Material sorting method and material sorting device

Abstract

The invention provides a material sorting method which comprises the following steps: in response to a determined to-be-sorted target material, acquiring a monitored current blowing medium parameter of a blowing mechanism; the injection duration of injecting the target material to the sorting position based on the injection medium parameters is calculated; and the injection mechanism is controlled to inject the target material according to the injection duration on the basis of the injection medium parameters. The invention further provides a material sorting device.

Description

Technical Field

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

[0002] In the process of material sorting, the material can be sprayed to sort the material to the matching position. For example, an air compressor is used as the air source, the solenoid valve is opened and closed, and the nozzle is used to start and stop the spraying.

[0003] In the process of material spraying, it is usually controlled according to the operating status of the spraying components such as the air compressor, solenoid valve and nozzle under ideal conditions, as well as the parameters such as the gas pressure and gas flow under ideal conditions. However, the actual spraying conditions are somewhat different from the ideal conditions.

[0004] For example, the gas pressure of the air compressor fluctuates. First, the air compressor is set with loading air pressure and unloading air pressure. When the system air pressure is lower than the loading air pressure, the air compressor starts to work to pressurize the system. When the system reaches the unloading air pressure, the air compressor stops working. The air compressor control dead zone is between the loading air pressure and the unloading air pressure, so the air pressure value of the air compressor fluctuates within the dead zone. In addition, when the solenoid valve is opened, the system air pressure of the air compressor will drop rapidly, resulting in different injection pressures in different time periods and different speeds of change of system air pressure for different material quantities. Different injection pressures will lead to different injection effects, which in turn affect the injection effect.

[0005] In addition, after long-term operation, the blowing components such as air compressors, solenoid valves and nozzles will be polluted and aged. For example, dust and slag enter the nozzle, causing the nozzle aperture to become smaller or blocked, and the nozzle blowing air flow rate to change, affecting the blowing force generated per unit time, which in turn leads to poor sorting effect. Summary of the invention

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

[0007] According to the first aspect of the present application, a material sorting method is provided, including: in response to determining a target material to be sorted, obtaining the monitored current blowing medium parameters of the blowing mechanism; calculating the blowing time for blowing the target material to a sorting position based on the blowing medium parameters; and controlling the blowing mechanism to blow the target material according to the blowing time based on the blowing medium parameters.

[0008] According to an embodiment of the present application, calculating the blowing time for blowing the target material to the sorting position based on the blowing medium parameters includes: obtaining a first functional relationship between the theoretical blowing medium parameters and the theoretical blowing time in a preset blowing instruction, and a first change between the blowing medium parameters and the theoretical blowing medium parameters, the first functional relationship indicating the functional relationship between the theoretical blowing medium parameters and the theoretical blowing time for blowing the target material to the sorting position; based on the first functional relationship and the first change, adjusting the theoretical blowing time to the blowing time.

[0009] According to an embodiment of the present application, obtaining the first functional relationship between the theoretical blowing medium parameters and the theoretical blowing time in the preset blowing strategy includes: obtaining the theoretical blowing force parameters based on the product of the theoretical blowing medium parameters and the adjustment coefficient, and the adjustment coefficient is a predetermined constant; obtaining the second functional relationship between the theoretical blowing force parameters and the theoretical blowing time, wherein the second functional relationship indicates the target momentum applied to blow the target material to the sorting position according to the theoretical blowing force parameters and the theoretical blowing time.

[0010] According to an embodiment of the present application, based on the first functional relationship and the first change amount, adjusting the theoretical blowing duration to the blowing duration includes: when the first change amount is greater than a preset threshold, obtaining the blowing force parameter based on the product of the blowing medium parameter and the adjustment coefficient; and obtaining the blowing duration based on the blowing force parameter, the second functional relationship and the theoretical blowing duration.

[0011] According to an embodiment of the present application, calculating the blowing time for blowing the target material to the sorting position based on the blowing medium parameters includes: calculating the target momentum for blowing the target material to the sorting position, and the blowing force applied to the target material based on the blowing medium parameters; and obtaining the blowing time based on the ratio of the target momentum to the blowing force.

[0012] According to an embodiment of the present application, before calculating the blowing time for blowing the target material to the sorting position based on the blowing medium parameters, the method also includes: adjusting the blowing mechanism to a target blowing angle according to the shape parameters of the target material, wherein the blowing mechanism is configured to blow the target material according to the target blowing angle.

[0013] According to an embodiment of the present application, calculating the blowing time for blowing the target material to the sorting position based on the blowing medium parameters includes: calculating the blowing time for blowing the target material to the sorting position based on the target blowing angle and the blowing medium parameters.

[0014] According to an embodiment of the present application, in response to determining a target material to be sorted, obtaining the current blowing medium parameters of the monitored blowing mechanism includes: in response to determining multiple target materials of multiple types to be sorted, obtaining the current blowing medium parameters of each of the multiple monitored blowing mechanisms, wherein the multiple blowing mechanisms correspond one-to-one to the multiple types.

[0015] According to an embodiment of the present application, within the same type range, having the same sorting position, adjusting the blowing mechanism to the target blowing angle according to the shape parameters of the target material includes: for different target materials with different shape parameters within the same type range, adjusting the blowing mechanism corresponding to the type to different target blowing angles.

[0016] According to an embodiment of the present application, there are different sorting positions between different type ranges, and according to the shape parameters of the target material, adjusting the spraying mechanism to the target spraying angle includes:

[0017] According to the shape parameters of different target materials of different types, different blowing mechanisms corresponding to different types are adjusted to different target blowing angles.

[0018] According to an embodiment of the present application, the blowing medium parameter includes at least one of the blowing medium pressure, the blowing medium flow rate, and the blowing medium flow rate.

[0019] Another aspect of an embodiment of the present application provides a material sorting device, including: a conveying mechanism for conveying materials to be sorted; a detection mechanism for detecting the materials to be sorted and obtaining detection results; a control unit for determining the target material to be sorted according to the detection results, so as to execute any of the material sorting methods as above; a blowing mechanism for responding to a blowing instruction of the control unit, and blowing the target material according to the blowing time in the blowing instruction based on the current blowing medium parameters.

