Material sorting device and material sorting method

Abstract

The invention provides a material sorting device which comprises a bearing assembly, the bearing assembly comprises a plurality of grids used for bearing a plurality of materials, the size of the containing space in at least one adjustable grid in the multiple grids is adjustable, and the adjusted containing space is used for bearing a target number of target materials; the detection assembly is used for detecting a plurality of materials carried by the plurality of grids to obtain a detection image; and the control unit is used for processing the detection image to obtain an identification result of each material in the plurality of materials so as to sort each material from the grid where the material is located to a target position matched with the identification result of the material. The invention further provides a material sorting method.

Description

Technical Field

[0001] The present disclosure relates to the field of material sorting, radiation detection, material category identification or other technical fields, and more specifically, to a material sorting device and a material sorting method. Background Art

[0002] Material sorting refers to the process of classifying and selecting materials according to their specific properties or standards during production, logistics, warehousing, etc. Taking ore sorting as an example, the existing intelligent dry sorting machine identifies materials as concentrates and tailings through radiation scanning, optical scanning, etc., or sorts different types of ores, and then uses sorting technology to separate them. Sorting technology can include blowing technology, that is, blowing different ores into corresponding sorting bins through nozzles.

[0003] However, the injection technology has good injection accuracy for larger ores (e.g., particle sizes above 6 mm, for example only), but has poor injection effect for smaller ores (e.g., particle sizes less than 6 mm, for example only). For example, smaller ores may slip relative to the conveyor belt during the transportation process from X-ray scanning to injection, which causes position deviation and makes it difficult to inject accurately. For another example, if the particle size of the ore is small, the overall volume is small, and the injection airflow is difficult to hit accurately, and foam or powder-grade materials with smaller particle sizes are easily affected by the airflow and scattered in the surrounding environment, causing pollution.

[0004] In some solutions, multiple cells are used to hold materials with smaller particle sizes to avoid relative sliding during transportation.

[0005] In the process of implementing the embodiments of the present disclosure, the inventors found that the structure of the cell is fixed, and multiple materials may be placed in each cell. If these materials are stacked on top of each other, the recognition accuracy of each material will be reduced when using radiation scanning, optical scanning, etc. to identify, thereby affecting the sorting effect. Summary of the invention

[0006] In view of the above problems, the present disclosure provides a material sorting device and a material sorting method.

[0007] According to the first aspect of the present disclosure, there is provided a material sorting device, characterized in that it comprises: a carrying component, comprising a plurality of grids for carrying a plurality of materials, wherein the size of the accommodation space inside at least one adjustable grid among the plurality of grids is adjustable, and the adjusted accommodation space is used to carry a target number of target materials; a detection component, used to detect the plurality of materials carried by the plurality of grids to obtain a detection image; and a control unit, used to process the detection image to obtain an identification result of each of the plurality of materials, so as to sort each material from the grid where it is located to a target position matching its identification result.

[0008] In some embodiments, the control unit is used to adjust the size of the accommodation space according to the target number of target materials to be carried by the adjustable grid and the particle size of the target materials.

[0009] In some embodiments, when the target number is greater than 1, no stacking occurs between adjacent target materials carried by the adjusted containing space.

[0010] In some embodiments, the material sorting device further includes: a material distribution component for placing a plurality of materials in a plurality of grids in batches, wherein the particle sizes of materials in different batches are different, and the particle sizes of materials in the same batch are substantially the same.

[0011] In some embodiments, the control unit is used to adjust the size of the accommodation space of the adjustable grid that does not carry the material according to the target quantity of each batch and the particle size of the material.

[0012] In some embodiments, the multiple grids include multiple adjustable grids, wherein the multiple adjustable grids are located in multiple areas, each area includes at least one adjustable grid; the control unit is used to adjust the accommodation space of each adjustable grid according to the multiple areas, wherein the accommodation space sizes of the adjustable grids in different areas are different, and the accommodation space sizes of the adjustable grids in the same area are approximately the same.

[0013] In some embodiments, each of the multiple grids includes: a bearing surface; an enclosure component that is telescopically mounted on the bearing surface, wherein the enclosure component and the bearing surface constitute a accommodating space; when the detection component detects multiple materials, the enclosure component retracts to a predetermined position, wherein, at the predetermined position, the top of the enclosure component is lower than the bearing surface, or is roughly flush with the bearing surface.

[0014] In some embodiments, the material sorting device also includes: a first suction assembly, including a plurality of first suction ports corresponding one-to-one to a plurality of grids, each first suction port being installed on a bearing surface of a corresponding grid; in response to the enclosure component contracting to a predetermined position, each first suction port generates a suction force toward the bearing surface on the material carried by the grid in which it is located.

[0015] In some embodiments, when approaching the target position of each material, the grid where the material is located is flipped; the control unit is used to sort each material from the flipped grid where it is located to the target position matching its identification result.

[0016] In some embodiments, the material sorting device also includes: a second suction assembly, including a plurality of second suction ports corresponding one-to-one to a plurality of grids, each second suction port being installed on a carrying surface of a corresponding grid; each second suction port generates suction toward the carrying surface on the material carried by the grid in response to flipping of the grid in which it is located.

[0017] In some embodiments, the control unit is used to sort each material from the flipped grid where it is located to a target position that matches its identification result, including: the control unit is used to control the second suction port of the grid where each material is located to stop generating suction toward the carrying surface so that the material falls into the target position that matches its identification result.

[0018] In some embodiments, the magnitude of the suction force generated by each second suction port on the material carried by the grid in which it is located toward the carrying surface is proportional to the size of the accommodation space of the grid in which it is located.

[0019] In some embodiments, the magnitude of the suction force generated by each of the second suction ports on the material carried by the grid in which it is located toward the carrying surface is proportional to the depth of the grid in which it is located.

[0020] In some embodiments, the material sorting device also includes a first conveying component for conveying a carrying component, wherein the first conveying component includes: a first conveying section; a second conveying section, which is connected end to end with the first conveying section to form an annular conveying section for conveying the carrying component; wherein the first conveying section is opposite to the second conveying section, and the carrying component gradually flips as it is conveyed from the first conveying section to the second conveying section, and the second conveying section is used to convey the carrying component to approach the target position of each material.

