheets with smaller diameters best for more ridged objects. For example, an object identified as being a disposable ground-coffee pod may be selected for extraction by a first vacuum extraction device <NUM> of a first size, while a sheet of plastic wrap may be selected for extraction by a first vacuum extraction device <NUM> of a second size. In some embodiments, the Neural Processing Units <NUM> outputs one or more physical object attributes determined by the one or more Neural Processing Units based on the visional inspection of the one or more target objects appearing in captured image frames.

Because operation of the vacuum extraction assembly <NUM>, in some embodiments, may be substantially motionless, the cost of installation and maintenance will remain substantially lower than dynamic robots. Blockage in the vacuum extraction devices <NUM> can more easily be removed, allowing reliable and continuous removal of target object <NUM> from the conveyor <NUM>. In some embodiments, adjustments can be made on the conveyor <NUM> to increase or focus flow, including but not limited to adding perforations on the belt, replacing the belt with a material that allows air to flow through it, or gaps in the conveyor beneath the vacuums. The control air may be optimized by adding sensors (for example, to the inlet or outlet of the vacuum extractor devices <NUM>) to determine when to disable flow or adding air pressure amplifiers to the system. In some embodiments, the addition of accessories (such as at <NUM>) at the inlet of the vacuum extractor devices <NUM>, such as but not limited to longer, spiraled, frictionless, or wider funnels, sorters or shredders add versatility, allowing adjustments to accommodate target objects <NUM> of many shapes, sizes, rigidity and densities. This could make the removal of materials smaller in size - such as bottle caps - or lower in density - such as paper or plastic film - economically viable. Using the vacuum extraction assembly <NUM> will therefor allow material recovery facilities to expend more effort into collecting hard-to-recycle items (for example, like those with less than three square inches of surface area or non-rigid materials such as plastic film or paper). It will also help increase the worth of recovered material by removing contaminants such as thin film from the stream.

It should be understood that components, elements and features of any of the embodiments described herein may be used in combination. Moreover, it should be understood that in some embodiments, vacuum sorting system <NUM> may be used in combination or conjunction with robotic sorting systems such as those comprising suction grippers. As such, other embodiments are intended to include sorting systems that may comprise both suctions grippers and a vacuum extraction assembly as described herein.

In addition to the embodiments described above, additional features may include: the vacuum extraction assembly <NUM> comprising a series of inlets configured to produce a channeled vacuum flow placed over a conveyor, for use in removing objects from the conveyor and conveying them to a deposit location, where the choice of enabling suction for object removal is governed by a computer vision system. A vacuum extraction assembly <NUM> wherein the vacuum flow is created by a straight-through Venturi or Coanda vacuum generator that utilizes compressed air for the generation of the vacuum and is placed inline in the vacuum channel. A vacuum extraction assembly <NUM> wherein the vacuum flow is enabled or disabled through the use of a valve controlling compressed air to the vacuum generator. A vacuum extraction assembly <NUM> wherein the object recognition device <NUM> is configured for detecting non-visible electromagnetic radiation, such as a hyperspectral camera, infrared, or ultraviolet sensor; a magnetic sensor; a capacitive sensor; or other sensors commonly used in the field of industrial automation. A vacuum extraction assembly <NUM> wherein the sorting control logic and electronics <NUM> is one that uses a set of parameters for identification on a series of color photos provided by a camera, and where the parameters have been trained using machine learning. A vacuum extraction assembly <NUM> wherein a vacuum extractor <NUM> inlet has an attachment to channel flow. A vacuum extraction assembly <NUM> used in conjunction with a conveyor mechanism <NUM> or conveyor belt <NUM> that comprises holes <NUM>. A vacuum extraction assembly <NUM> wherein the vacuum is generated by a blower, and the vacuum is disabled by flooding the vacuum inlet with compressed air. A vacuum extraction assembly <NUM> wherein the vacuum outlet has a sensor to detect the passing of target materials and determine when the airflow must be disabled. A vacuum extraction assembly <NUM> wherein the source of air is amplified to produce higher inlet pressures thus higher flow rates. A vacuum extraction assembly <NUM> wherein the conveyor has a lower coefficient of friction due to airflow through a porous conveyor belt. A vacuum extraction assembly <NUM> with inlets comprising an accessory with a specific angle to guide larger but non-rigid material through the vacuum and prevent blockage upon entry. A vacuum extraction assembly <NUM> wherein the hoses attached to a Venturi outlet channel objects to a separate object disposal location. A vacuum extraction assembly <NUM> wherein the inlet and exhaust of a vacuum generator are augmented by fitting to improve the flow through the use of a converging cone on the inlet, and a diverging cone on the exhaust. A vacuum extraction assembly <NUM> wherein multiple units of an object recognition device <NUM> are placed between individual vacuum extraction assemblies to provide feedback as target objects move. A vacuum extraction assembly wherein the vacuum extraction assemblies are positioned to follow a mechanism that singulates the stream of materials and guarantees a single layer of objects for higher recovery. A vacuum extraction assembly wherein there are attachments at the inlets to allow separation of target materials from items that may be attached to it at the time of recovery. In some embodiments, the attachments comprising teeth configured to shred materials entering a vacuum extracting device. In some embodiments, the attachments comprising sorting features configured to separate target objects and destroy undesired materials.

<FIG> is a flow chart illustrating one embodiment of a method for vacuum extraction for material sorting applications. It should be understood that the features and elements described herein with respect to the method <NUM> shown in <FIG> and the accompanying description may be used in conjunction with, in combination with, or substituted for elements of any of the other embodiments discussed with respect to the other figures, or elsewhere herein, and vice versa. Further, it should be understood that the functions, structures and other description of elements associated with embodiments of <FIG> may apply to like named or described elements for any of the other figures and embodiments and vice versa.