[0020] According to an embodiment of the present application, the material sorting device includes a plurality of blowing mechanisms, the plurality of blowing mechanisms include a first blowing mechanism and a second blowing mechanism, and the first blowing mechanism and the second blowing mechanism are used to sort out at least three types of target materials.

[0021] One or more of the above embodiments have the following beneficial effects: by continuously monitoring the current real-time blowing medium parameters of the blowing mechanism, when the target material is to be blown, the actual blowing medium parameters can be considered to calculate the blowing time for blowing the target material to the sorting position, so that the blowing mechanism performs the blowing based on the actual blowing medium parameters and the calculated blowing time. Therefore, by dynamically adjusting the blowing strategy by monitoring the blowing medium parameters, the overall long-term operating stability and reliability of the material sorting can be improved, and a good material sorting effect can be continuously obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above contents and other purposes, features and advantages of the present application will become more apparent through the following description of the embodiments of the present application with reference to the accompanying drawings, in which:

[0023] Figure 1The structure diagram of the material sorting device according to the embodiment of the present application is schematically shown;

[0024] Figure 2 A flow chart of a material sorting method according to an embodiment of the present application is schematically shown;

[0025] Figure 3 A flowchart for calculating the blowing duration according to an embodiment of the present application is schematically shown;

[0026] Figure 4 A flowchart for obtaining a first functional relationship according to an embodiment of the present application is schematically shown;

[0027] Figure 5 A flow chart for obtaining the blowing duration according to an embodiment of the present application is schematically shown;

[0028] Figure 6 A block diagram of a control unit suitable for implementing a material sorting method according to an embodiment of the present application is schematically shown.

[0029] The reference numerals in the above drawings are as follows:

[0030] 100, conveying mechanism; 210, first image acquisition module; 220, second image acquisition module; 310, first blowing mechanism; 320, second blowing mechanism; 400, sorting bin; 600, control unit.

[0031] It should be noted that, for the sake of clarity, in the drawings used to describe the embodiments of the present application, 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

[0032] Below, embodiments of the present application 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 application. 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 application. 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 application.

[0033] Figure 1 The structural diagram of a material sorting device according to an embodiment of the present application is schematically shown.

[0034] like Figure 1As shown, the material sorting device includes a conveying mechanism 100, a detection mechanism (for example, including a first image acquisition module 210 and a second image acquisition module 220), a blowing mechanism, a sorting bin 400 and a control unit 600. The conveying mechanism 100 is used to convey the material to be sorted; the detection mechanism is used to detect the material to be sorted and obtain the detection result; the control unit 600 is used to determine the target material to be sorted according to the detection result, so as to execute the material sorting method provided in some embodiments of the present application; the blowing mechanism is used to respond to the blowing instruction of the control unit 600, and based on the current blowing medium parameters, the target material is blown according to the blowing duration in the blowing instruction.

[0035] Exemplarily, the conveying mechanism 100 can be a combination of one or more of a horizontally arranged conveyor belt, an inclined conveyor belt, and an angled inclined slide. In the following, unless otherwise specified, the conveying mechanism 100 is a horizontally arranged conveyor belt. Materials of different types and particle sizes are distributed along the length direction (i.e., the conveying direction) and the width direction (perpendicular to the conveying direction) on the conveying mechanism 100. Since the conveyor belt has a certain running speed, different materials are scattered on the conveyor belt, and when the conveyor belt is transported to the end position at the end, the materials are thrown out from the conveyor belt for horizontal throwing motion. For example, the conveyor belt can run in a speed range of 2m / s~5m / s.

[0036] The control unit 600 may include a host computer, a terminal device (such as a mobile phone, a laptop computer, a desktop computer or other devices) or a server (such as a local server or a cloud server), etc.

[0037] Exemplarily, the first image acquisition module 210 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 conveying mechanism 100. The X-ray detector receives the X-rays that penetrate the material and converts them into an X-ray image.

[0038] Exemplarily, the second image acquisition module 220 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 first image acquisition module 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.

[0039] It is understandable that the detection mechanism is not limited to using X-ray image acquisition technology and three-dimensional image acquisition technology, but may also include mechanisms using other detection technologies, such as visible light cameras, near-infrared cameras or hyperspectral imaging mechanisms.

[0040] In some embodiments, the material sorting device includes a plurality of blowing mechanisms, including a first blowing mechanism 310 and a second blowing mechanism 320, and the first blowing mechanism 310 and the second blowing mechanism 320 are used to sort out at least three types of target materials.

[0041] like Figure 1 As shown, △, □ and ○ represent three different materials. After leaving the conveying mechanism 100, the △-type material falls into its sorting position by free fall along the original motion trajectory. After leaving the conveying mechanism 100, the ○-type material is blown to the farthest sorting position by the first blowing mechanism 310. After leaving the conveying mechanism 100, the □-type material is not blown by the first blowing mechanism 310, but moves a distance along the original motion trajectory, and the second blowing mechanism 320 moves its nozzle to the middle sorting position. In this way, the intersection of the motion trajectories of the materials falling into the middle and the farthest ends is avoided in space.

[0042] For example, the nozzle aperture of the first blowing mechanism 310 is larger than the nozzle aperture of the second blowing mechanism 320 , which is more conducive to blowing the target material to the farthest sorting position.

[0043] For example, the blowing airflow of the first blowing mechanism 310 does not interfere with the blowing airflow of the second blowing mechanism 320. The orthographic projection of the blowing area of ​​the first blowing mechanism 310 and the orthographic projection of the blowing area of ​​the second blowing mechanism 320 are spaced apart by a preset distance along the conveying direction, so that the blowing airflow of the first blowing mechanism 310 and the blowing airflow of the second blowing mechanism 320 do not interfere with each other. The blowing area refers to the area where the airflow leaves the blowing mechanism. Alternatively, there is a preset angle difference between the blowing angle of the first blowing mechanism 310 and the blowing angle of the second blowing mechanism 320 to avoid interference between the blowing airflows.