[0021] In some embodiments, the bottom of each grid in the multiple grids includes an open state or a closed state, and is used to carry materials in the closed state; the control unit is used to place the bottom of each grid where the material is located in an open state so that the material falls into a target position that matches its identification result.

[0022] Another aspect of an embodiment of the present disclosure provides a material sorting method, including: allowing multiple grids to carry multiple materials, wherein the size of the accommodation space inside at least one adjustable grid among the multiple grids is adjustable, and the adjusted accommodation space is used to carry a target number of target materials; detecting the multiple materials carried by the multiple grids to obtain a detection image; processing the detection image to obtain an identification result of each material among the multiple materials, so as to sort each material from the grid where it is located to a target position matching its identification result.

[0023] One or more of the above-mentioned embodiments have the following beneficial effects: because the size of the accommodation space inside the adjustable grid is adjustable, it can carry a target number of target materials that are compatible with the detection method, detection parameters or detection performance of the detection component, so as to avoid interference with the detection component and maintain a high detection accuracy. The design of the adjustable grid can adapt to materials of different sizes and types, increase the flexibility of the sorting process, and improve the sorting efficiency and accuracy. For example, by accurately sorting foam or powder-grade materials in combination with an adjustable grid and photoelectric technology identification, it is possible to avoid the situation where foam or powder-grade materials are scattered in the surrounding environment during spraying and cause pollution, which has certain advantages in reducing power loss caused by inaccurate sorting and reducing environmental pollution. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above contents and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0025] Figure 1 The structural diagram of a material sorting device according to an embodiment of the present application is schematically shown.

[0026] Figure 2 The overall structure of the adjustable grid according to an embodiment of the present disclosure is schematically shown.

[0027] Figure 3 Schematically shows Figure 2 Structural diagram of the liftable base plate.

[0028] Figure 4 The structure of a base plate according to an embodiment of the present disclosure is schematically shown.

[0029] Figure 5 A top view of an adjustable grid according to an embodiment of the present disclosure is schematically shown.

[0030] Figure 6 The structural diagram of the first conveying assembly according to an embodiment of the present disclosure is schematically shown.

[0031] Figure 7 The flowchart of the material sorting method according to the embodiment of the present disclosure is schematically shown.

[0032] The reference numerals in the above drawings are as follows:

[0033] 100, conveying assembly; 210, optical image acquisition assembly; 220, X-ray image acquisition assembly; 300, bearing assembly; 400, sorting bin; 500, control unit; 310, adjustable grid; 311, enclosure component; 312, bottom plate; 3121, telescopic mechanism; 313, screw-nut mechanism; 3131, screw; 3132, screw-nut sleeve; 3133, connecting piece; 110, first conveying assembly; 111, first conveying section; 112, second conveying section.

[0034] It should be noted that, for the sake of clarity, in the drawings used to describe the embodiments of the present disclosure, the sizes of the overall / local structures or the overall / local areas may be enlarged or reduced, that is, these drawings are not drawn according to the actual scale. DETAILED DESCRIPTION

[0035] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present disclosure. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present disclosure. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of the concepts of the present disclosure.

[0036] Figure 1 The structural diagram of a material sorting device according to an embodiment of the present application is schematically shown.

[0037] like Figure 1 As shown, the material sorting device includes a conveying component 100, a detection component (for example, including at least one of an optical image acquisition component 210 and an X-ray image acquisition component 220), a carrying component 300, a sorting bin 400 and a control unit 500.

[0038] Exemplarily, the conveying assembly 100 is used to convey materials to be sorted; the conveying assembly 100 may include one or a combination of a horizontally arranged conveyor belt, an inclined conveyor belt, and an angled inclined slide.

[0039] In some embodiments, the carrying component 300 includes multiple grids for carrying multiple materials, wherein the size of the storage space inside at least one adjustable grid 310 among the multiple grids is adjustable, and the adjusted storage space is used to carry a target number of target materials; the detection component is used to detect the multiple materials carried by the multiple grids to obtain a detection image; the control unit 500 is used to process the detection image to obtain the identification result of each material among the multiple materials, and sort each material from the grid where it is located to the target position matching its identification result.

[0040] According to the embodiments of the present disclosure, because the size of the accommodation space inside the adjustable grid is adjustable, it can carry a target number of target materials that are compatible with the detection method, detection parameters or detection performance of the detection component, so as to avoid interference with the detection component and maintain a high detection accuracy. The design of the adjustable grid can adapt to materials of different sizes and types, increase the flexibility of the sorting process, and improve the sorting efficiency and accuracy.

[0041] Exemplarily, the plurality of grids carrying a plurality of materials includes at least some of the grids carrying more than two materials, for example, a certain grid can carry one or more materials. The adjustable size of the accommodation space includes at least one of the length, width and depth being adjustable.

[0042] For example, the detection image may include materials and grids, and the control unit 500 may be disturbed by the grid in the process of obtaining the recognition result. To reduce interference, the grid may use low-density materials, such as low-density polyethylene LDPE (LDPE may have a density of 0.915 g / cc to 0.940 g / cc), linear low-density polyethylene LLDPE (LLDPE has a density of 0.910 g / cc, or 0.915 g / cc, or 0.920 g / cc, or 0.925 g / cc to 0.930 g / cc, or 0.935 g / cc, or 0.940 g / cc), and the like.

[0043] For example, the bearing assembly 300 may include a grid tray including a plurality of grids distributed in an array. The grid tray is detachably connected to the conveying assembly 100. The bearing assembly 300 may also be integrated with the conveying assembly 100, for example, a grid is installed on the conveyor belt surface to form a plurality of grids. The adjustable grid 310 refers to a grid whose internal storage space size can be adjusted as needed, for example, one or more partitions constituting the grid can be moved to achieve the function of adjusting the storage space size.

[0044] Each grid in the bearing assembly 300 may be independent of each other. Figure 2~Figure 4 An optional implementation of the adjustable grid 310 is described.

[0045] Figure 2 The overall structure of the adjustable grid 310 according to an embodiment of the present disclosure is schematically shown. Figure 3 Schematically shows Figure 2 The structure diagram of the liftable bottom plate 312 is shown in FIG. Figure 3 (a) shows the positional relationship between the base plate 312 and the screw nut mechanism 313, Figure 3 (b) shows a connection diagram between the screw nut sleeve 3132 and the screw 3131 .

