A material receiving device and sorting apparatus

Abstract

The present disclosure relates to the technical field of sorting equipment, and particularly relates to a material collecting device and a sorting equipment. The material collecting device comprises: a material distribution baffle, which is used for dividing a material collecting area into a first material collecting port and a second material collecting port which are sequentially formed along a first direction, wherein the first material collecting port is used for receiving a first type of material, and the second material collecting port is used for receiving a second type of material; a driving device, which is connected with the material distribution baffle and is used for adjusting a pose of the material distribution baffle; a material blockage recognition module, which is configured to determine whether the first material collecting port or the second material collecting port is in a material blockage state; and a blockage clearing control module, which is configured to control the driving device to adjust the pose of the material distribution baffle to remove the material blockage state if the first material collecting port is in the material blockage state or the second material collecting port is in the material blockage state. According to the present disclosure, manual intervention for unblocking the material collecting port can be avoided to improve the personal safety of the operator, and the sorting operation can be performed while the blockage clearing operation is performed, so that the overall sorting efficiency of the sorting equipment is improved.

Description

Technical Field

[0001] This application mainly relates to the field of sorting equipment technology, and in particular to a material receiving device and sorting equipment. Background Technology

[0002] In material sorting operations, for example, during the process of material being sorted and further conveyed through the receiving device, blockages may occur, preventing the sorting equipment from continuing to operate normally. Some related technologies address the blockage by manually clearing the blockage during machine shutdown, but this reduces the overall sorting efficiency of the equipment and increases safety risks for operators. Summary of the Invention

[0003] To overcome the problems existing in the related technologies, an exemplary embodiment of this disclosure provides a receiving device in a first aspect, applied to a sorting device. The sorting device includes a sorting mechanism for changing the trajectory of falling materials to sort materials conveyed in the sorting device along a first direction. The receiving device includes: a dividing baffle for dividing a receiving area into a first receiving port and a second receiving port formed sequentially along the first direction, wherein the first receiving port is used to receive materials of a first category and the second receiving port is used to receive materials of a second category; a driving device connected to the dividing baffle for adjusting the position of the dividing baffle; a jamming identification module configured to determine whether the first receiving port or the second receiving port is in a jamming state; and a blockage clearing control module configured to control the driving device to adjust the position of the dividing baffle to release the jamming state if the first receiving port or the second receiving port is in a jamming state.

[0004] In some embodiments, the driving device includes: a vibration unit for driving the material distribution baffle to vibrate; and / or a swing unit for driving the material distribution baffle to swing about an axis perpendicular to the first direction; and / or a moving unit for driving the material distribution baffle to move forward or backward along the first direction to change the opening area of ​​the first receiving port and the second receiving port.

[0005] In some embodiments, the unblocking control module is configured to: if the first receiving port is in a jammed state, control the driving device to move the distributing baffle in the positive direction of the first direction to increase the opening area of ​​the first receiving port, and control the sorting device to adjust the movement trajectory of the material corresponding to the second receiving port; if the second receiving port is in a jammed state, control the driving device to move the distributing baffle in the negative direction of the first direction to increase the opening area of ​​the second receiving port, and control the sorting device to adjust the movement trajectory of the material corresponding to the first receiving port.

[0006] In some embodiments, the jamming state includes a first-level jamming state. The unblocking control module is configured to: if the first receiving port is in the first-level jamming state, control the driving device to move the distributing baffle a first preset distance in the positive direction of the first direction, and then control the driving device to move the distributing baffle back and forth alternately in the positive and negative directions of the first direction for a second preset distance, wherein the second preset distance is less than the first preset distance; if the second receiving port is in the first-level jamming state, control the driving device to move the distributing baffle a first preset distance in the negative direction of the first direction, and then control the driving device to move the distributing baffle back and forth alternately in the positive and negative directions of the first direction for a second preset distance.

[0007] In some embodiments, the jamming identification module includes: an image recognition unit, configured to acquire multiple frames of first images of materials in the first receiving port and the second receiving port; a proportion processing unit, configured to determine the proportion of motion pixels corresponding to the materials in the first receiving port and the second receiving port respectively based on the multiple frames of the first images; and an identification unit, configured to determine that the first receiving port is in a first-level jamming state if the proportion of motion pixels corresponding to the first receiving port is less than a preset motion pixel proportion threshold; and to determine that the second receiving port is in a first-level jamming state if the proportion of motion pixels corresponding to the second receiving port is less than the motion pixel proportion threshold.

[0008] In some embodiments, the jamming state includes a secondary jamming state, and the unblocking control module is configured to: if the first receiving port is in a secondary jamming state, control the driving device to move the distributing baffle a maximum positive distance in the positive direction of the first direction; if the second receiving port is in a secondary jamming state, control the driving device to move the distributing baffle a maximum negative distance in the negative direction of the first direction.

[0009] In some embodiments, the jamming identification module includes: an image recognition unit, configured to acquire multiple frames of second images of materials in the first receiving port and the second receiving port; a height processing unit, configured to determine the stacking heights of the materials in the first receiving port and the second receiving port respectively based on the multiple frames of second images; and an identification unit, configured to determine that the first receiving port is in a secondary jamming state if the stacking height corresponding to the first receiving port is greater than a preset height threshold; and to determine that the second receiving port is in a secondary jamming state if the stacking height corresponding to the second receiving port is greater than the height threshold.

[0010] Secondly, this disclosure also provides a sorting device, including: a receiving device as described in the first aspect; a conveying device for carrying materials and moving the materials along a first direction; and a sorting device disposed downstream of the conveying device along the first direction, the sorting device being used to apply a force to the materials to adjust the acceleration of the materials in the first direction.

[0011] In some embodiments, the unblocking control module is configured to: if the first receiving port is in a jammed state, control the driving device to move the distributing baffle in the positive direction of the first direction, and control the transmission device to increase the transmission speed in the first direction; and / or, if the second receiving port is in a jammed state, control the driving device to move the distributing baffle in the negative direction of the first direction, and control the transmission device to decrease the transmission speed in the first direction.

[0012] In some embodiments, the unblocking control module is configured to: if the first receiving port is in a jammed state, control the driving device to move the distributing baffle in the positive direction of the first direction, and control the sorting device to increase the force applied to the material at the corresponding second receiving port, so as to increase the acceleration applied in the first direction; and / or, if the second receiving port is in a jammed state, control the driving device to move the distributing baffle in the negative direction of the first direction, and control the sorting device to reduce the force applied to the material at the corresponding first receiving port, so as to reduce the acceleration applied in the first direction.