[0044] Exemplarily, the multiple blowing mechanisms (such as the first blowing mechanism 310 and the second blowing mechanism 320) in the embodiment of the present application can be located on the same side of the material movement trajectory. In the case of being located on the same side, for example, the multiple blowing mechanisms are located on the lower side of the material movement trajectory. The material movement trajectory in the present application refers to the movement trajectory of the material after it leaves the conveying mechanism 100 along the conveying direction. In this embodiment, by arranging the blowing mechanism on the lower side of the movement trajectory, a blowing force can be applied to the material, reducing energy consumption while improving the influence of different blowing positions on the sorting accuracy. For example, when the material reaches the blowing position, the blowing mechanism can instantly spray a high-pressure airflow with a specific blowing duration, and change the movement trajectory of the material through the airflow, so that the material falls into the corresponding sorting bin 400. Also exemplarily, the multiple blowing mechanisms (such as the first blowing mechanism 310 and the second blowing mechanism 320) in the embodiment of the present application can be located on different sides of the material movement trajectory.

[0045] Exemplarily, each blowing mechanism may be independent of each other. Each blowing mechanism may include an independent solenoid valve and an air compressor, and each nozzle may be connected to a solenoid valve, and the type of the solenoid valve may be a high-frequency solenoid valve. The solenoid valve is communicated with an air compressor (not shown). The air compressor is used to provide a gas source for the nozzle to spray different types of materials. Each blowing mechanism includes one or more nozzles. In the case of having multiple nozzles, for example, the multiple nozzles may be arranged in an array. For example, the blowing pressure range of each spray may be greater than or equal to 0.5MPa and less than or equal to 0.75MPa.

[0046] For example, the spraying angle between each nozzle of each spraying mechanism and the horizontal direction can be dynamically adjusted within a range of greater than or equal to 20 degrees and less than or equal to 60 degrees, and can be adjusted according to parameters such as material type, particle size, shape, etc. For example, the spraying angle of the first spraying mechanism 310 is preferably 45 degrees, and the spraying angle of the first spraying mechanism 310 is preferably 37 degrees (for example only).

[0047] Exemplarily, each of the above-mentioned sorting positions is arranged with a sorting bin 400, and each sorting bin 400 can be assembled by a partition. Different blowing forces combined with blowing angles bring different material movement trajectories, and different baffle heights can be used for different movement trajectories. For example, the length of a single sorting bin 400 is greater than or equal to 1.2m and less than or equal to 2m, the width is greater than or equal to 0.8m and less than or equal to 1.5m, and the height can be adjusted according to the material movement trajectory.

[0048] The following will be based on Figure 1 The material sorting device described by Figure 2~Figure 5 The material sorting method of the embodiment of the present application is described in detail.

[0049] Figure 2The flowchart of the material sorting method according to an embodiment of the present application is schematically shown.

[0050] like Figure 2 As shown, this embodiment includes:

[0051] In operation S210, in response to determining the target material to be sorted, the monitored current spraying medium parameters of the spraying mechanism are acquired.

[0052] In an embodiment of the present application, the particle size of the material to be sorted may be greater than or equal to 30 mm and less than or equal to 350 mm, which is only an example. The material to be sorted may include ore, food, beverage 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 types based on the material information, and different types of materials are sorted. In the specific classification, there may be different types of division methods depending on the sorting requirements. The material type 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 by the control unit 600 based on one or more parameters such as the identified material particle size and material type.

[0053] 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 type includes the type of metal contained, the grade, and the chemical composition. Take ore sorting as an example. Ore types can be divided into three types 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).

[0054] The blowing medium may include gas (such as air, helium, nitrogen, etc.) or fluid (such as water), etc. In the case where the blowing medium is gas, the blowing mechanism may include an air compressor, a solenoid valve, a nozzle, etc.

[0055] The blowing medium parameters refer to medium-related parameters that affect the blowing effect. In some embodiments, the blowing medium parameters may include at least one of the blowing medium pressure, the blowing medium flow rate, and the blowing medium flow rate. When the blowing medium is a gas, it may include at least one of the gas pressure, the gas flow rate, and the gas flow rate. For example, a gas flow monitoring mechanism, a gas pressure monitoring mechanism, and a gas flow rate monitoring mechanism may be installed in each blowing mechanism for monitoring, and parameters such as gas pressure, gas flow rate, and gas flow rate may be monitored in real time.

[0056] For example, a pressure gauge is installed in the valve chamber of the solenoid valve, and a gas flow meter is installed in the air supply pipeline of the air compressor, which can provide real-time feedback on the changes in the air pressure and flow in the air supply pipeline. When the solenoid valve is opened for spraying the target material, the gas injection causes the air pressure in the valve chamber to decrease. As the amount of the target material sprayed increases, the air pressure in the valve chamber further decreases, and the air pressure in the air supply pipeline decreases as a whole, reaching the lower limit of the set threshold. The air compressor starts to replenish the pressure, and it takes a certain amount of time for the air pressure to drop until the air pressure returns to the normal spraying pressure (i.e., the ideal spraying pressure used when the control unit 600 generates the spraying instruction). Therefore, the current gas pressure can be monitored in real time.

[0057] In operation S220, a blowing time for blowing the target material to the sorting position is calculated based on the blowing medium parameters.

[0058] Since there is a certain difference between the actual monitored blowing medium parameters and the ideal blowing medium parameters, when the current blowing medium parameters are obtained, the control unit 600 calculates the time required to blow the target material to the sorting position according to the actual situation to generate a blowing instruction. The blowing instruction includes the blowing duration, and may also include the blowing angle and blowing position of the blowing mechanism. It can be understood that under the same blowing force, the longer the blowing time of the target material, the greater the interference with the motion trajectory of the target material. By reasonably controlling the blowing duration, the motion trajectory of the target material is interfered to a certain extent so that it falls into the sorting position (sometimes also called the designated position). It can also be understood that when blowing is performed when the blowing pressure drops, if the original blowing duration is used, it may not be possible to make the target material fall into the desired sorting position, but by extending the blowing duration, the target material can fall into the desired sorting position.