[0046] like Figure 2and Figure 3 As shown, the adjustable grid 310 includes an enclosure component 311, a base plate 312 and a screw nut mechanism 313. The enclosure component 311 includes four partitions arranged around the base plate 312. The enclosure form of the enclosure component 311 depends on the shape of the base plate 312. For example, in some embodiments, the enclosure component 311 constitutes a cylindrical partition. The partition can adopt a rigid structure or be replaced by a deformable mesh structure or a flexible structure to adapt to the contours of different materials. The screw nut mechanism 313 may include a screw 3131, a screw nut sleeve 3132 and a connector 3133. Figure 3 (a) shows a bottom plate 312 with a set of screw nut mechanism 313 on both sides. Figure 3 (b) The connecting member 3133 shown is connected to the screw nut sleeve 3132. The connecting member 3133 may include components such as screws and connecting rods. The bottom of the screw 3131 may be connected to a driving mechanism (such as a motor, not shown in the figure).

[0047] During the depth adjustment process, the driving mechanism rotates the screw rod 3131, and the screw rod 3131 drives the screw rod nut sleeve 3132 to move up and down, thereby driving the bottom plate 312 to move up and down, so that the depth of the adjustable grid changes, and the size of the accommodating space changes.

[0048] Figure 4 The structure of the base plate 312 according to an embodiment of the present disclosure is schematically shown. Figure 4 The bottom plate 312 shown in FIG. Figure 2 and Figure 3 One embodiment of a midsole plate.

[0049] like Figure 4 As shown, the bottom plate 312 may include a plurality of telescopic mechanisms 3121. The enclosure component 311 of the adjustable grid 310 is independent of the bottom plate 312, and the bottom of each partition may be mounted on a guide rail (not shown) for movement.

[0050] When adjusting in the length or width direction, one or two partitions located in the corresponding direction can move inward or outward along the guide rail to reduce or increase the distance between the partitions. The telescopic mechanism 3121 of the bottom plate 312 can be a telescopic shaft structure. For example, when the partition begins to move inward or outward, the telescopic mechanism 3121 of the bottom plate 312 also begins to respond and telescopes inward or outward synchronously. When the partition and the bottom plate 312 are adjusted to the desired position, the position of the partition is locked, and the telescopic mechanism 3121 is locked, forming a new adjustable grid 310 that accommodates spatial changes.

[0051] In some embodiments, the control unit 500 can adjust the size of the accommodation space according to the target quantity to be carried by each adjustable grid 310 and the particle size of the target material. For example, a simulation test can be performed in advance to place materials of different particle sizes, quantities, and types in accommodation spaces of different sizes, and the detection components are used to detect various placement conditions (particle size, quantity, and type) to obtain the detection results. The accuracy of the identified material type is evaluated based on the test results. For the accurately identified placement conditions, the corresponding relationship between the particle size, quantity, type, and accommodation space is obtained, and the corresponding relationship can be stored in a table form, for example. In actual applications, the control unit 500 can further adjust the accommodation space by looking up a table based on real-time feedback (such as material category, particle size, and the size of the current accommodation space, etc.).

[0052] The particle size of a material usually refers to the size of the material particles. For example, the particle size of an ore refers to the size of the ore particles. The particle size of the ore can be determined by screening, that is, the maximum size of the ore particles that can pass through a sieve with a specific aperture.

[0053] The target material can be determined based on one or more of the material category, material volume, etc., and the target quantity can be determined based on the recognition accuracy of the target material. For example, if the target material is a metal ore, when two metal ores are stacked, they are prone to mutual interference, resulting in inaccurate recognition, then the target quantity is 1. If the target material is a non-metallic ore, two non-metallic ores can be accurately recognized when stacked, but three non-metallic ores will be inaccurately recognized when stacked two by two or stacked, then the target quantity is less than or equal to 2. For example, taking the X-ray image recognition algorithm as an example, if two target materials are stacked on each other, they will be inaccurately recognized, then the target quantity is 1. If three target materials can also be accurately recognized when stacked two by two or stacked, then the target quantity is less than or equal to 3.

[0054] In some embodiments, when the target quantity is greater than 1, adjacent target materials carried by the adjusted containing space are not stacked, so as to reduce the noise caused by the detection and improve the recognition accuracy.

[0055] For example, if the particle size of the target material is about 3 mm, the adjusted inner diameter of the accommodation space is greater than the result of 3 mm multiplied by the target number. For example, if the target number is 2, the adjusted inner diameter of the accommodation space is 8 mm, which can provide a condition that adjacent target materials do not stack.

[0056] In the following embodiments, the target number is preferably 1, and each grid of the supporting component 300 is an example of an adjustable grid 310 .

[0057] In an embodiment of the present application, materials may include ores, foods, beverages, or other objects to be sorted on an assembly line. By identifying the material information of the material to be sorted, the material is divided into multiple categories based on the material information, and different categories of the material are sorted. In the specific classification, there may be different ways of dividing categories according to different sorting requirements. Material categories can be classified according to shape and size, density, material content, etc., and the present application does not limit this. The target material can be determined based on parameters such as particle size or category. After determining the target material, the target quantity and the size of the accommodation space can be determined by looking up a table.

[0058] For example, taking ore sorting as an example, ores can be divided into metal ores and non-metallic ores. Metallic ores include ferrous metals and non-ferrous metals; such as iron, manganese, chromium, etc.; non-ferrous metal ores, such as copper, lead, zinc, aluminum, tin, molybdenum, nickel, antimony, tungsten, etc. Non-metallic ores include most oxygen-containing salt ores and some oxide and halide ores, such as diamond, crystal, Iceland spar, boron, tourmaline, mica, topaz, corundum, graphite, gypsum, asbestos, and fuel ores. When classifying ores, the material categories include the types of metals contained, the grade and chemical composition, etc. The ore sorting is used as an example. Ore categories can be divided into three categories according to the content of specific metals, including high-quality ores (highest content of specific metals), medium-quality ores (middle content of specific metals) and low-quality ores (lowest content of specific metals).

