System and method for sorting objects
A system for sorting objects is provided. For instance, the system includes a first sensor, a sorting actuator, a second sensor and a controller. The first sensor observes the objects. The sorting actuator sorts the objects. The second sensor observers the sorted objects. The sorting actuator may be actuated by the controller using sorting rules, historical system data and observations of the objects. The sorting rules may be updated by the controller using observations of the sorted objects. In another aspect, a method is provided. The objects are observed. The objects are sorted using sorting rules, historical system data and observations of the objects. The sorted objects are observed. The sorting rules are updated using the observations of the sorted objects.
1. A system for sorting glass objects having different colors, the system comprising
a first sensor for observing the objects, including observing first observed colors of the objects;
a sorting actuator for sorting the objects based on the first observed colors of the objects and using a policy matrix comprising sorting rules;
a second sensor for observing second observed colors of the sorted objects after the sorting by the sorting actuator; and
a controller comprising an action agent module for controlling the sorting actuator and a learning agent module for updating the policy matrix, the controller being configured to
update, by the learning agent module, the policy matrix after sorting previously sorted objects, wherein the policy matrix includes state data of the previously sorted objects including for each of the previously sorted objects the sensor data, an action performed by the sorting actuator, and a sorting score;
actuate, by the action agent module, the sorting actuator to perform a specific action to sort a specific object of the glass objects using the policy matrix comprising the sorting rules and the state data for the previously sorted objects,
calculate, by the learning agent module, after the sorting of the specific object by the sorting actuator, a specific sorting score based on the specific action performed by the sorting actuator and a second observed color of the specific sorted object of the glass objects, and
update, by the learning agent module after the sorting of the specific object by the sorting actuator, the policy matrix comprising the sorting rules to create an updated policy matrix including updated sorting rules, using the state data of the specific object, wherein the updated policy matrix including the updated sorting rules is used in sorting subsequent objects of the glass objects.
2. The system of claim 1 , wherein the objects include selected objects having predetermined colors and the system learns the sorting rules by sorting the selected objects with the predetermined colors.
3. The system of claim 1 , wherein updating the sorting rules comprises incrementally changing the sorting rules to improve the scoring of the sorting.
4. The system of claim 1 , wherein the controller is configured to save or load the sorting rules.
5. The system of claim 1 , further comprising a free-fall section to allow the objects to fall past the sorting actuator.
6. The system of claim 5 , further comprising at least one colored background to facilitate sorting by color.
7. The system of claim 1 , wherein the first sensor and the second sensor are cameras.
8. The system of claim 1 , further comprising a third sensor for observing the sorting of the objects by the sorting actuator.
9. A method for sorting objects, the method comprising:
providing a first sensor for observing the objects, a sorting actuator for sorting the objects using a policy matrix comprising sorting rules, a second sensor for observing the objects after the sorting by the sorting actuator, an action agent module for controlling the sorting actuator, and a learning agent module for updating the policy matrix;
observing the objects;
and updating, by the learning agent module, the policy matrix after sorting previously sorted objects, wherein the policy matrix includes state data of the previously sorted objects including for each of the previously sorted objects the sensor data, an action performed by the sorting actuator, and a sorting score;
actuating, by the action agent module, the sorting actuator to perform a specific action to sort a specific object of the objects using the policy matrix comprising the sorting rules and the state data and observations of the previously sorted objects;
observing the sorted objects;
calculate, by the learning agent module, after the sorting of the specific object by the sorting actuator, a specific sorting score based on the specific action performed by the sorting actuator and observations of the specific sorted object of the objects; and
updating, by the learning agent module after the sorting of the specific object by the sorting actuator, the policy matrix comprising the sorting rules to create an updated policy matrix including updated sorting rules using the state data and the observations of the objects before and after sorting and actions used to sort the objects, wherein the updated policy matrix includes the updated sorting rules and is used in sorting subsequent objects of the objects.
10. The method of claim 9 , further comprising scoring the sorting and incrementally changing the sorting parameters to improve the scoring of the sorting.
11. The method of claim 9 , further comprising saving or loading the sorting rules.
12. The method of claim 9 , further comprising sorting the objects by color.
13. The method of claim 9 , further comprising using at least one colored background to facilitate sorting by color.