[0059] In some embodiments, the type, mass and shape of the target material can be obtained, and the movement speed of the target material can be obtained by continuously capturing multiple images of the target material. Then, based on the gas flow rate, gas flow rate and gas pressure, combined with the mass and movement speed of the target material, an empirical formula is called to calculate the injection duration. Among them, the density is determined by the material type, and the volume is calculated by the shape contour to obtain the material mass. Data under different materials and injection medium parameters can be collected in advance, and an empirical formula can be established through statistical analysis.

[0060] In some embodiments, the blowing duration can be predicted using a machine learning model. For example, a data set of blowing duration and related blowing medium parameters is collected in advance, and the data set is used to train a machine learning model (such as a neural network model). For example, the type, quality and shape of the target material can be obtained, and the movement speed of the target material can be obtained by continuously capturing multiple images of the target material. Then, the gas flow rate, gas flow rate and gas pressure, as well as the quality and movement speed of the target material are input into the machine learning model to obtain the blowing duration.

[0061] In some embodiments, the interface of the simulation software can be called in real time to obtain the blowing duration through simulation. For example, a simulation model of the material sorting device is pre-established, including the blowing simulation data of the blowing mechanism under different blowing medium parameters, and the simulation data of materials of different types, different particle sizes, and different speeds are obtained. The simulation model of the target material can be generated in the simulation software by image acquisition, and the current blowing medium parameters and material characteristics (such as type, quality, shape, and movement speed, etc.) can be set in the simulation environment. Run the simulation and record the time when the material arrives at the sorting position to obtain the blowing duration.

[0062] In some embodiments, the blowing duration can be obtained by using a table lookup method. Specifically, first, through experiments or theoretical calculations, different blowing medium parameters, different material properties, and blowing data of corresponding sorting positions are collected. The collected blowing data are organized into a table and stored in a database or file. When performing operation S220, the corresponding blowing duration is found from the table according to the blowing medium parameters and material properties monitored in real time.

[0063] In operation S230, the spraying mechanism is controlled to spray the target material according to the spraying duration based on the spraying medium parameters. According to the calculation result of the spraying duration, the switch and duration of the nozzle are controlled to spray the target material to the designated position.

[0064] According to the embodiments of the present application, by continuously monitoring the current real-time blowing medium parameters of the blowing mechanism, when the target material is to be blown, the actual blowing medium parameters can be considered to calculate the blowing time for blowing the target material to the sorting position, so that the blowing mechanism performs the blowing based on the actual blowing medium parameters and the calculated blowing time. Therefore, by monitoring the blowing medium parameters and dynamically adjusting the blowing strategy, the overall long-term operating stability and reliability of the material sorting can be improved, and a good material sorting effect can be continuously obtained.

[0065] Below through Figure 3~Figure 5 Next, an embodiment of performing operation S220 to calculate the blowing duration is described.

[0066] Figure 3 The flowchart for calculating the blowing duration according to an embodiment of the present application is schematically shown.

[0067] like Figure 3 As shown, this embodiment is one of the embodiments of operation S220, including:

[0068] In operation S310, a first functional relationship between theoretical blowing medium parameters and theoretical blowing duration in a preset blowing instruction and a first change between the blowing medium parameters and the theoretical blowing medium parameters are obtained, and the first functional relationship indicates a functional relationship for blowing the target material to a sorting position according to the theoretical blowing medium parameters and the theoretical blowing duration.

[0069] The preset blowing instructions include pre-defined blowing operation parameters, including theoretical blowing medium parameters and theoretical blowing duration. Theoretical blowing medium parameters refer to the parameters that the blowing medium should have under ideal or standard conditions, such as pressure, flow rate, etc. Theoretical blowing duration refers to the time required to blow the material to the sorting position under the theoretical blowing medium parameters. For example, the preset blowing instruction may be "For medium-quality ore (target material) with a particle size of 50mm, use a pressure of 0.6MPa and a flow rate of 5cm 3 / s spraying (theoretical spraying medium parameters), lasting 2 seconds (theoretical spraying duration)".

[0070] In operation S320, based on the first functional relationship and the first variation, the theoretical blowing duration is adjusted to the blowing duration.

[0071] In some embodiments, the preset blowing instructions generated by the control unit 600 for different materials are obtained by experimental or simulated calculations, for example, a series of experiments are designed to test the reactions of different materials under different blowing medium parameters. These blowing medium parameters may include the type, pressure, flow rate, flow rate and temperature of the blowing medium. During the experiment, data on the movement of the material is collected, including the time and path of its reaching the sorting position. Statistical methods are used to analyze the experimental and simulation data to extract the first functional relationship. The blowing medium parameters can be substituted into the first functional relationship, and the theoretical blowing duration can be adjusted after the blowing duration value is calculated.

[0072] In other embodiments, reference Figure 1 After acquiring the image of the material to be sorted, the detection mechanism sends the image to the control unit 600. The control unit 600 identifies the image and obtains parameters such as the type, shape, and position of one or more materials. Then, a preset blowing instruction is generated according to the theoretical blowing medium parameters under ideal conditions, and the blowing execution time in the instruction is the theoretical blowing duration.

[0073] Exemplarily, the law of conservation of momentum applied to the target material is as shown in Formula 1:

[0074] F·t =m·ΔV Formula 1

[0075] Among them, F is the blowing force applied to the target material, t is the theoretical blowing time, m is the mass of the target material, and ΔV is the speed change of the target material before and after blowing.