[0013] According to the receiving device provided in this disclosure, a jamming identification module detects in real time whether the first and second receiving ports are jammed, thereby achieving real-time monitoring and detection of jamming problems. Based on this, a clearing control module controls the drive device to adjust the position of the distributing baffle, so that the distributing baffle applies force to the material blocking the receiving port or expands the opening area of ​​the blocked receiving port, thereby causing the material blocking the receiving port to move relative to the receiving port, thus effectively clearing the blockage and releasing the jammed state of the corresponding receiving port. Therefore, no manual intervention is required during the clearing process of the receiving ports, improving the personal safety of operators. Furthermore, since the movement of the distributing baffle does not require the sorting device to stop working, the sorting equipment can continue to sort materials through the sorting device while performing the clearing operation through the distributing baffle, thereby improving the overall sorting efficiency of the sorting equipment. Attached Figure Description

[0014] The accompanying drawings are included to provide a further understanding of this application; they are incorporated into and constitute a part of this application. The drawings illustrate embodiments of this application and, together with this specification, serve to explain the principles of this application. In the drawings: Figure 1 This is a schematic diagram of a receiving device according to a disclosed exemplary embodiment; Figure 2 yes Figure 1 A partially enlarged schematic diagram of the central material distribution baffle; Figure 3 This is a schematic diagram of a receiving device according to another disclosed exemplary embodiment; Figure 4 This is a schematic diagram of a receiving device according to another disclosed exemplary embodiment; Figure 5 This is a schematic diagram of a receiving device according to another disclosed exemplary embodiment; Figure 6 This is a schematic diagram of a sorting device according to a disclosed exemplary embodiment. Detailed Implementation

[0015] The following describes specific embodiments of this disclosure. It should be noted that, in order to maintain brevity, this specification cannot provide a detailed description of all features of the actual embodiments. It should be understood that, in the actual implementation of any embodiment, just as in any engineering or design project, various specific decisions are often made to achieve the developer's specific goals and to meet system-related or business-related constraints, and this can change from one embodiment to another. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content of this disclosure, changes in design, manufacturing, or production based on the technical content disclosed herein are merely conventional technical means and should not be construed as insufficient content of this disclosure.

[0016] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” and similar terms used in the specification and claims of this patent application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms “an” or “a” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising” or “including” and similar terms mean that the element or object preceding “comprising” or “including” encompasses the element or object listed following “comprising” or “including” and its equivalents, and do not exclude other elements or objects. The terms “connected” or “linked” and similar terms are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0017] In coal mines, ores, and other material sorting and production sites, sorting equipment is used to separate materials. The sorting device transports the material to be sorted to different receiving areas of the receiving unit to achieve material sorting and further transfer. During this process, the receiving unit often becomes clogged due to high material moisture content, large particles, or foreign objects. In some technologies, operators manually clear the clogged receiving unit using sticks, but this requires stopping the sorting equipment, severely impacting sorting efficiency and capacity, and increasing personnel safety risks due to the operator's proximity to the equipment. Other technologies use air cannons to clear clogged receiving units, but this easily causes secondary dust generation and conveyor belt misalignment, affecting the accuracy of subsequent sorting—a situation where clearing the blockage is successful, but the sorting accuracy is reduced.

[0018] To solve the above technical problems, such as Figure 1 and Figure 2 As shown, this disclosure provides a material receiving device applied to a sorting equipment. The sorting equipment includes a sorting device for changing the material falling trajectory to sort the material conveyed along a first direction x in the sorting equipment. The material receiving device may include: a material distribution baffle 110, a drive device 120, a jamming identification module (not shown in the figure), and a blockage clearing control module (not shown in the figure).

[0019] A material distribution baffle 110 is used to divide the receiving area into a first receiving port 101 and a second receiving port 102 formed sequentially along a first direction x. The first receiving port 101 receives materials of a first category, and the second receiving port 102 receives materials of a second category. The receiving device may also include a fixed frame 130, which forms the receiving area. The fixed frame 130 may be made of a rigid material to reduce the risk of deformation or damage due to material impact. The fixed frame 130 may also have good load-bearing capacity, reducing the risk of deformation or damage due to the weight of a large accumulation of material when material blockage occurs. The fixed frame 130 can be used to fix and support at least part of the sorting device, such as the blowing module 140 in the sorting device, thereby making the overall structure of the sorting equipment more compact, reducing its volume, and improving space utilization. The blowing module 140 is used to change the falling trajectory of the material by blowing gas onto the material moving along the first direction x. The blowing module 140 can apply different forces to the material by controlling the blowing duration, blowing intensity, and blowing start time, thereby effectively adjusting the falling trajectory to ensure the material falls into the corresponding receiving port. The blowing module 140 may include blowing nozzles to achieve blowing. In some embodiments, the sorting device includes a pusher module, which applies different forces to the material by raising and lowering the pusher to change the falling trajectory. The pusher module may include a pusher plate to strike or block the material. The fixed frame 130 can be used to fix and support the material distribution baffle 110. The material distribution baffle 110 extends along a second direction y perpendicular to the first direction x, and its two opposite ends along the second direction y are respectively connected to the fixed frame 130. The material distribution baffle 110 can be made of a rigid material, thereby improving its impact resistance and reducing the risk of displacement, deformation, or damage after being impacted by materials. This reduces the probability that material intended for the first receiving port 101 will fall into the second receiving port 102 during its descent, thus improving the sorting accuracy of the sorting equipment. In this embodiment, the first receiving port 101 and the second receiving port 102 are adjacent and located on opposite sides of the material distribution baffle 110. In other embodiments, multiple material distribution baffles 110 are arranged sequentially along the first direction x, dividing the receiving area into multiple receiving ports, including the first receiving port 101 and the second receiving port 102.

[0020] The drive unit 120 is connected to the material distribution baffle 110 and is used to adjust the position and orientation of the material distribution baffle 110. The drive unit 120 can be installed on the fixed frame 130 and can be provided with components that can move relative to the fixed frame 130 to drive the material distribution baffle 110 to change its position, orientation, etc., so as to clear the jammed material.