[0059] For example, the detected image includes an optical image and an X-ray image. The optical image acquisition component 210 is used to capture the optical image of the material to be sorted; the X-ray image acquisition component 220 is used to capture the X-ray image of the material to be sorted; the control unit 500 is used to obtain the X-ray image and the three-dimensional image, and identify the category of the material.

[0060] Exemplarily, the X-ray image acquisition component 220 may include an X-ray source and an X-ray detector. For example, the X-ray source may be disposed above the material to be sorted, and the X-ray detector may be disposed below the material to be sorted, for example, the X-ray detector is installed below the conveyor belt of the conveyor component 100. The X-ray detector receives the X-rays that penetrate the material and converts them into an X-ray image.

[0061] Exemplarily, the optical image acquisition component 210 may include a three-dimensional structured light camera, which uses a specific pattern of light (such as stripes or grid-shaped light) to project onto the surface of the material, and calculates the three-dimensional shape of the material to obtain a three-dimensional image by analyzing the deformation of the light pattern reflected from the surface of the material. Exemplarily, the optical image acquisition component 210 may include a line laser binocular stereo camera, which uses a linear laser as a light source to project a straight line-shaped laser beam, and is equipped with two cameras to capture the projection of the laser line on the surface of the material from different angles, and calculates the three-dimensional information of the material to obtain a three-dimensional image by analyzing the difference in the position of the laser line in the images captured by the two cameras.

[0062] The control unit 500 may include a host computer, a terminal device (such as a mobile phone, a laptop, a desktop or other device) or a server (such as a local server or a cloud server), etc. For example, the control unit 500 may perform the following operations: using the X-ray image and the three-dimensional image as the input of the two branches of the deep learning model, extracting their respective features, and then splicing the feature maps of the X-ray image and the three-dimensional image to obtain a richer feature expression, converting them into a new feature space through a fully connected layer, and using the softmax function in the classification layer to convert the output result of the fully connected layer into a probability distribution to obtain the final recognition result. For example, in a two-classification scenario, the classification layer outputs the predicted concentrate probability and tailings probability, and takes the one with a high probability as the recognition result. In a three-classification scenario, the classification layer outputs the predicted concentrate probability, medium-quality ore probability and tailings probability, and takes the one with a high probability as the recognition result. It can be understood that the present disclosure does not limit the number of categories output by the classification layer, and can output the predicted probability corresponding to a plurality of pre-set categories.

[0063] The detection components can also include area array cameras, hyperspectral imaging modules, LIBS (laser induced decomposition spectroscopy) modules, PGNAA (prompt gamma neutron activation analysis) modules, online FTIR (Fourier transform infrared spectroscopy) modules and magnetic resonance modules, etc., to identify materials in the grid.

[0064] Reference Figure 1 The material sorting device further includes a material distribution component. For example, the material distribution component includes a material hopper and a material distribution pipe. The material hopper has a large opening to facilitate the input of materials. The material hopper includes a discharge port. The material distribution pipe may be a spiral pipe, the inlet of which is connected and communicated with the discharge port of the material hopper. The outlet of the material distribution pipe extends to the top of the bearing component 300 to place the material in the corresponding material placement area.

[0065] In some embodiments, the material distribution component is used to place multiple materials in multiple grids in batches, wherein the particle sizes of materials in different batches are different, and the particle sizes of materials in the same batch are approximately the same.

[0066] For example, the cloth assembly may include multiple sieves with different apertures. First, use a sieve with the smallest aperture, such as 1 mm (for example only), and place materials with particle sizes below 1 mm as a batch in multiple grids. Then use a sieve with a slightly larger aperture, such as 2 mm (for example only), and place materials with particle sizes between 1 mm and 2 mm as a batch in multiple grids. Repeat this cycle until all materials are placed. The material particle sizes being substantially the same may mean that the particle size difference is less than a certain threshold, such as 1 mm, for example only.

[0067] In some embodiments, the control unit 500 is used to adjust the size of the accommodation space of the adjustable grid 310 that does not carry the material according to the target quantity and material particle size of each batch.

[0068] In the process of gradually distributing multiple batches of materials, the materials of each batch can be determined in the order of the material particle size from small to large. For example, the control unit 500 can obtain the particle size of each batch of materials, take the batch of materials as the target material, determine the target quantity according to the material particle size, and then uniformly change the size of the accommodation space of the adjustable grid 310. If there is already material in the adjustable grid 310, it will no longer be adjusted. Since the size of the accommodation space after adjustment is not enough to accommodate materials with larger particle sizes, the new batch of materials can be placed in the idle grid.

[0069] According to the embodiments of the present disclosure, distributing materials in batches can uniformly change the size of the accommodation space of the adjustable grid 310 in each batch, which is conducive to the adjusted accommodation space being able to carry the target quantity of target materials of the corresponding batch.

[0070] In some embodiments, the multiple grids include multiple adjustable grids 310, wherein the multiple adjustable grids 310 are located in multiple areas, and each area includes at least one adjustable grid 310; the control unit 500 is used to adjust the accommodation space of each adjustable grid 310 according to the multiple areas, wherein the accommodation space sizes of the adjustable grids 310 in different areas are different, and the accommodation space sizes of the adjustable grids 310 in the same area are approximately the same.

[0071] For example, in order to coordinate with the cloth distribution component to distribute multiple materials in batches, multiple regions can correspond to multiple batches one by one. That is, the target material carried by the adjustable grid 310 in each region is the material of the corresponding batch. Therefore, the accommodation space of the adjustable grid 310 in each region is adjusted according to the particle size of the corresponding batch of materials. Therefore, multiple regions can be adjusted at the same time, thereby reducing the adjustment time and facilitating the cloth distribution component to distribute materials in batches quickly.

[0072] Figure 5 A top view of an adjustable grid 310 according to an embodiment of the present disclosure is schematically shown.

[0073] In some implementations, multiple areas are distributed in sequence along the target direction, and the accommodation space of the adjustable grid 310 in adjacent areas gradually increases along the target direction. The material sorting device also includes a sweeping component (not shown in the figure), which is used to push the multiple materials placed in the first area along the target direction until they are pushed through the second area; wherein the first area is the area with the largest accommodation space of the adjustable grid 310 among the multiple areas, and the second area is the area with the smallest accommodation space of the adjustable grid 310 among the multiple areas.