[0076] For example, not only can the type and shape of the target material be obtained, but also its mass can be obtained according to its equivalent atomic number and mass thickness, wherein the equivalent atomic number and mass thickness of each type of material can be predetermined, or the equivalent atomic number and mass thickness of the target material can be detected in real time by X-ray image acquisition technology and three-dimensional image acquisition technology. Then, the target images acquired continuously can reflect the different positions of the target material at different times, thereby obtaining the movement speed and movement trajectory before blowing. Then, the sorting position of the target material can be determined according to its type, and the movement speed after blowing can be further calculated according to the sorting position, mass, and movement speed before blowing. That is, the target momentum m•ΔV for blowing the target material to the sorting position can be obtained. At the blowing position, applying the target momentum to the target material can make it reach the sorting position along a specific movement trajectory.

[0077] Exemplarily, the relationship between the blowing force and the blowing medium parameters is represented by Formula 2, wherein the blowing medium parameters include gas pressure and gas flow rate.

[0078] F=f(P,Q) Formula 2

[0079] Among them, P represents gas pressure, Q represents gas flow rate, and f() represents the functional relationship between P, Q and F.

[0080] Substituting Formula 2 into Formula 1, we get Formula 3:

[0081] f(P,Q)•t =m•ΔV Formula 3

[0082] Wherein, when P is the theoretical gas pressure, Q is the theoretical gas flow rate, and t is the theoretical injection time, Formula 3 can represent the first functional relationship.

[0083] After obtaining the actually monitored injection medium parameter, if the first variation is greater than the preset threshold, the actually monitored injection medium parameter is substituted into Formula 3, and the injection duration t' is calculated when the result of m•ΔV remains unchanged.

[0084] For example, the injection medium parameters include gas pressure and gas flow rate, and the first variation can be obtained by adding and averaging the variation values ​​of the gas pressure and the gas flow rate.

[0085] According to the embodiments of the present application, the preset blowing instructions can be dynamically adjusted according to the actually monitored blowing medium parameters, and by utilizing the first functional relationship between the theoretical blowing medium parameters and the theoretical blowing duration, the actually executed blowing duration can be accurately calculated according to the actually monitored blowing medium parameters.

[0086] Figure 4 The flowchart for obtaining the first functional relationship according to an embodiment of the present application is schematically shown.

[0087] like Figure 4 As shown, this embodiment is one of the embodiments of operation S310, including:

[0088] In operation S410, a theoretical blowing force parameter is obtained based on the product of a theoretical blowing medium parameter and an adjustment coefficient, where the adjustment coefficient is a predetermined constant.

[0089] In operation S420, a second functional relationship between the theoretical blowing force parameter and the theoretical blowing duration is obtained, wherein the second functional relationship indicates a target momentum applied to the target material to the sorting position according to the theoretical blowing force parameter and the theoretical blowing duration. The first functional relationship may include a product relationship between the theoretical blowing medium parameter and the adjustment coefficient, and the second functional relationship.

[0090] Based on formula 2, the functional relationship between P, Q and F is further analyzed:

[0091] F=f(y1(δ1,P), y2(δ2,Q)) Formula 4

[0092] Among them, δ1 is the adjustment coefficient of the gas pressure P, y1() represents the functional relationship between δ1 and P, δ2 is the adjustment coefficient of the gas flow rate Q, y2() represents the functional relationship between δ2 and P.

[0093] For example, y1() may indicate a product operation between δ1 and P, y2() may indicate a product operation between δ2 and Q, and Formula 4 may be expressed as follows:

[0094] F=K•δ1•P•δ2•Q Formula 5

[0095] K is a predetermined constant coefficient, δ1•P is a theoretical blowing force parameter of P, and δ2•Q is a theoretical blowing force parameter of Q. For example, the ranges of K, δ1, and δ2 are respectively greater than 0 and less than 1 (only as an example), which can be obtained by fitting the blowing data of experiments or simulations to form a mapping between P, Q, and F.

[0096] Combining Formula 3 and Formula 5, we can get Formula 6:

[0097] K·δ1·P·δ2·Q •t =m·ΔV Formula 6

[0098] Among them, formula 5 and formula 6 can represent the second functional relationship. It can be seen from formula 5 and formula 6 that the greater the gas pressure, the greater the blowing force, and the greater the change in material speed; the greater the gas flow rate, the greater the blowing force, and the greater the change in material speed; the longer the action time, the greater the flying momentum obtained by the material.

[0099] According to the embodiments of the present application, by introducing the theoretical blowing force parameters, the relationship between the theoretical blowing medium parameters and the theoretical blowing time can be expressed more accurately and clearly, making the blowing control more refined, which is conducive to more accurate calculation of the required blowing time and achieving precise blowing adjustment of the target material.

[0100] Figure 5 The flowchart for obtaining the blowing duration according to an embodiment of the present application is schematically shown.

[0101] like Figure 5 As shown, this embodiment is one of the embodiments of operation S320, including:

[0102] In operation S510, when the first variation is greater than a preset threshold, a blowing force parameter is obtained based on a product of a blowing medium parameter and an adjustment coefficient.

[0103] For example, the first change is expressed as a percentage of the change before and after the blowing medium parameter, and the preset threshold may be 10% (for example only). When the first change is greater than a certain value, it is considered that the impact on the blowing force is greater, which will affect the momentum applied to the target material, resulting in the target material may not be able to accurately reach the sorting position.

[0104] Referring to Formula 5, the gas pressure P' and gas flow rate Q' actually monitored in the blowing medium parameters are substituted to obtain δ1•P' as the blowing force parameter of P' and δ2•Q' as the blowing force parameter of Q'.

[0105] In operation S520, the blowing duration is obtained based on the blowing force parameter, the second functional relationship, and the theoretical blowing duration.