The method <NUM> begins at <NUM> with controlling a compressed air stream using sorting control logic and electronics in response to a signal generated by an object recognition device. As described above, the object recognition device may be any form of sensing apparatus for detecting a target object for extraction, and may for example comprise a camera, an infrared camera, a non-visible electromagnetic radiation sensor, a magnetic sensor or a capacitive sensor, or some combination of such sensors. The sensing apparatus captures one or more characteristics about the target object, including but not limited to the material, location, relation to nearby objects, and other features.

As shown at <NUM>, the method <NUM> further includes converting the controlled compressed air stream into a channeled vacuum airflow using a vacuum extraction assembly that includes one or more vacuum extractor devices each having an inlet and an outlet, wherein the channeled vacuum airflow enters the inlet and exits the outlet. In some embodiments, the vacuum extraction assembly may comprise a plurality of individual vacuum extractor devices. In some embodiments, the vacuum extraction assembly comprises a plurality of vacuum extractor devices individually operated by the sorting control logic and electronics via a respective controlled compressed air stream.

For example, the using sorting control logic and electronics can select which of the vacuum extractor devices to activate based upon the location of the target object, the material composition of the object, and other factors or characteristics of the object as detected or identified by the sorting control logic and electronics. The compressed air stream associated with the selected vacuum extractor device(s) is then controlled in response to a signal generated by the control logic and electronics. The signal to actuate the capture action may controlled in part by timing logic - time-based, mechanical, or otherwise - that determines the optimal time to attempt to extract the object.

In some embodiments, a conveyor mechanism may be used to channel the target object past the object recognition device and towards the vacuum extraction assembly. Such a conveyor mechanism may comprise, but is not necessarily limited to, a conveyor belt. In some embodiments, the conveyor mechanism may comprise one or more raised features, recessed features, or perforation features, configured to provide airflow for intake into the channeled vacuum airflow (for example, holes, cleats, treads, or surface textures).

The method <NUM> proceeds to <NUM> with utilizing the channeled vacuum airflow to capture a target object identified by the sorting control logic and electronics by drawing the target object in through the inlet of a first vacuum extractor device of the one or more vacuum extractor devices and out through the outlet of the first vacuum extractor device. The method <NUM> proceed then to <NUM> with discharging the target object to a deposit location. The deposit location may comprise any form of holding bin, tank, bunker, vehicle, or other receptacle where extracted objects are deposited. In some embodiments, the method <NUM> may optionally further proceed to <NUM> with determining when the target object passes through the outlet of the first vacuum extractor device using a sensor. The sorting control logic and electronics may then take further actions in response to a signal from that sensor. For example, failure to sense a successful passage our from the outlet of a vacuum extractor device may be an indication that the capture action failed (e.g., that the identified target object was missed or that a sufficient airflow to lift the target object into the inlet was not applied). Alternatively failure to sense a successful passage our from the outlet of a vacuum extractor device may be an indication that the that vacuum extractor device has become jammed or clogged. In this case, the sorting control logic and electronics may respond by reversing the airflow through the vacuum extractor device as described above to eject the clogged material from the inlet. These examples are not intended to be limiting. In other embodiments, other action may be performed by the logic in response to the detection of an obstruction.

In various alternative embodiments, system elements, method steps, or examples described throughout this disclosure (such as the sorting control logic and electronics, vacuum control system, neural processing units and/or sub-parts of any thereof, for example) may be implemented using one or more computer systems, field programmable gate arrays (FPGAs), or similar devices and/or comprising a processor coupled to a memory and executing code to realize those elements, processes, steps or examples, said code stored on a non-transient data storage device. Therefore other embodiments of the present disclosure may include elements comprising program instructions resident on computer readable media which when implemented by such computer systems, enable them to implement the embodiments described herein. As used herein, the term "computer readable media" refers to tangible memory storage devices having non-transient physical forms. Such non-transient physical forms may include computer memory devices, such as but not limited to punch cards, magnetic disk or tape, any optical data storage system, flash read only memory (ROM), non-volatile ROM, programmable ROM (PROM), erasable-programmable ROM (E- PROM), random access memory (RAM), or any other form of permanent, semi-permanent, or temporary memory storage system or device having a physical, tangible form. Program instructions include, but are not limited to computer-executable instructions executed by computer system processors and hardware description languages such as Very High Speed Integrated Circuit (VHSIC) Hardware Description Language (VHDL).

Claim 1:
A vacuum object sorting system (<NUM>), the system comprising:
a vacuum extraction assembly (<NUM>) that includes at least one vacuum extractor device (<NUM>) having an inlet and an outlet, wherein the at least one vacuum extractor device is configured to convert a controlled compressed air stream into a channeled vacuum airflow entering the inlet and exiting the outlet; and
an object recognition device (<NUM>) coupled to sorting control logic and electronics (<NUM>), wherein the controlled compressed air stream is controlled by the sorting control logic and electronics in response to a signal generated by the object recognition device;
wherein the at least one vacuum extractor device is configured to capture a target object (<NUM>) identified by the sorting control logic and electronics utilizing the channeled vacuum airflow, and further utilizing the channeled vacuum airflow, to pass the target object through the inlet and outlet to a deposit location;
characterized in that:
the at least one vacuum extractor device comprises a sensor that is configured to send a feedback signal to the sorting control logic and electronics based on whether the target object has passed through the at least one vacuum extractor device, wherein the feedback signal is used by the sorting control logic and electronics to reverse airflow or turn off airflow through the at least one vacuum extractor device.