[0074] The sweeping component may include a push rod or a push plate. When each batch of materials is placed in the corresponding area, there may be accumulation. The sweeping component can push the accumulated materials to each grid. Figure 5 As shown, the A area, B area and C area are distributed along the target direction, and the accommodation space of the adjustable grid 310 in each area gradually increases. The particle size of the material batch corresponding to the A area is the smallest, and the particle size of the material batch corresponding to the C area is the largest. Figure 5 The target direction shown is pushed, first the material with the smallest particle size can fall into the grid of area A, while other materials with larger particle sizes cannot fall into the grid of area A. Then, the material with slightly larger particle size can fall into the grid of area B, while the material with the largest particle size cannot fall into the grid of area B. Then, the material with the largest particle size falls into the grid of area C. In this way, at least part of the material particle size can be matched with the grid accommodation space to a certain extent.

[0075] In some implementations, each of the plurality of grids includes a bearing surface and an enclosure component 311. The enclosure component 311 is telescopically mounted on the bearing surface, wherein the enclosure component 311 and the bearing surface form a receiving space; when the detection assembly detects a plurality of materials, the enclosure component 311 is retracted to a predetermined position, wherein at the predetermined position, the top of the enclosure component 311 is lower than the bearing surface, or is substantially flush with the bearing surface.

[0076] Structural reference of adjustable grid 310 Figure 2 , the structure of the non-adjustable grid can be Figure 2 The screw nut mechanism 313 is removed from the structure shown. The bearing surface is Figure 2 The upward surface of the bottom plate 312 is used to carry materials. For example, the enclosure component 311 may include a telescopic spring assembly. The telescopic spring assembly includes components such as a spring and a threaded pull rod, which are assembled at the bottom of the enclosure component 311. The spring is compressed or released by the threaded pull rod, so that the spring provides power for the enclosure component 311 to extend and retract. It can be understood that the extension and retraction of the enclosure component 311 can use other mechanical structures besides the telescopic spring assembly, which is not limited by the present disclosure.

[0077] When the detection component detects multiple materials, the optical image acquisition component 210 and the X-ray image acquisition component 220 may capture the image of the enclosure component 311 during the process of capturing the image of the material to be sorted. Since the enclosure component 311 is close to the material, it will cause interference during image recognition, reducing the recognition accuracy of the material type.

[0078] According to the embodiment of the present disclosure, by providing a retractable enclosure component 311, it is possible to avoid capturing the image of the enclosure component 311, thereby reducing interference during image recognition and improving the recognition accuracy of the material type.

[0079] In some embodiments, the material sorting device also includes a first suction assembly, which includes a plurality of first suction ports corresponding one-to-one to a plurality of grids, and each first suction port is installed on the bearing surface of the corresponding grid; in response to the enclosure component 311 shrinking to a predetermined position, each first suction port generates a suction force toward the bearing surface for the material carried by the grid.

[0080] Reference Figure 1 , the conveying component 100 can transport the carrying component 300 to the detection area of ​​the detection component. During the process of the optical image acquisition component 210 and the X-ray image acquisition component 220 capturing images, the conveying component 100 is still in the transportation state, and the carrying component 300 continues to move in the detection area. After the enclosure component 311 is retracted to a predetermined position, in order to prevent the materials in each grid from moving relative to the conveyor belt and leaving the grid, the suction force is used to fix the materials, which is beneficial to the accuracy of sorting.

[0081] To expand, a photoelectric sensor can be set in the detection area. The transmitting end and the receiving end of the photoelectric sensor can be distributed on both sides of the conveying direction of the conveyor belt. First, the bearing assembly 300 is transported to the detection area, so that the light propagation between the transmitting end and the receiving end is blocked. Then, the control unit 500 receives the signal of the photoelectric sensor and controls the enclosure component 311 to shrink to a predetermined position. Then, the control unit 500 receives the signal that the enclosure component 311 shrinks to a predetermined position, or after waiting for a certain period of time, the control unit 500 sends an instruction to control the optical image acquisition component 210 and the X-ray image acquisition component 220 to capture an image, and sends an instruction to control each first suction port to generate suction toward the bearing surface for the material carried by the grid. Then, the bearing assembly 300 continues to move in the detection area until the light propagates normally between the transmitting end and the receiving end. Then, the control unit 500 receives the signal of the photoelectric sensor and controls the enclosure component 311 to extend. Then, the control unit 500 receives a signal that the enclosure component 311 is extended to the target position, or after waiting for a certain period of time, sends an instruction to control the optical image acquisition component 210 and the X-ray image acquisition component 220 to stop capturing images, and sends an instruction to control each first suction port to stop generating suction.

[0082] In some implementations, when approaching the target position of each material, the grid where the material is located is flipped; the control unit 500 is used to sort each material from the flipped grid where it is located to the target position matching its identification result.

[0083] For example, the grids of the supporting component 300 are independent of each other, and the grid where the material close to the target position is located can be taken out of the supporting component 300. For example, the control unit 500 controls the robotic arm to take out the grid, move it to the top of the target position, and flip it to make the material fall into the target position (such as the target distribution bin).

[0084] According to the embodiments of the present disclosure, materials are sorted to the target position in a flipping manner with each grid as a unit, which can avoid the occurrence of inaccurate spraying and sorting errors. For example, in this embodiment, by accurately sorting foam or powder-grade materials in combination with adjustable grids and photoelectric technology recognition, it is possible to avoid the situation where foam or powder-grade materials are scattered in the surrounding environment during spraying and cause pollution, which has certain advantages in reducing power loss caused by inaccurate sorting and reducing environmental pollution.

[0085] The difference is that each grid can be flipped independently, such as Figure 1 As shown, the supporting assembly 300 can be turned over as a whole first and then moved close to the target position of each material for sorting.

[0086] In some implementations, the material sorting device further includes a second suction assembly. The second suction assembly includes a plurality of second suction ports corresponding to the plurality of grids, each second suction port being installed on the bearing surface of the corresponding grid; each second suction port generates suction force toward the bearing surface for the material carried by the grid in response to the flipping of the grid in which it is located.