[0021] A jamming identification module is configured to determine whether the first receiving port 101 or the second receiving port 102 is in a jamming state. The jamming identification module may include a visible light camera, a near-infrared camera, or a combination thereof, to effectively acquire images containing the first receiving port 101, the second receiving port 102, and their corresponding materials. Based on the images, it can determine whether the first receiving port 101 or the second receiving port 102 is in a jamming state, i.e., whether the first receiving port 101 or the second receiving port 102 is blocked. In other embodiments, the jamming identification module may include a weighing machine, used to determine the total weight of the first receiving port 101 and the material blocked on the first receiving port 101, or the total weight of the second receiving port 102 and the material blocked on the second receiving port 102, thereby enabling the determination of whether the corresponding receiving port is in a jamming state based on whether the total weight exceeds a preset weight threshold.

[0022] The unblocking control module is configured to control the drive device 120 to adjust the position of the distributing baffle 110 to release the jamming state if the first receiving port 101 or the second receiving port 102 is in a jamming state. The drive device 120 can adjust the position of the distributing baffle 110 to vibrate, thereby applying a vibrational force to the material blocking the corresponding receiving port (i.e., the first receiving port 101 or the second receiving port 102), thus clearing the corresponding receiving port. Alternatively, the drive device 120 can adjust the position of the distributing baffle 110 to swing around an axis perpendicular to the first direction x, thereby applying a pushing force to the material blocking the corresponding receiving port, thus clearing the corresponding receiving port. The drive device 120 can adjust the position of the material distribution baffle 110 so that the material distribution baffle 110 moves in the forward or reverse direction of the first direction x, thereby expanding the opening area of ​​the blocked material receiving port, and thus clearing the corresponding material receiving port.

[0023] According to the receiving device provided in this embodiment, by setting a material distribution baffle 110, the receiving area includes a first receiving port 101 and a second receiving port 102, and both the first receiving port 101 and the second receiving port 102 are adjacent to the material distribution baffle 110. Based on this, a jamming identification module can detect in real time whether the first receiving port 101 and the second receiving port 102 are in a jamming state, thereby achieving real-time monitoring and detection of jamming problems. Thus, after identifying that the receiving port is in a jamming state, the unblocking control module can control the drive device 120 to adjust the position of the material distribution baffle 110, so that the material distribution baffle 110 applies force to the material blocking the receiving port or expands the opening area of ​​the blocked receiving port, thereby causing the material blocking the receiving port to move relative to the receiving port, thus effectively unblocking and releasing the jamming state of the corresponding receiving port. Since the material distribution baffle 110 adjusts its position under the drive of the drive device 120, no manual intervention is required during the unblocking process of the receiving port, improving the personal safety of the operator. Furthermore, since the movement of the material distribution baffle 110 does not require the sorting device to stop operating, the sorting equipment can continue to sort materials while performing a clearing operation (unblocking) through the material distribution baffle 110. Therefore, the receiving device can clear the receiving port without stopping operation, thereby improving the overall sorting efficiency of the sorting equipment. It should also be noted that the clearing operation through the material distribution baffle 110 limits the impact to the receiving port, thus avoiding impact on other components such as the conveyor belt.

[0024] In some embodiments, such as Figure 3As shown, the driving device 120 may include a vibration unit 121. The vibration unit 121 is used to drive the material distribution baffle 110 to vibrate. The vibration unit 121 can drive the material distribution baffle 110 to vibrate in the up-down direction, thereby causing the material in contact with the material distribution baffle 110 to be driven to vibrate up and down, and thus causing the material blocking the first receiving port 101 or the second receiving port 102 to be driven to vibrate up and down, so as to change the position and posture of each material, thereby enabling one or more materials stuck in the first receiving port 101 or the second receiving port 102 to generate relative displacement with the first receiving port 101 or the second receiving port 102, and finally releasing the stuck state of the corresponding first receiving port 101 or the second receiving port 102. In other embodiments, the vibration unit 121 can drive the material distribution baffle 110 to vibrate along the positive and negative directions of the first direction x, thereby causing the material in contact with the material distribution baffle 110 to vibrate accordingly. This also allows one or more materials stuck in the first receiving port 101 or the second receiving port 102 to undergo relative displacement with the first receiving port 101 or the second receiving port 102, ultimately releasing the stuck material from the corresponding first receiving port 101 or the second receiving port 102. The material distribution baffle 110 may have a buffer between it and the fixed frame 130 to ensure that the material distribution baffle 110 can vibrate while avoiding stress on the fixed frame 130.

[0025] In some embodiments, such as Figure 3As shown, the driving device 120 may include a swing unit 122. The swing unit 122 is used to drive the material distribution baffle 110 to swing around an axis perpendicular to the first direction x, extending from the material distribution baffle 110. The swing unit 122 can be rotatably connected to the side of the material distribution baffle 110 closest to the fixed frame 130, thereby allowing the swing unit 122 to drive the side of the material distribution baffle 110 away from the fixed frame 130 to approach the first receiving port 101 or the second receiving port 102. Thus, the side of the material distribution baffle 110 away from the fixed frame 130 can contact and apply a pushing force to the material in the first receiving port 101 or the second receiving port 102, causing the material to move deeper into the first receiving port 101 or the second receiving port 102. This applies a force to the material stuck in the first receiving port 101 or the second receiving port 102, pushing the material away from the stuck position and clearing the corresponding first receiving port 101 or the second receiving port 102. The material distribution baffle 110 may have protruding shafts at both ends along the first direction x, which are rotatably connected to the fixed frame 130 to enable the material distribution baffle 110 to be swayably installed. Furthermore, the shaft of the material distribution baffle 110 may be located at the bottom of the material distribution baffle 110, allowing the upper part of the material distribution baffle 110 to sway; the shaft of the material distribution baffle 110 may also be located at the top of the material distribution baffle 110, allowing the lower part of the material distribution baffle to sway; in some examples, the shaft of the material distribution baffle 110 may also be located at a relatively central position, so that the material distribution baffle 110 can sway both vertically.