[0106] In some embodiments, Formula 6 can be simplified to reduce the amount of calculation. Referring to Formula 6, if P' or Q' increases relative to the ideal value, the blowing force may increase accordingly, and the value of t may be appropriately reduced. If P' or Q' decreases, the blowing force may decrease accordingly, and the value of t may be appropriately increased. Further, the effect of the change in P' or Q' on the blowing force is the result of the coupling of multiple factors, so δ1 and δ2 are introduced to characterize the coupling effect. In other words, the introduction of δ1 and δ2 can be used to determine the influence weight of air pressure and flow rate. For example, the air pressure fluctuates greatly, but by setting the value of δ1, the problem of reduced overall stability caused by wide fluctuations in the blowing time can be avoided. Therefore, if δ1•P'•δ2•Q' increases, the blowing force may increase accordingly, and the value of t may be appropriately reduced. If δ1•P'•δ2•Q' decreases, the blowing force may decrease accordingly, and the value of t may be appropriately increased. The negative correlation relationship can be obtained through the second functional relationship, which is expressed as Formula 7:

[0107] t'= Formula 7

[0108] Wherein, α is a constant used for adjustment, for example, in the range of greater than or equal to 0 and less than or equal to 1 (only for example). t' is the duration of the injection. △P = P'- P, △Q = Q'-Q.

[0109] Reference Figure 1 , the sorting position of each type of material corresponds to a target sorting bin, and the opening of each sorting bin 400 has a certain area. In other words, the purpose of dynamically adjusting the blowing instruction is to allow the target material to reach an opening with a certain area and fall into the target sorting bin, rather than pursuing that each target material can reach the same point position above the target sorting bin through the same motion trajectory and fall into it. Therefore, through the negative correlation represented by Formula 7, the gas pressure P' and gas flow Q' actually monitored in the theoretical blowing duration and the blowing medium parameters are substituted to obtain t'. Referring to Formula 7, α regulates the relationship between the fluctuation of air pressure and flow and t' to a certain extent. For example, when α is set to 0, the air pressure and flow will no longer participate in the regulation of t' even if they fluctuate.

[0110] Optionally, after obtaining t', the control unit 600 can obtain the movement trajectory and arrival position of the target material after executing t' through simulation. If it can fall into the sorting position, it will be executed directly. If it cannot fall into the sorting position, the value of α will be adjusted and re-simulated until it can fall into the sorting position.

[0111] In other embodiments, calculating the blowing time for blowing the target material to the sorting position based on the blowing medium parameters includes: calculating the target momentum for blowing the target material to the sorting position, and the blowing force applied to the target material based on the blowing medium parameters; and obtaining the blowing time based on the ratio of the target momentum to the blowing force.

[0112] In some embodiments, the target momentum and the blowing medium parameters are substituted into Formula 6, and the blowing duration t' can be obtained by the ratio of the target momentum m•ΔV and the blowing force K•δ1•P'•δ2•Q'. Then the control unit 600 updates the actual blowing duration to be executed to the value of t' in the preset blowing instruction.

[0113] In some embodiments, before calculating the blowing time for blowing the target material to the sorting position based on the blowing medium parameters, it also includes: adjusting the blowing mechanism to the target blowing angle according to the shape parameters of the target material, wherein the blowing mechanism is configured to blow the target material according to the target blowing angle.

[0114] For example, the target spray angle may include the angle between the spray direction of the nozzle of the spray mechanism and the horizontal direction, which is substantially equivalent to the angle between the airflow sprayed by the nozzle and the horizontal direction. The shape parameters include the geometric shape characteristics of the target material, such as the contour shape, size and other parameters.

[0115] For example, point cloud data can be extracted from the three-dimensional image collected by the detection structure, and the contour boundary (i.e., shape parameter) of the material can be identified using boundary detection algorithms (such as Canny boundary detector, Sobel operator, Laplacian operator, etc.), and the boundary information can be represented by three-dimensional coordinates. The center of mass can be determined by calculating the weighted average position of the material pixels, such as weighted summing the coordinates of each voxel (three-dimensional pixel). Then, the target blowing angle of the blowing mechanism is adjusted by the determined center of mass.

[0116] For example, for materials of different shapes and sizes, the material movement trajectory is determined in advance through experiments, and the optimal blowing angle is determined based on the movement trajectory. Alternatively, the blowing process can be simulated using simulation software, and the optimal blowing angle can be found by simulating the effect of different blowing angles on the material movement trajectory. Then a lookup table containing different material shape parameters and corresponding blowing angles is established. When the target blowing angle of the material needs to be calculated, the material with the same or similar shape parameters can be determined by looking up the table, and then the corresponding blowing angle in the table can be obtained.

[0117] According to the embodiments of the present application, the shape parameters of the target material are considered to determine the optimal target blowing angle, and a suitable blowing force can be applied to the target material based on the actually monitored blowing medium parameters, thereby improving the sorting accuracy.

[0118] In some embodiments, calculating the blowing time for blowing the target material to the sorting position based on the blowing medium parameters includes: calculating the blowing time for blowing the target material to the sorting position based on the target blowing angle and the blowing medium parameters.

[0119] Referring to Formula 4, the injection angle can be introduced to analyze the functional relationship between P, Q and F, as shown in Formula 8:

[0120] F=f(y1(δ1,P), y2(δ2,Q), y3(δ3,A)) Formula 8

[0121] Among them, δ3 is the adjustment coefficient of the blowing angle A (Angle), and y3 () represents the functional relationship between δ3 and A.

[0122] According to the embodiments of the present application, the accuracy of material sorting is improved by comprehensively considering the spraying angle and the spraying duration.

[0123] In some embodiments, in response to determining a target material to be sorted, obtaining the current blowing medium parameters of the monitored blowing mechanism includes: in response to determining multiple target materials of multiple types to be sorted, obtaining the current blowing medium parameters of each of the multiple monitored blowing mechanisms, wherein the multiple blowing mechanisms correspond one-to-one to the multiple types.

[0124] For example, the control unit 600 can perform the following operations: use the X-ray image and the three-dimensional image as the input of the two branches of the deep learning model, extract their respective features, and then splice the feature maps of the X-ray image and the three-dimensional image to obtain a richer feature expression, convert it into a new feature space through a fully connected layer, and use 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 higher 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 higher probability as the recognition result. It can be understood that the present application does not limit the number of categories output by the classification layer, and can output predicted probabilities corresponding to multiple pre-set categories.