[0087] Exemplarily, the second suction assembly may be the first suction assembly, and the second suction port may be the first suction port. Alternatively, the second suction assembly is a different assembly from the first suction assembly, and the two are independent of each other, and correspondingly, the first suction port and the second suction port are also independent of each other. The first suction port or the second suction port may include a suction cup structure, for example.

[0088] After the supporting assembly 300 is flipped over as a whole, the materials in all the grids are affected by gravity, and the materials in some grids have not reached the target position. Therefore, the second suction assembly can generate suction for the materials that have not reached the target position, so as to fix them in the grids, avoid falling prematurely before reaching the target position, and reduce the probability of sorting errors.

[0089] In some embodiments, the control unit 500 is used to sort each material from the flipped grid where it is located to a target position that matches its identification result, including: the control unit 500 is used to control the second suction port of the grid where each material is located to stop generating suction toward the carrying surface so that the material falls into the target position that matches its identification result.

[0090] When the identification result of a material indicates that it should be sorted into a certain sorting bin 400, the target position is determined. When it is close to the target position, for example, above the target position, the control unit 500 controls the second suction port of the grid where the material is located to stop sucking, so that it falls into the specific sorting bin 400.

[0091] Take the case where the first suction port and the second suction port are independent of each other as an example. Figure 1 For example, the bearing assembly 300 may be flipped only after the detection is completed and the enclosure component 311 extends from the predetermined position to the target position. Therefore, taking the flipping moment of the bearing assembly as the boundary, before the flipping moment, during the detection of the bearing assembly 300, the first suction port performs the suction operation, and the second suction port does not perform the suction operation. After the flipping moment, the second suction port performs the suction operation, and the first suction port does not perform the suction operation. Among them, the flipping moment may be the moment when the angle between the bottom surface of the bearing assembly and the horizontal plane is greater than or equal to the predetermined angle (such as an angle of 10 degrees, which is only an example).

[0092] According to the embodiment of the present disclosure, the materials in each grid can be accurately sorted through the coordinated operation of the control unit 500 and the second suction assembly.

[0093] In some embodiments, the magnitude of the suction force generated by each second suction port on the material carried by the grid in which it is located toward the carrying surface is proportional to the size of the accommodation space of the grid in which it is located.

[0094] It is understandable that different sizes of storage spaces carry different target quantities of target materials. If the storage space is large, the total weight of the materials carried is greater, and if the storage space is small, the total weight of the materials carried is smaller. Therefore, for storage spaces of different sizes, if the same suction force is used uniformly, some materials may not be sucked and fall off, or if all the materials to be sucked are successfully sucked, the suction force may be too large for some materials, resulting in waste.

[0095] For example, simulation tests can be conducted in advance on factors such as different accommodation spaces, material types, and material weights to obtain the corresponding relationship between the accommodation space, material type, material weight, and suction. For example, when the target number is 1, a high-quality ore with a particle size of 4 mm is placed in a grid with a matching accommodation space size. Then the grid or the entire bearing assembly 300 is flipped. During the flipping process, the second suction port of the grid generates suction toward the bearing surface. For example, the maximum power suction is first used, and then gradually reduced until the high-quality ore with a particle size of 4 mm falls, so that the appropriate suction can be obtained.

[0096] According to the embodiments of the present disclosure, the suction force can be allocated in a targeted manner according to the size of the accommodation space of each grid, so that all the materials to be sucked are successfully sucked and the purpose of saving energy is achieved.

[0097] In some embodiments, the magnitude of the suction force generated by each second suction port on the material carried by the grid in which it is located toward the carrying surface is proportional to the depth of the grid in which it is located.

[0098] It is understandable that the depth of the grid is different, the amount of material carried may be different, and the suction force required is also different. The suction force can increase with the increase of the depth of the grid to ensure the stability of the material contained in the grid.

[0099] For example, simulation tests can be conducted in advance on factors such as different depths, material types, and material weights to obtain the corresponding relationship between depth, material type, material weight, and suction. For example, multiple combinations of length and width are provided, different grid depths are adjusted under each combination, and the corresponding relationship between various material types, material weights, and suction is determined at each depth.

[0100] According to the embodiments of the present disclosure, the required suction force can be automatically adjusted according to the quantity and type of materials carried by grids of different depths, thereby improving flexibility and efficiency and saving energy.

[0101] In some embodiments, the first suction assembly or the second suction assembly may not be provided, for example, a cover may be installed on the top of each grid. The control unit 500 may control the opening or closing of each cover. For example, when the grid does not carry any material, the cover is opened. When the grid carries material, the cover is closed to prevent other materials from entering. When a grid or the carrying assembly 300 is turned over as a whole, the cover is closed to prevent the material from falling. When a certain material reaches above the target position, the cover of the grid where the material is located is opened to allow it to fall into the target position.

[0102] Figure 6 The structure diagram of the first conveying assembly 110 according to an embodiment of the present disclosure is schematically shown.

[0103] In some embodiments, the material sorting device includes a first conveying assembly 110 for conveying the carrier assembly 300, wherein the first conveying assembly 110 includes a first conveying section 111 and a second conveying section 112. The second conveying section 112 is connected end to end with the first conveying section 111 to form an annular conveying section for conveying the carrier assembly 300; wherein the first conveying section 111 is opposite to the second conveying section 112, and the carrier assembly 300 gradually turns over as it is conveyed from the first conveying section 111 to the second conveying section 112, and the second conveying section 112 is used to convey the carrier assembly 300 to approach the target position of each material.

[0104] Figure 6 The first conveying assembly 110 shown is one embodiment of the conveying assembly 100. Figure 1 The transport assembly 100 shown may have the same structure. Figure 6 , with the center line as the boundary, the first conveying section 111 and the second conveying section 112 can be distinguished. It can be understood that the present disclosure is not limited to using the center line as the distinction between the first conveying section 111 and the second conveying section 112. For example, when the load-bearing component 300 is transported from the first conveying section 111 to the second conveying section 112, when the flipping angle reaches a certain threshold, it is used as the dividing point to distinguish the first conveying section 111 from the second conveying section 112. For example, the bottom surface of the load-bearing component 300 is at a 0-degree angle with the center line in the first conveying section 111. After being completely flipped, its bottom surface is at a 180-degree angle with the center line in the second conveying section 112. When the flipping angle reaches a certain threshold, the bottom surface of the load-bearing component 300 may be at a 30-degree angle with the center line.