[0026] In some embodiments, such as Figure 3As shown, the driving device 120 may include a moving unit 123. The moving unit 123 is used to drive the dispensing baffle 110 to move forward or backward along a first direction x, thereby changing the opening area of ​​the first receiving port 101 and the second receiving port 102. The moving unit 123 may include a slide rail and a driver, wherein the slide rail extends along the first direction x, is fixedly connected to the fixed frame 130, and is slidably connected to the dispensing baffle 110. Correspondingly, the driver is connected to the dispensing baffle 110, and the driver is used to drive the dispensing baffle 110 to move on the slide rail, thereby causing the dispensing baffle 110 to move forward or backward along the first direction x. Since the dispensing baffle 110 divides the receiving area into the first receiving port 101 and the second receiving port 102, and the dispensing baffle 110 is located between the first receiving port 101 and the second receiving port 102, the opening area of ​​the first receiving port 101 and the second receiving port 102 can be adjusted by moving the dispensing baffle 110. When the material distribution baffle 110 moves in the positive direction of the first direction, the opening area of ​​the first receiving port 101 increases, thereby providing more space for the material blocked in the first receiving port 101 to move and thus clearing the blockage. Similarly, when the material distribution baffle 110 moves in the negative direction of the first direction, the opening area of ​​the second receiving port 102 increases, thereby providing more space for the material blocked in the second receiving port 102 to move and thus clearing the blockage.

[0027] In this embodiment, the driving device 120 may include any one of the vibration unit 121, the swing unit 122, and the moving unit 123, or two or all of them. According to the receiving device provided in this embodiment, the vibration unit 121 can vibrate the material blocked in the receiving port to change the position of the material stuck in the receiving port, thereby releasing the jamming state. The swing unit 122 can apply a downward force to the material blocked in the receiving port, causing the material stuck in the receiving port to continue moving downwards, thereby releasing the jamming state. The moving unit 123 can expand the opening area of ​​the receiving port in the jamming state, giving the jammed material more room to move, thereby releasing the jamming state. Thus, the vibration unit 121, the swing unit 122, and the moving unit 123 can all improve the position of the jammed material by driving the distributing baffle 110, thereby effectively clearing the first receiving port 101 or the second receiving port 102. In other embodiments, the drive device 120 may include any one or more of the vibration unit 121, the swing unit 122 and the moving unit 123, and may also perform unblocking operations on the first receiving port 101 or the second receiving port 102.

[0028] In some embodiments, such as Figure 1As shown, the blockage clearing control module can be configured in the following ways.

[0029] If the first receiving port 101 is jammed, the control drive device 120 moves the distribution baffle 110 in the positive direction of the first direction x to increase the opening area of ​​the first receiving port 101, and controls the sorting device to adjust the movement trajectory of the material corresponding to the second receiving port 102. The first receiving port 101 and the second receiving port 102 are located on opposite sides of the distribution baffle 110 along the first direction x. After the opening area of ​​the first receiving port 101 increases, the opening area of ​​the second receiving port decreases, that is, the opening area of ​​the first receiving port 101 and the opening area of ​​the second receiving port are negatively correlated. Therefore, after the distribution baffle 110 moves in the positive direction of the first direction x to increase the opening area of ​​the first receiving port 101, by controlling the sorting device to adjust the movement trajectory of the material corresponding to the second receiving port 102, the corresponding material can continue to fall effectively into the second receiving port 102 after the opening area is reduced, thereby ensuring the sorting accuracy when the sorting equipment clears the blockage of the receiving port without stopping the machine, and thus improving the overall sorting efficiency of the sorting equipment.

[0030] If the second receiving port 102 is jammed, the control drive device 120 moves the distribution baffle in the negative direction of the first direction to increase the opening area of ​​the second receiving port 102, and controls the sorting device to adjust the movement trajectory of the material corresponding to the first receiving port 101. Corresponding to the handling method when the first receiving port 101 is jammed, after the distribution baffle 110 moves in the negative direction of the first direction x to increase the opening area of ​​the second receiving port 102, the opening area of ​​the first receiving port 101 shrinks. Thus, by controlling the sorting device to adjust the movement trajectory of the material corresponding to the first receiving port 101, the corresponding material can continue to fall effectively into the first receiving port 101 after the opening area shrinks. This allows the sorting equipment to clear the blockage of the second receiving port 102 without stopping, while ensuring the sorting accuracy and overall sorting efficiency of the sorting equipment.

[0031] According to the receiving device provided in this embodiment, the unblocking control module coordinates the control of the drive device 120 and the sorting device, thereby ensuring that the changes in the opening area of ​​the first receiving port 101 and the second receiving port 102 are coordinated with the adjustment of the material's movement trajectory. This prevents the material from failing to accurately fall into the receiving port according to its original movement trajectory after the receiving port shrinks. Therefore, without stopping the sorting equipment, the unblocking operation of the first receiving port 101 or the second receiving port 102 is performed, reducing the impact on the sorting accuracy of the sorting device, thus simultaneously ensuring both the sorting accuracy and the overall sorting efficiency of the sorting equipment.

[0032] In some embodiments, such as Figure 1As shown, the jamming status can include a first-level jamming status, and the unblocking control module can be configured in the following ways.

[0033] If the first receiving port 101 is in a first-level jamming state, the control drive device 120 moves the distributing baffle 110 a first preset distance along the positive direction x, and then controls the drive device 120 to move the distributing baffle 110 back and forth alternately along the positive and negative directions x for a second preset distance, wherein the second preset distance is less than the first preset distance. The first-level jamming state may include partial blockage of the first receiving port 101 or partial blockage of the second receiving port 102. In other embodiments, the first-level jamming state may include partial blockage of the first receiving port 101 and partial blockage of the second receiving port 102.

[0034] If the second receiving port 102 is in a first-level jamming state, the control drive device 120 moves the distributing baffle 110 a first preset distance in the negative direction of the first direction x, and then the control drive device 120 moves the distributing baffle 110 back and forth alternately in the positive and negative directions of the first direction x for a second preset distance. When the first receiving port 101 and the second receiving port 102 are not in a jamming state, the distributing baffle 110 can be located at the initial reference position. Based on this, the extension length of the first receiving port 101 and the second receiving port 102 in the first direction x can be the same, so that the opening area of ​​the first receiving port 101 and the opening area of ​​the second receiving port are equal or nearly equal. Thus, it can be ensured that the maximum moving distance of the distributing baffle 110 from the initial reference position in the positive or negative direction of the first direction x is equal, so that the energy consumption generated by the movement of the distributing baffle 110 is kept balanced when clearing the jamming state of the first receiving port 101 and the second receiving port 102. Therefore, the first preset distance can be any distance less than the maximum movable distance of the material distribution baffle 110 moving from its initial reference position in the positive or negative direction of the first direction x. By alternatingly moving the material distribution baffle 110 along the positive and negative directions of the first direction x after moving the first preset distance, the material distribution baffle 110 can increase the opening area of ​​the blocked first receiving port 101 or second receiving port 102 to give the stuck material more room to move. At the same time, by moving the second preset distance and contacting the material, it can exert a greater force on the stuck material, helping the material to move. This can more effectively clear the blocked first receiving port 101 or second receiving port 102, allowing the sorting equipment to return to normal more quickly, solving more serious material blockage problems, reducing the frequency of sorting equipment downtime, and improving overall sorting efficiency.