[0125] The control unit 600 can identify the types of multiple materials, such as high-quality ore type, medium-quality ore type and low-quality ore type, and generate corresponding preset spraying instructions in a targeted manner. When the current spraying medium parameters of each spraying mechanism are obtained, operation S220 is respectively performed to calculate the spraying duration corresponding to each spraying mechanism, and operation S230 is performed to control each spraying mechanism to spray the corresponding target material according to the spraying duration.

[0126] According to the embodiments of the present application, a corresponding blowing mechanism is configured for each material type, thereby improving the efficiency of the sorting process.

[0127] In the related art, two rows of nozzles arranged at the same angle on the same side of the material's motion trajectory are used to sort the materials using different blowing forces. Among them, the use of two rows of nozzles arranged at the same angle requires the complete reliance on the nozzle's blowing energy to separate materials of different masses and components. For example, materials of the same mass and the same component have different shapes. Due to the different shapes, the two material blocks will receive different blowing forces of high-pressure gas. For another example, different types of materials correspond to different motion trajectories and sorting positions. Even if different types of materials have the same shape, different preferred blowing angles and blowing forces will be required. Therefore, even if the nozzle sprays the same blowing force, the two materials will have different motion trajectories, so the probability of misselection is very high.

[0128] In some embodiments, within the same type range and at the same sorting position, adjusting the blowing mechanism to a target blowing angle according to shape parameters of the target material includes: for different target materials with different shape parameters within the same type range, adjusting the blowing mechanism corresponding to the type to different target blowing angles.

[0129] For example, the particle size of the material can be determined according to the contour shape and size (such as length, width and height) in the shape parameters. Different target materials with different shape parameters may include materials with different particle sizes, so that different blowing forces and blowing angles are used for sorting, so that target materials of the same type but with different shape parameters can be accurately blown to the predetermined sorting position. It can be understood that different target materials of the same type can be blown by the same blowing mechanism at different times, or by different blowing mechanisms at the same time.

[0130] In some embodiments, there are different sorting positions between different type ranges, and adjusting the blowing mechanism to the target blowing angle according to the shape parameters of the target material includes: adjusting different blowing mechanisms corresponding to different types to different target blowing angles according to the respective shape parameters of different target materials of different types.

[0131] In this embodiment, different types, different sorting positions and different blowing mechanisms are in a one-to-one correspondence. For example, copper ore, iron ore and aluminum ore each have a corresponding blowing mechanism, which is used to blow the three types of ores to different sorting positions. Even if two materials of different types have the same or similar shape parameters, the corresponding blowing mechanisms may have different target blowing angles due to different positions of the blowing mechanisms and different material densities. Different target materials in this embodiment can be blown at different times or at the same time.

[0132] According to the embodiments of the present application, a plurality of blowing mechanisms are provided to target different types of materials and adapt to different shapes and sizes, provide precise blowing angles, and improve the blowing efficiency and effect.

[0133] In the spraying mechanism involved in the present application, for any nozzle of the spraying mechanism, when the spraying angle is larger and the spraying direction is steeper, the material will be sprayed for a longer time when being sprayed. When the spraying force of the first spraying device is constant, the material can be sprayed farther. Correspondingly, the smaller the spraying angle is, the gentler the spraying direction is, that is, the closer the material is sprayed. For example, the spraying angle of each nozzle is 20 to 60 degrees. Since the momentum direction (i.e., the spraying direction) obtained by the material is at an angle of 20 to 60 degrees with the horizontal plane, it increases the horizontal momentum of the material while reducing the momentum of the material falling, so the horizontal flight distance of the material will be farther.

[0134] Exemplarily, when each blowing mechanism has one nozzle, adjusting different blowing mechanisms to different target blowing angles includes adjusting the blowing directions of each nozzle to different target blowing angles. When each blowing mechanism has multiple nozzles, adjusting different blowing mechanisms to different target blowing angles includes that multiple nozzles of each blowing mechanism can have a uniform blowing angle, and different blowing mechanisms have different target blowing angles.

[0135] Exemplarily, each material is conveyed at the same speed on the conveyor belt, different types of materials have different densities, and the same type of materials may have different shape parameters (such as contour shape, particle size, etc.), which results in different motion trajectories of each material when it leaves the conveyor belt and falls downward. When each material is sprayed, the optimal force state is that the spray angle of the nozzle is basically perpendicular to the tangent of the motion trajectory of the target material. Therefore, the above-mentioned adjustment of different spraying mechanisms to different target spraying angles includes: by determining the motion trajectory of each target material before spraying (for example, it can be determined in advance through experiments or simulations based on shape parameters, and can also be determined by capturing material images in real time), adjusting the spray angle of one or more nozzles that apply the spraying force to be basically perpendicular to the motion trajectory.

[0136] In one or more of the above embodiments of the present application, in order to improve the long-term operational stability and reliability of material sorting and continuously ensure good sorting effects, innovative designs are made in the blowing structure and blowing control strategy. In the blowing structure, different blowing mechanisms are adjusted to use different angles to separate materials of multiple types or the same type with different shape parameters. In terms of control strategy, gas flow sensors and air pressure sensors are used to monitor the blowing system, and the blowing duration is adjusted online in real time according to the monitoring results, which can effectively improve the accuracy of material sorting and improve the sorting performance.

[0137] Figure 6A block diagram of a control unit 600 suitable for implementing a material sorting method according to an embodiment of the present application is schematically shown.

[0138] like Figure 6 As shown, the control unit 600 according to the embodiment of the present application includes a processor 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 602 or the program loaded from the storage part 608 to the random access memory (RAM) 603. The processor 601 may include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor and / or a related chipset and / or a dedicated microprocessor (for example, an application-specific integrated circuit (ASIC)), etc. The processor 601 may also include an onboard memory for caching purposes. The processor 601 may include a single processing unit or multiple processing units for performing different actions of the method flow according to the embodiment of the present application.