[0105] The bottom of the bearing assembly 300 can be fixedly connected to the conveyor belt of the first conveyor assembly 110 so that it will not leave the conveyor belt of the first conveyor assembly 110 during the flipping process. Figure 6 , in the first conveying section 111 above the first conveying component 110, after the material is placed and identified on the carrying component 300, the carrying component 300 is moved from the first conveying section 111 to the second conveying section 112 below the first conveying component 110. At this time, the carrying component 300 is turned 180 degrees, but all the materials are sucked and cannot fall down, or a cover is provided on the surface of the grid, and the grid is covered with the cover after identification; when a grid moves to the target position corresponding to the material it contains, the material suction is stopped, or the cover is opened, and the material falls freely; other materials continue to move to their respective corresponding target positions.

[0106] According to the embodiment of the present disclosure, the carrying assembly 300 can be gradually turned over through the conveying path of the first conveying assembly 110, and the control unit 500 and the second suction assembly can be used to accurately sort the materials in each grid.

[0107] In some embodiments, the bottom of each grid in the multiple grids includes an open state or a closed state, and is used to carry materials in the closed state; the control unit 500 is used to place the bottom of each grid where the material is located in an open state so that the material falls into a target position matching its identification result.

[0108] Different from the above-mentioned embodiment of sorting materials by flipping, the conveying assembly 100 may include a second conveying assembly (not shown in the figure). For example, the bearing assembly 300 may also be placed on the second conveying assembly that moves in a circular motion from a top view angle for conveying; in this case, the grid may not be flipped throughout the process, so the material may not be sucked; when the material is dropped, when it moves to the corresponding target position, the corresponding cover is opened to allow the material to fall freely.

[0109] According to the embodiment of the present disclosure, during the transportation of the carrier assembly 300, material sorting can be achieved by opening the bottom of the grid, which is highly convenient.

[0110] According to the material sorting device provided by the present disclosure, a material sorting method is also provided.

[0111] Figure 7 The flowchart of the material sorting method according to the embodiment of the present disclosure is schematically shown.

[0112] like Figure 7 As shown, the material sorting method of this embodiment includes:

[0113] In operation S710, multiple grids are made to carry multiple materials, wherein the size of the internal accommodation space of at least one adjustable grid 310 among the multiple grids is adjustable, and the adjusted accommodation space is used to carry a target quantity of target materials; for example, multiple grids of the carrying component 300 are made to carry multiple materials.

[0114] In operation S720, a plurality of materials carried by a plurality of grids are detected to obtain a detection image; for example, the detection image is obtained using a detection component, and the detection image may include an optical image and an X-ray image.

[0115] In operation S730, the detection image is processed to obtain the recognition result of each material in the plurality of materials, so as to sort each material from its grid to a target position matching its recognition result. For example, operation S730 is performed using the control unit 500 to sort each material.

[0116] In some embodiments, the control unit 500 adjusts the size of the accommodation space according to the target quantity and the particle size of the target material.

[0117] In some embodiments, when the target number is greater than 1, no stacking occurs between adjacent target materials carried by the adjusted containing space.

[0118] In some embodiments, multiple materials are placed in multiple grids in batches, wherein the particle sizes of materials in different batches are different and the particle sizes of materials in the same batch are substantially the same. For example, material distribution in batches is achieved using a material distribution component.

[0119] In some embodiments, the control unit 500 adjusts the size of the accommodation space of the adjustable grid 310 that does not carry the material according to the target quantity and the particle size of the material in each batch.

[0120] In some embodiments, the multiple grids include multiple adjustable grids 310, wherein the multiple adjustable grids 310 are located in multiple areas, and each area includes at least one adjustable grid 310; the control unit 500 adjusts the accommodation space of each adjustable grid 310 according to the multiple areas, wherein the accommodation space sizes of the adjustable grids 310 in different areas are different, and the accommodation space sizes of the adjustable grids 310 in the same area are approximately the same.

[0121] In some embodiments, each of the plurality of grids includes a bearing surface and an enclosure component 311. The enclosure component 311 is telescopically mounted on the bearing surface, wherein the enclosure component 311 and the bearing surface form a receiving space; when the detection component detects a plurality of materials, the enclosure component 311 is retracted to a predetermined position, wherein at the predetermined position, the top of the enclosure component 311 is lower than the bearing surface, or is substantially flush with the bearing surface.

[0122] In some embodiments, the material sorting device further comprises a first suction assembly. The first suction assembly comprises a plurality of first suction ports corresponding to the plurality of grids, each first suction port being mounted on the bearing surface of the corresponding grid; in response to the enclosure component 311 being retracted to a predetermined position, each first suction port generates suction force toward the bearing surface for the material carried by the grid in which it is located.

[0123] In some embodiments, when approaching the target position of each material, the grid where the material is located is flipped; so that the control unit 500 sorts each material from the flipped grid where it is located to the target position matching its identification result.

[0124] In some embodiments, the material sorting device further comprises a second suction assembly. The second suction assembly comprises a plurality of second suction ports corresponding to the plurality of grids one by one, each second suction port being installed on the bearing surface of the corresponding grid; each second suction port generates suction force toward the bearing surface for the material carried by the grid in response to the flipping of the grid in which it is located.

[0125] In some embodiments, the control unit 500 is used to sort each material from the flipped grid where it is located to a target position that matches its identification result, including: the control unit 500 controls the second suction port of the grid where each material is located to stop generating suction toward the carrying surface, so that the material falls into the target position that matches its identification result.

[0126] In some embodiments, the magnitude of the suction force generated by each second suction port on the material carried by the grid in which it is located toward the carrying surface is proportional to the size of the accommodation space of the grid in which it is located.

[0127] In some embodiments, the material sorting device also includes a first conveying component 110 for conveying the carrying component 300, wherein the first conveying component 110 includes a first conveying section 111; a second conveying section 112, which is connected end to end with the first conveying section 111 to form an annular conveying section for conveying the carrying component 300; wherein the first conveying section 111 is opposite to the second conveying section 112, and the carrying component 300 is gradually flipped as it is conveyed from the first conveying section 111 to the second conveying section 112, so that the second conveying section 112 conveys the carrying component 300 to approach the target position of each material.