[0035] In some embodiments, such as Figure 4 As shown, the card material recognition module may include: an image recognition unit 131, a proportion processing unit 132, and a recognition unit 133.

[0036] Image recognition unit 131 is used to acquire multiple frames of first images of materials in the first receiving port 101 and the second receiving port 102. Image recognition unit 131 may include a visible light camera, a near-infrared camera, or a combination thereof, to effectively acquire the first images. Multiple frames of the first images can be acquired from a video stream and subjected to Gaussian filtering to remove image noise. A single frame of the first image may include only the materials in the first receiving port 101 or the materials in the second receiving port 102, thereby increasing the amount of detailed data of the materials in the corresponding receiving port in the first image, which facilitates improving the accuracy of subsequent recognition of the first image. In other embodiments, a single frame of the first image may simultaneously include the materials in the first receiving port 101 and the materials in the second receiving port 102, to improve the utilization rate of the first image and reduce the cost of real-time monitoring.

[0037] The proportion processing unit 132 is used to determine the proportion of moving pixels corresponding to the materials in the first receiving port 101 and the second receiving port 102 based on multiple frames of the first image. The proportion processing unit 132 can be configured to determine the background region and the material region in the first image based on a Gaussian Mixture Model (GMM), determine the proportion of moving material in the material region based on optical flow, and use this proportion as the proportion of moving pixels of the material in the corresponding receiving port. The proportion processing unit 132 can be configured to preprocess the first image using image enhancement algorithms such as dark channel prior dehazing or Retinex enhancement to reduce the impact of image blurring caused by dust on the accurate identification of moving pixel proportions. The image enhancement algorithm is suitable for edge detail repair of the first image acquired under low visibility conditions. The proportion processing unit 132 can be configured to effectively eliminate the influence of a large number of background regions on the first image by setting a dynamic Region of Interest (ROI), and then determine the proportion of moving pixels for the ROI, where the ROI includes the material.

[0038] The identification unit 133 is configured to determine that the first receiving port 101 is in a first-level jamming state if the percentage of moving pixels corresponding to the first receiving port 101 is less than a preset threshold for the percentage of moving pixels; and to determine that the second receiving port 102 is in a first-level jamming state if the percentage of moving pixels corresponding to the second receiving port 102 is less than the threshold for the percentage of moving pixels. The threshold for the percentage of moving pixels can be 10%.

[0039] According to the receiving device provided in this embodiment, the image recognition unit 131 effectively acquires the first image corresponding to the material in the first receiving port 101 and the second receiving port 102. Then, the proportion processing unit 132 identifies and analyzes the material in the first image to determine the proportion of moving pixels of the material in the first receiving port 101 and the proportion of moving pixels of the material in the second receiving port 102. Finally, the recognition unit 133 compares the proportion of moving pixels determined by the proportion processing unit 132 with the proportion of moving pixels threshold to determine whether the material in the first receiving port 101 or the material in the second receiving port 102 causes the first receiving port 101 or the second receiving port 102 to be in a partial blockage state, i.e., a first-level jamming state. Therefore, through the coordinated operation of the image recognition unit 131, the proportion processing unit 132, and the recognition unit 133, it is possible to monitor in real time and effectively whether the first receiving port 101 and the second receiving port 102 are in a first-level jamming state, thereby driving the material distribution baffle 110 to perform a clearing operation in a timely manner. This allows the receiving port to be cleared before the first receiving port 101 or the second receiving port 102 is completely blocked, effectively reducing the difficulty of clearing the receiving port and avoiding the problem of difficulty in clearing due to complete blockage. It also effectively reduces the negative force on the material distribution baffle 110 during the clearing operation, thereby improving the service life of the material classification baffle 110.

[0040] In some embodiments, the jamming identification module may include a target recognition model for determining the size and category of the material. For example, the target recognition model may include a lightweight YOLOv8-nano deep learning model, with categories including foreign objects and real materials. Therefore, the jamming identification module can determine whether there is a risk of jamming at the corresponding receiving port based on the material's category and size, as well as the material's dwell time at the corresponding receiving port, thereby improving the response speed of the dispensing baffle 110 and enabling faster unblocking operations.

[0041] In some embodiments, such as Figure 1 As shown, the jamming status can include a secondary jamming status, and the unblocking control module can be configured in the following ways.

[0042] If the first receiving port 101 is in a secondary jamming state, the control drive device 120 moves the distributing baffle 110 a maximum forward distance along the first direction x. The drive device 120 may include a forward limiting block, which is used to abut against the distributing baffle 110 after it has moved the distributing baffle 110 a maximum forward distance along the first direction x, so that the forward movement of the distributing baffle 110 in the first direction x does not exceed the maximum reasonable stroke, thus preventing damage to the distributing baffle 110 or the drive device 120. The maximum forward distance can be the distance between the position of the second receiving port 102 near the edge of the first direction x and the initial reference position of the distributing baffle 110. The secondary jamming state may include severe blockage of the first receiving port 101 or severe blockage of the second receiving port 102. In some embodiments, the primary jamming state may include severe blockage of both the first receiving port 101 and the second receiving port 102.

[0043] If the second receiving port 102 is in a secondary jamming state, the control drive device 120 moves the distributing baffle 110 a maximum negative distance in the negative direction of the first direction x. The drive device 120 may include a negative limiting block, which is used to abut against the distributing baffle 110 after it has moved the distributing baffle 110 a maximum negative distance in the negative direction of the first direction x, so that the movement stroke of the distributing baffle 110 in the negative direction of the first direction x does not exceed the maximum reasonable stroke, thus avoiding damage to the distributing baffle 110 or the drive device 120. The maximum negative distance can be the distance between the position of the edge of the first receiving port 101 near the negative direction of the first direction x and the initial reference position of the distributing baffle 110.

