Selective Sorting Method

A selective sorting method in order to identify and sort material objects of the waste type, of different natures, shapes and sizes and having the form of a pile, the method comprising the following steps:

• a. supplying a flow of objects in the form of a pile, to a zone of vision comprising at least two sensors for measuring electromagnetic radiation, the zone being located in the zone of action of a robot provided with one or several gripping members;
• b. capturing at least two two-dimensional images of the pile contained in the zone of vision using the sensors for measuring electromagnetic radiation, in order to reconstruct a virtual or electronic image of the pile of objects in the zone of vision;
• c. processing the information resulting from the two-dimensional images, and identifying all of the possible gripping zones associated with objects present in the pile for the gripping member or members of the robot;
• d. locating, in position and orientation, the possible gripping zones, and
• e. choosing one of the gripping zones;
• f. defining automatically, for a given gripping member, a trajectory for gripping an object corresponding to the gripping zones chosen;
• g. grasping the corresponding unitary object according to the defined trajectory;
• h. displacing the grasped unitary object to a receiving zone;
• i. displacing the unitary object located in the receiving zone to an outlet according to the nature that has been attributed to it,
• wherein the step (e) of choosing a gripping zone is carried out automatically, and the method further comprises a step (h′) that is carried out, between the steps (h) and (i), of defining the nature of the object located in the receiving zone using at least one sensor that measures at least one electromagnetic radiation emitted by the unitary object in the receiving zone.