[0128] In some embodiments, the bottom of each grid in the multiple grids includes an open state or a closed state, and is used to carry materials in the closed state; the control unit 500 places the bottom of each grid where the material is located in an open state so that the material falls into the target position matching its identification result.

[0129] For the parts not mentioned in the method part, they can be understood by referring to the various embodiments of the above-mentioned device. That is, the method part includes various steps performed using any one of the structural embodiments described above. In addition, the implementation methods, technical problems solved, functions achieved, and technical effects achieved of each corresponding step in the method part embodiment are the same or similar to the implementation methods, technical problems solved, functions achieved, and technical effects achieved of each component in the device part, respectively, and will not be repeated here.

[0130] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways, even if such combinations and / or combinations are not explicitly described in the present disclosure. In particular, the features described in the various embodiments and / or claims of the present disclosure may be combined and / or combined in a variety of ways without departing from the spirit and teachings of the present disclosure. All of these combinations and / or combinations fall within the scope of the present disclosure.

[0131] The above embodiments of the present disclosure are only for the purpose of illustration, and are not intended to limit the scope of the present disclosure. Although each embodiment is described above, it does not mean that the measures in each embodiment cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A material sorting device, characterized in that: include: A carrying assembly, comprising a plurality of grids for carrying a plurality of materials, wherein a size of a receiving space inside at least one adjustable grid among the plurality of grids is adjustable, and the adjusted receiving space is used to carry a target quantity of target materials; A detection component, used for detecting the multiple materials carried by the multiple grids to obtain a detection image; A control unit is used to process the detection image to obtain an identification result of each material in the multiple materials, so as to sort each material from the grid where it is located to a target position matching its identification result.

2. The material sorting device according to claim 1, characterized in that: The control unit is used to adjust the size of the accommodation space according to the target number of target materials to be carried by the adjustable grid and the particle size of the target materials.

3. The material sorting device according to claim 1 or 2, characterized in that: When the target quantity is greater than 1, no stacking occurs between adjacent target materials carried by the adjusted accommodation space.

4. The material sorting device according to claim 2, characterized in that: The material sorting device also includes: The material distribution component is used to place the multiple materials in the multiple grids in batches, wherein the particle sizes of materials in different batches are different, and the particle sizes of materials in the same batch are approximately the same.

5. The material sorting device according to claim 4, characterized in that: The control unit is used to adjust the size of the accommodation space of the adjustable grid that does not carry the material according to the target quantity and material particle size of each batch.

6. The material sorting device according to claim 5, characterized in that: The plurality of grids include a plurality of adjustable grids, wherein the plurality of adjustable grids are located in a plurality of regions, and each region includes at least one adjustable grid; The control unit is used to adjust the accommodation space of each adjustable grid according to the multiple areas, wherein the accommodation space of the adjustable grids in different areas has different sizes, and the accommodation space of the adjustable grids in the same area has substantially the same size.

7. The material sorting device according to claim 1, characterized in that: Each of the plurality of grids comprises: bearing surface; an enclosure component, which is telescopically mounted on the bearing surface, wherein the enclosure component and the bearing surface constitute the accommodation space; When the detection component detects the multiple materials, the enclosure component is retracted to a predetermined position, wherein at the predetermined position, the top of the enclosure component is lower than the bearing surface, or is substantially flush with the bearing surface.

8. The material sorting device according to claim 7, characterized in that: The material sorting device also includes: A first suction assembly, comprising a plurality of first suction ports corresponding to the plurality of grids one by one, each of the first suction ports being mounted on a bearing surface of a corresponding grid; In response to the enclosure component being retracted to a predetermined position, each of the first suction ports generates a suction force toward the bearing surface on the material carried by the grid in which it is located.

9. The material sorting device according to claim 1, characterized in that: When approaching the target position of each material, the grid where the material is located is flipped; The control unit is used to sort each material from the flipped grid where it is located to a target position that matches its identification result.

10. The material sorting device according to claim 9, characterized in that: The material sorting device also includes: A second suction assembly includes a plurality of second suction ports corresponding to the plurality of grids one by one, each of the second suction ports being mounted on a bearing surface of a corresponding grid; Each of the second suction ports generates suction force toward the carrying surface for the material carried by the grid in the location in response to the grid being flipped.

11. The material sorting device according to claim 10, characterized in that: The control unit is used to sort each material from the flipped grid where it is located to a target position matching its recognition result, including: The control unit is used to control the second suction port of the grid where each material is located to stop generating suction toward the carrying surface, so that the material falls into a target position that matches its identification result.

12. The material sorting device according to claim 10, characterized in that: The magnitude of the suction force generated by each of the second suction ports on the material carried by the grid in which it is located toward the carrying surface is proportional to the size of the accommodation space of the grid in which it is located.

13. The material sorting device according to claim 10 or 12, characterized in that: The magnitude of the suction force generated by each of the second suction ports on the material carried by the grid in which it is located toward the carrying surface is proportional to the depth of the grid in which it is located.

14. The material sorting device according to claim 9, characterized in that: The material sorting device further comprises a first conveying assembly for conveying the carrying assembly, wherein the first conveying assembly comprises: The first conveying section; A second conveying section, connected end to end with the first conveying section to form a ring-shaped conveying section for conveying the bearing assembly; The first conveying section is opposite to the second conveying section, the carrying assembly is gradually turned over as it is conveyed from the first conveying section to the second conveying section, and the second conveying section is used to convey the carrying assembly to approach the target position of each material.

15. The material sorting device according to claim 1, characterized in that: The bottom of each grid in the plurality of grids includes an open state or a closed state, and is used to carry materials in the closed state; The control unit is used to place the bottom of the grid where each material is located in an open state so that the material falls into a target position that matches its recognition result.

16. A material sorting method, characterized in that: include: Allowing multiple grids to carry multiple materials, wherein the size of the accommodation space inside at least one adjustable grid among the multiple grids is adjustable, and the adjusted accommodation space is used to carry a target quantity of target materials; Detecting the multiple materials carried by the multiple grids to obtain a detection image; The detection image is processed to obtain an identification result of each of the multiple materials, so as to sort each material from the grid where it is located to a target position that matches its identification result.

Images