[0139] In RAM 603, various programs and data required for the operation of control unit 600 are stored. Processor 601, ROM 602 and RAM 603 are connected to each other via bus 604. Processor 601 performs various operations of the method flow according to the embodiment of the present application by executing the program in ROM 602 and / or RAM 603. It should be noted that the program can also be stored in one or more memories other than ROM 602 and RAM 603. Processor 601 can also perform various operations of the method flow according to the embodiment of the present application by executing the program stored in one or more memories.

[0140] According to an embodiment of the present application, the control unit 600 may further include an input / output (I / O) interface 605, which is also connected to the bus 604. The control unit 600 may further include one or more of the following components connected to the I / O interface 605: an input portion 606 including a keyboard, a mouse, etc.; an output portion 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 608 including a hard disk, etc.; and a communication portion 609 including a network interface card such as a LAN card, a modem, etc. The communication portion 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed, so that a computer program read therefrom is installed into the storage portion 608 as needed.

[0141] It will be appreciated by those skilled in the art that the features described in the various embodiments and / or claims of the present application may be combined in a variety of ways and / or combinations, even if such combinations or combinations are not explicitly described in the present application. In particular, without departing from the spirit and teachings of the present application, the features described in the various embodiments and / or claims of the present application may be combined in a variety of ways and / or combinations. All of these combinations and / or combinations fall within the scope of the present application.

[0142] The embodiments of the present application are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present application. Although the embodiments are described above, this does not mean that the measures in the various embodiments cannot be used in combination. The scope of the present application is limited by the attached claims and their equivalents. Without departing from the scope of the present application, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present application.

Claims

1. A material sorting method, comprising: In response to determining the target material to be sorted, obtaining the monitored current spraying medium parameters of the spraying mechanism; Calculating the blowing time of blowing the target material to the sorting position based on the blowing medium parameters; The spraying mechanism is controlled to spray the target material according to the spraying time based on the spraying medium parameter.

2. The method according to claim 1, characterized in that The calculation of the blowing time for blowing the target material to the sorting position based on the blowing medium parameters includes: Obtaining a first functional relationship between a theoretical blowing medium parameter and a theoretical blowing duration in a preset blowing instruction, and a first variation between the blowing medium parameter and the theoretical blowing medium parameter, wherein the first functional relationship indicates a functional relationship for blowing the target material to a sorting position according to the theoretical blowing medium parameter and the theoretical blowing duration; Based on the first functional relationship and the first variation, the theoretical blowing duration is adjusted to the blowing duration.

3. The method according to claim 2, characterized in that The first functional relationship between the theoretical blowing medium parameter and the theoretical blowing duration in the preset blowing strategy is obtained as follows: A theoretical blowing force parameter is obtained based on the product of the theoretical blowing medium parameter and the adjustment coefficient, wherein the adjustment coefficient is a predetermined constant; A second functional relationship between the theoretical blowing force parameter and the theoretical blowing duration is obtained, wherein the second functional relationship indicates a target momentum applied to blow the target material to a sorting position according to the theoretical blowing force parameter and the theoretical blowing duration.

4. The method according to claim 3, characterized in that The adjusting the theoretical blowing duration to the blowing duration based on the first functional relationship and the first variation includes: When the first variation is greater than a preset threshold, obtaining a blowing force parameter based on the product of the blowing medium parameter and the adjustment coefficient; The blowing duration is obtained based on the blowing force parameter, the second functional relationship and the theoretical blowing duration.

5. The method according to claim 1, characterized in that The calculation of the blowing time for blowing the target material to the sorting position based on the blowing medium parameters includes: Calculating a target momentum for blowing the target material to a sorting position, and a blowing force applied to the target material based on the blowing medium parameters; The blowing duration is obtained based on a ratio of the target momentum to the blowing force.

6. The method according to any one of claims 1 to 5, characterized in that Before calculating the blowing time for blowing the target material to the sorting position based on the blowing medium parameters, the method further includes: According to the shape parameters of the target material, the blowing mechanism is adjusted to a target blowing angle, wherein the blowing mechanism is configured to blow the target material according to the target blowing angle.

7. The method according to claim 6, characterized in that The calculation of the blowing time for blowing the target material to the sorting position based on the blowing medium parameters includes: The blowing time for blowing the target material to the sorting position is calculated based on the target blowing angle and the blowing medium parameters.

8. The method according to claim 7, characterized in that In response to determining the target material to be sorted, obtaining the monitored current spray medium parameters of the spray mechanism includes: In response to determining a plurality of target materials of a plurality of types to be sorted, a current blowing medium parameter of each of the plurality of monitored blowing mechanisms is obtained, wherein the plurality of blowing mechanisms correspond one-to-one to the plurality of types.

9. The method according to claim 8, characterized in that Within the same type range and at the same sorting position, adjusting the blowing mechanism to a target blowing angle according to the shape parameters of the target material includes: For different target materials with different shape parameters within the same type range, the spraying mechanism corresponding to the type is adjusted to different target spraying angles.

10. The method according to claim 8, characterized in that There are different sorting positions between different types of ranges, and adjusting the blowing mechanism to a target blowing angle according to the shape parameters of the target material includes: According to the shape parameters of the target materials of different types, the different blowing mechanisms corresponding to the different types are adjusted to different target blowing angles.

11. The method according to claim 1, characterized in that The spraying medium parameters include at least one of the spraying medium pressure, the spraying medium flow rate, and the spraying medium flow rate.

12. A material sorting device, comprising: A conveying mechanism, used for conveying materials to be sorted; A detection mechanism, used to detect the material to be sorted and obtain a detection result; A control unit, configured to determine a target material to be sorted according to the detection result, so as to execute the material sorting method according to any one of claims 1 to 11; The blowing mechanism is used to respond to the blowing instruction of the control unit and to perform blowing on the target material according to the blowing duration in the blowing instruction based on the current blowing medium parameters.

13. The material sorting device according to claim 12, characterized in that: The material sorting device comprises a plurality of the blowing mechanisms, wherein the plurality of the blowing mechanisms comprises a first blowing mechanism and a second blowing mechanism, The first blowing mechanism and the second blowing mechanism are used to sort out at least three types of target materials.

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