[0044] According to the receiving device provided in this embodiment, the severity of the jamming in the secondary jamming state can be greater than that in the primary jamming state, meaning the secondary jamming state can correspond to complete blockage or large-scale blockage. Therefore, by determining that the first receiving port 101 or the second receiving port 102 is in the secondary jamming state, the opening area of ​​the blocked receiving port can be maximized by controlling the distribution baffle 110 to move the corresponding maximum positive or negative distance, providing maximum movement space for the material in the blocked receiving port. This allows the material stuck in the receiving port, or multiple materials stuck together, to adjust their position to a greater extent, smoothly continuing to fall into the corresponding first receiving port 101 or second receiving port 102, thereby achieving rapid unblocking of severely blocked receiving ports and reducing the impact of jamming on the sorting equipment, thus minimizing the impact on the sorting efficiency and accuracy of the sorting equipment.

[0045] In some embodiments, such as Figure 5 As shown, the card material recognition module may include: an image recognition unit 141, a height processing unit 142, and a recognition unit 143.

[0046] Image recognition unit 141 is used to acquire multiple frames of second images of materials in the first receiving port 101 and the second receiving port 102. Image recognition unit 141 may include a visible light camera, a near-infrared camera, or a combination thereof, to effectively acquire the second images. Multiple frames of second images can be acquired from a video stream and subjected to Gaussian filtering to remove image noise. A single frame of the second image may include only the material in the first receiving port 101 or the material in the second receiving port 102, thereby increasing the amount of detailed data of the material in the corresponding receiving port in the second image, which facilitates improving the accuracy of subsequent recognition of the second image. In other embodiments, a single frame of the second image may simultaneously include the material in the first receiving port 101 and the material in the second receiving port 102, to improve the utilization rate of the second image and reduce the cost of real-time monitoring.

[0047] The height processing unit 142 is used to determine the stacking height of the materials in the first receiving port 101 and the second receiving port 102 respectively based on multiple frames of the second image. The height processing unit 142 can be configured to determine the background region and the material region in the second image based on a Gaussian Mixture Model (GMM), determine the outer contour of the material in the material region based on optical flow, and thus determine the corresponding stacking height based on the outer contour. The height processing unit 142 can be configured to preprocess the second image using image enhancement algorithms such as dark channel prior dehazing or Retinex enhancement to reduce the impact of dust-induced image blurring on accurate recognition of the outer contour. The image enhancement algorithm is suitable for edge detail repair of the second image acquired under low visibility conditions. The stacking height can be the extension length of the outer contour in the height direction. The height processing unit 142 can be configured to effectively eliminate the influence of a large number of background regions on the second image by setting a dynamic Region of Interest (ROI), and then determine the stacking height for the ROI, where the ROI includes the material.

[0048] The identification unit 143 is configured to determine that the first receiving port 101 is in a secondary jamming state if the stacking height corresponding to the first receiving port 101 is greater than a preset height threshold; and to determine that the second receiving port 102 is in a secondary jamming state if the stacking height corresponding to the second receiving port 102 is greater than the height threshold. The height threshold can be less than the critical height at which material overflows from the corresponding receiving port, thereby determining that the receiving port is in a secondary jamming state after blockage but before material overflow, in order to reduce losses caused by overflow of sorted material.

[0049] According to the receiving device provided in this embodiment, the image recognition unit 141 effectively acquires the second image corresponding to the material in the first receiving port 101 and the second receiving port 102. Then, the height processing unit 142 identifies and analyzes the material in the second image to determine the accumulation height of the material in the first receiving port 101 and the accumulation height of the material in the second receiving port 102. Finally, the recognition unit 143 compares the accumulation height ratio determined by the height processing unit 142 with the height threshold to determine whether the material in the first receiving port 101 or the material in the second receiving port 102 causes the first receiving port 101 or the second receiving port 102 to be in a severely blocked state, i.e., a secondary jamming state. Therefore, through the coordinated operation of the image recognition unit 141, the height processing unit 142, and the recognition unit 143, it is possible to monitor in real time and effectively whether the first receiving port 101 and the second receiving port 102 are in a secondary jamming state. This allows for timely activation of the material distribution baffle 110 to perform a clearing operation, thus clearing the receiving port before the material overflows. This effectively reduces material overflow caused by jamming, ensuring that the sorted material does not scatter outside the receiving area. This reduces the repetitive workload of re-sorting the scattered material and minimizes the impact of scattered material on the working environment of the sorting equipment.

[0050] Based on the same inventive concept, such as Figure 6 As shown, this disclosure also provides a sorting device, which may include: a conveying device 10, a sorting device 20, and a receiving device 30 as described in any of the foregoing embodiments.

[0051] The conveying device 10 is used to carry materials and move them along a first direction x. The conveying device 10 may include a conveyor belt to stably and reliably transport the materials to be sorted.

[0052] The sorting device 20 is disposed downstream of the conveying device 10 along the first direction x. The sorting device 20 applies force to the material to adjust its acceleration in the first direction x. The sorting device 20 may include a blowing module or a pusher module. In some embodiments, the sorting device 20 may include both a blowing module and a pusher module. The blowing module can apply different forces to the material by controlling one or more of the blowing duration, blowing intensity, and blowing start time, thereby changing the material's acceleration in the first direction x. This adjusts the material's falling trajectory, i.e., its movement trajectory, causing the material with the adjusted movement trajectory to fall into the corresponding first receiving port 101 or second receiving port 102 in the receiving device 30. The pusher module can apply different forces to the material by raising and lowering the pusher, thereby changing the material's acceleration in the first direction x. This adjusts the material's falling trajectory, i.e., its movement trajectory, causing the material with the adjusted movement trajectory to fall into the corresponding first receiving port 101 or second receiving port 102 in the receiving device 30.

[0053] The receiving device 30 is used to receive the materials sorted by the sorting device 20.

[0054] According to the sorting equipment provided in this embodiment, the material to be sorted is continuously conveyed along the first direction x by the conveying device 10 in an assembly line manner. The sorting device 20 applies force to the material conveyed by the conveying device 10 to adjust the subsequent movement trajectory of the material, so that the material finally falls into the corresponding first receiving port 101 or second receiving port 102 in the receiving device 30. On this basis, the receiving device 30 uses a material distribution baffle 110, a drive device 120, a jamming identification module (not shown in the figure), and a blockage clearing control module to effectively and promptly clear any blockages in the first receiving port 101 or second receiving port 102, ensuring that the first receiving port 101 and the second receiving port 102 can continuously receive the sorted material. Thus, the sorting equipment can efficiently sort materials that are prone to jamming or materials mixed with foreign objects that are prone to jamming the receiving port without easily causing blockages, improving the material receiving capacity and jamming handling capacity of the sorting equipment, thereby improving the overall sorting efficiency of the sorting equipment.

[0055] In some embodiments, the blockage clearing control module can be configured as follows.

[0056] If the first receiving port 101 is jammed, the control drive device 120 moves the distributing baffle 110 in the positive direction of the first direction x, and controls the transmission device 10 to increase the transmission speed in the first direction x. Because the distributing baffle 110 increases the opening area of ​​the first receiving port 101 and decreases the opening area of ​​the second receiving port 102 after moving in the positive direction of the first direction x, part of the area originally corresponding to the second receiving port 102 has been changed to the area corresponding to the first receiving port 101. Therefore, if the transmission device 10 applies the original force to the material corresponding to the second receiving port 102, some of the material will fall into the area that has been changed to the first receiving port 101 along the original movement trajectory, which will lead to misclassification of the material and increase the blockage of the first receiving port 101. In response, by slightly increasing the transmission speed, a greater acceleration can be applied to the material in the first direction x, so that the landing point of the material's corresponding movement trajectory is offset along the first direction x. This allows the material corresponding to the second receiving port 102 to accurately fall into the second receiving port 102 after updating its movement trajectory. Thus, while clearing the first receiving port 101, the sorting accuracy corresponding to the second receiving port 102 is ensured.

[0057] If the second receiving port 102 is jammed, the control drive device 120 moves the distributing baffle 110 in the negative direction of the first direction x, and controls the transmission device 10 to reduce the transmission speed in the first direction x. Correspondingly, because the distributing baffle 110 increases the opening area of ​​the second receiving port 102 and decreases the opening area of ​​the first receiving port 101 after moving in the negative direction of the first direction x, part of the area originally corresponding to the first receiving port 101 has been changed to the area corresponding to the second receiving port 102. Therefore, if the transmission device 10 applies the original force to the material corresponding to the first receiving port 101, some of the material will fall into the area that has been changed to the second receiving port 102 along its original trajectory, leading to misclassification of the material and increasing the blockage of the second receiving port 102. To address this, by slightly reducing the transmission speed, a smaller acceleration can be applied to the material in the first direction x, causing the landing point of the material's corresponding movement trajectory to shift in the negative direction of the first direction x. This ensures that the material corresponding to the first receiving port 101 accurately falls into the first receiving port 101 after updating its movement trajectory. Consequently, while clearing the second receiving port 102, the sorting accuracy corresponding to the first receiving port 101 is ensured.

[0058] In some embodiments, the blockage clearing control module can be configured as follows.

[0059] If the first receiving port 101 is jammed, the control drive device 120 moves the distribution baffle 110 in the positive direction of the first direction x, and controls the sorting device 20 to increase the force applied to the material at the corresponding second receiving port 102, thereby increasing the acceleration applied in the first direction x. Addressing the issue that after the distribution baffle 110 moves in the positive direction x, some material at the second receiving port 102 will fall into the area now occupied by the first receiving port 101, the sorting device 20 increases the force to shift the landing point of the material's trajectory along the first direction x. This ensures that the material at the second receiving port 102 accurately falls into the second receiving port 102 after updating its trajectory, thus ensuring the sorting accuracy at the second receiving port 102 while simultaneously clearing the first receiving port 101. For the sorting device 20 including the pusher module, the pusher module can increase the force applied to the material at the corresponding second receiving port 102 by delaying its arrival and increasing its swing speed. The delayed arrival ensures that the material reaches the predetermined pushing position first, allowing the subsequent pusher module to apply all the accumulated force during its movement to the material, thus exerting a greater force on it. For the sorting device 20 including the blowing module, the blowing module increases the force exerted on the material at the corresponding second receiving port 102 by increasing the blowing force. The blowing force can be increased by adjusting the blowing gas pressure and the blowing duration.

[0060] If the second receiving port 102 is jammed, the control drive device 120 moves the distribution baffle 110 in the negative direction of the first direction x, and controls the sorting device 20 to reduce the force on the material corresponding to the first receiving port 101, thereby reducing the acceleration applied in the first direction x. Addressing the issue that after the distribution baffle 110 moves in the negative direction of the first direction x, some material corresponding to the first receiving port 101 will fall into the area now occupied by the second receiving port 102, the sorting device 20 increases the force to shift the landing point of the material's trajectory in the negative direction of the first direction x. This ensures that the material corresponding to the first receiving port 101 accurately falls into the first receiving port 101 after updating its trajectory, thus ensuring the sorting accuracy of the first receiving port 101 while simultaneously clearing the second receiving port 102. For the sorting device 20 including the pusher module, the pusher module can reduce its oscillation speed, thereby reducing the force on the material corresponding to the first receiving port 101. For the sorting device 20 including the blowing module, the blowing module reduces the force exerted by the blowing module on the material corresponding to the first receiving port 101 by reducing the blowing force. Specifically, the blowing module can reduce the blowing force by decreasing the gas pressure and the duration of the blowing.

[0061] In some embodiments, the jamming identification module can also be configured to acquire the movement trajectory of the material, and the blockage clearing control module can be configured in the following ways.

[0062] If the first receiving port 101 is jammed, a first fine-tuning parameter is determined based on the actual and target movement trajectories of the material corresponding to the second receiving port 102. The sorting device 20 is then controlled to adjust the actual movement trajectory of the material corresponding to the second receiving port 102 based on these first fine-tuning parameters. The actual movement trajectory can be determined by acquiring an image containing the material and both the first and second receiving ports 101 and 102, and then analyzing the image. The target movement trajectory can be determined by the control parameters corresponding to the force applied to the material by the sorting device 20.

[0063] If the second receiving port 102 is in a jammed state, the second fine-tuning parameter is determined according to the actual movement trajectory and target movement trajectory of the material corresponding to the first receiving port 101, and the sorting device 20 is controlled to adjust the actual movement trajectory of the material corresponding to the first receiving port 101 according to the second fine-tuning parameter.

[0064] According to the sorting equipment provided in this embodiment, while clearing the receiving port, the actual movement trajectory of the material after applying an adjustment force is obtained for the receiving port with a reduced opening area. This actual movement trajectory is compared with the target movement trajectory to generate fine-tuning parameters. Based on these parameters, the actual movement trajectory is adjusted to align with the target movement trajectory, thereby ensuring that the material accurately falls into the first receiving port 101 or the second receiving port 102 with a reduced opening area. This ensures the sorting accuracy of the equipment and effectively enables uninterrupted clearing operations, thus improving the overall sorting efficiency of the equipment.

[0065] In some embodiments, the blockage clearing control module can also be configured as follows.

[0066] If the first receiving port 101 and the second receiving port 102 are not in a jammed state, control the material distribution baffle 110 to move to the initial reference position.

[0067] If the material distribution baffle 110 is at the initial reference position, the sorting device 20 is controlled to restore the material's movement trajectory to the original trajectory. By linearly and gradually transitioning the control parameters of the sorting device 20 to the original control parameters, fluctuations in material sorting can be reduced, thereby ensuring the stability of material sorting after the unblocking operation. The original control parameters correspond to the force-related control parameters.

[0068] This application uses specific terms to describe embodiments of the application. Terms such as "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the application. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0069] In the context of this application, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0070] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0071] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the embodiments of this application.

Claims

1. A material receiving device, applied to a sorting equipment, the sorting equipment including a sorting device for changing the trajectory of the material falling, for sorting the material conveyed in the sorting equipment along a first direction, characterized in that, The receiving device includes: A material distribution baffle is used to divide the material receiving area into a first material receiving port and a second material receiving port formed sequentially along the first direction, wherein the first material receiving port is used to receive the material of a first category, and the second material receiving port is used to receive the material of a second category. A driving device, connected to the material distribution baffle, is used to adjust the position and orientation of the material distribution baffle; The jam recognition module is configured to determine whether the first receiving port or the second receiving port is in a jammed state; The unblocking control module is configured to control the drive device to adjust the position of the distributing baffle to release the jamming state if either the first receiving port or the second receiving port is in the jamming state. The blockage clearing control module is configured as follows: If the first receiving port is in the jammed state, the driving device is controlled to move the material distribution baffle in the positive direction of the first direction to increase the opening area of ​​the first receiving port, and the sorting device is controlled to adjust the movement trajectory of the material corresponding to the second receiving port. If the second receiving port is in the jammed state, the driving device is controlled to move the distributing baffle in the negative direction of the first direction to increase the opening area of ​​the second receiving port, and the sorting device is controlled to adjust the movement trajectory of the material corresponding to the first receiving port. The jamming status includes a first-level jamming status, and the unblocking control module is configured as follows: If the first receiving port is in the first-level jamming state, then control the driving device to move the material distribution baffle a first preset distance in the positive direction of the first direction, and then control the driving device to move the material distribution baffle back and forth alternately in the positive and negative directions of the first direction for a second preset distance, wherein the second preset distance is less than the first preset distance; If the second receiving port is in the first-level jamming state, then the driving device is controlled to move the material distribution baffle a first preset distance in the negative direction of the first direction, and then the driving device is controlled to move the material distribution baffle back and forth alternately in the positive and negative directions of the first direction a second preset distance.

2. The receiving device as described in claim 1, characterized in that, The driving device includes: A vibration unit is used to drive the material distribution baffle to vibrate; and / or, A swing unit is used to drive the material dispensing baffle to swing around an axis perpendicular to the first direction; and / or, The moving unit is used to drive the material distribution baffle to move forward or backward along the first direction, so as to change the opening area of ​​the first receiving port and the second receiving port.

3. The receiving device as described in claim 1, characterized in that, The card material recognition module includes: The image recognition unit is used to acquire multiple frames of first images of the material in the first receiving port and the second receiving port; The proportion processing unit is used to determine the proportion of motion pixels corresponding to the materials in the first receiving port and the second receiving port respectively based on multiple frames of the first image; The identification unit is configured to determine that the first receiving port is in the first-level jamming state if the proportion of motion pixels corresponding to the first receiving port is less than a preset motion pixel proportion threshold; and If the percentage of motion pixels corresponding to the second receiving port is less than the percentage threshold of motion pixels, then the second receiving port is determined to be in the first-level jamming state.

4. The receiving device as described in claim 1, characterized in that, The jamming status includes a secondary jamming status, and the unblocking control module is configured as follows: If the first receiving port is in the secondary jamming state, then control the driving device to move the material distribution baffle a maximum positive distance along the positive direction of the first direction; If the second receiving port is in the secondary jamming state, then control the driving device to move the material distribution baffle a maximum negative distance in the negative direction of the first direction.

5. The receiving device as described in claim 4, characterized in that, The card material recognition module includes: The image recognition unit is used to acquire multiple frames of second images of the material in the first receiving port and the second receiving port; A height processing unit is used to determine the stacking height of the material in the first receiving port and the second receiving port respectively based on multiple frames of the second image; The identification unit is configured to determine that the first receiving port is in the secondary jamming state if the stacking height corresponding to the first receiving port is greater than a preset height threshold; and If the stacking height corresponding to the second receiving port is greater than the height threshold, then the second receiving port is determined to be in the secondary jamming state.

6. A sorting device, characterized in that, include: The receiving device as described in any one of claims 1 to 5; A conveying device is used to carry the material and move the material along the first direction; A sorting device is disposed downstream of the conveying device along the first direction. The sorting device is used to apply a force to the material to adjust the acceleration of the material in the first direction.

7. The sorting equipment as described in claim 6, characterized in that, The blockage clearing control module is configured as follows: If the first receiving port is in the jammed state, then control the driving device to move the distributing baffle in the positive direction of the first direction, and control the conveying device to increase the conveying speed in the first direction; and / or, If the second receiving port is in the jammed state, the driving device is controlled to move the material distribution baffle in the negative direction of the first direction, and the conveying device is controlled to reduce the conveying speed along the first direction.

8. The sorting equipment as described in claim 6, characterized in that, The blockage clearing control module is configured as follows: If the first receiving port is in the jammed state, the driving device is controlled to move the material distribution baffle in the positive direction of the first direction, and the sorting device is controlled to increase the force on the material corresponding to the second receiving port, so as to increase the acceleration applied in the first direction. And / or, If the second receiving port is in the jammed state, the driving device is controlled to move the material distribution baffle in the negative direction of the first direction, and the sorting device is controlled to reduce the force on the material corresponding to the first receiving port, so as to reduce the acceleration applied in the first direction.

Images