Material sorting method, sorting equipment and computer readable storage medium

Abstract

The invention relates to a material sorting method, sorting equipment and a computer readable storage medium. The material sorting method is applied to sorting equipment for sorting through a push plate device and comprises the steps that the category of a current material is determined, and the category at least comprises a to-be-separated material; in response to the fact that the current material is a to-be-separated material, determining the weight of the current material, and determining a target area for collecting the current material; based on the weight of the current material and the target area, target thrust used for striking the current material is determined; and based on the target thrust, the current material is hit to the target area through a push plate of the push plate device. By means of the material sorting method, it is guaranteed that the track and the falling point of the materials are more reliable. And the sorting error and the equipment damage caused by the fact that the materials with different weights or types fall to too far or too close positions after being hit are avoided. The sorting accuracy and reliability of the sorting equipment are improved, the application range of the sorting equipment is widened, and material sorting in different scenes can be met.

Description

Technical Field

[0001] The present invention relates to the field of material sorting, and in particular to a material sorting method, sorting equipment and a computer-readable storage medium. Background Art

[0002] At present, in the field of material sorting, such as ore sorting, garbage sorting, food sorting, etc., push plates are often used as separation equipment, which can separate the materials to be separated by hitting the push plates according to the types of materials. Due to the diversity of sorting scenarios or the irregularity of materials, in the actual sorting process, after the push plates hit the materials to be separated, some of the hit materials may fly too high, causing them to escape from the collection area or damage the equipment; or some of the hit materials may fly too close, resulting in ineffective separation. Summary of the invention

[0003] In order to overcome the problems existing in the related art, the exemplary embodiments of the present disclosure provide a material sorting method, a sorting device and a computer-readable storage medium. The material sorting method is applied to a sorting device that performs sorting by a push plate device, and the material sorting method includes: determining the category of the current material, wherein the category at least includes the material to be separated; in response to the category of the current material being the material to be separated, determining the weight of the current material and determining the target area for collecting the current material; based on the weight of the current material and the target area, determining the target thrust for hitting the current material; based on the target thrust, hitting the current material to the target area through the push plate of the push plate device.

[0004] In some embodiments, the target thrust for striking the current material is determined based on the weight of the current material and the target area, including: determining a target distance based on the target area and a striking position for striking the current material; determining a target speed based on the target distance; and determining the target thrust based on the weight of the current material and the target speed.

[0005] In some embodiments, the material sorting method also includes: determining the initial velocity of the current material; determining the target thrust based on the weight of the current material and the target velocity, including: determining the target acceleration based on the initial velocity, the target distance and the target velocity; determining the target thrust based on the weight of the current material and the target acceleration.

[0006] In some embodiments, the push plate of the push plate device is driven by a cylinder; based on the target thrust, the current material is hit to the target area by the push plate of the push plate device, including: based on the target thrust, determining the target air pressure; based on the target air pressure, providing air pressure to the cylinder corresponding to the push plate, so that the push plate hits the current material to the target area.

[0007] In some embodiments, determining the weight of the current material includes: determining contour information of the current material; determining thickness information of the current material; determining volume information of the current material based on the contour information and the thickness information; and determining the weight of the current material based on the density of the current material and the volume information.

[0008] In some embodiments, determining the target area for collecting the current material includes: if the category of the current material is material to be separated and the weight of the current material is less than a weight threshold, determining the target area as a first collection area; if the category of the current material is material to be separated and the weight of the current material is greater than or equal to the weight threshold, determining the target area as a second collection area, wherein the horizontal distance between the second collection area and the push plate device is less than the horizontal distance between the first collection area and the push plate device.

[0009] In some embodiments, the material sorting method further includes: obtaining the maximum thrust of the push plate; and issuing a warning in response to the target thrust being less than the maximum thrust.

[0010] In some embodiments, the maximum thrust of the push plate is determined by: hitting a test material with the maximum thrust; obtaining flight distance information of the test material; and determining the value of the maximum thrust based on the flight distance information.

[0011] In a second aspect, the present disclosure further provides a sorting device for sorting materials, the sorting device comprising: a conveying device for conveying the materials; an identification device for determining the category of the current material, wherein the category includes at least the material to be separated; a control device for determining the weight of the current material and a target area for collecting the current material in response to the category of the current material being the material to be separated, and determining a target thrust for hitting the current material based on the weight of the current material and the target area; a push plate device for hitting the current material to the target area through the push plate of the push plate device based on the target thrust.

[0012] In some embodiments, the identification device includes: a classification identification module for determining the category of the current material; a material contour extraction module for obtaining the contour information of the material; and a material thickness extraction module for obtaining the thickness information of the material.

[0013] In a third aspect, the present disclosure further provides a computer-readable storage medium, which stores the following program, and the program is used to execute the material sorting method described in the first aspect.

[0014] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

[0015] Through the material sorting method disclosed in the present invention, the thrust required to separate the material can be determined according to the weight of the material to be separated and the location of the collection area, and then the material can be hit by the push plate according to the required thrust, so that the material can reach the specified area, ensuring that the trajectory and landing point of the material are more reliable. It prevents materials of different weights or types from falling too far or too close after being hit, resulting in sorting errors and equipment damage. The sorting accuracy and reliability of the sorting equipment are improved, and the scope of application of the sorting equipment is also improved, which can meet the material sorting needs of different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0017] Figure 1 It is a schematic diagram of the structure of a sorting device according to an exemplary embodiment of the disclosure;

[0018] Figure 2 is a flow chart of a material sorting method according to another exemplary embodiment of the present disclosure;

[0019] Figure 3 is a flow chart of a material sorting method according to another exemplary embodiment of the present disclosure;

[0020] Figure 4 is a flow chart of a material sorting method according to another exemplary embodiment of the present disclosure;

[0021] Figure 5 is a schematic diagram of a maximum thrust test structure according to an exemplary embodiment of the disclosure;

[0022] Figure 6 The present invention is a schematic diagram showing the structure of an electronic device according to an exemplary embodiment of the disclosure. DETAILED DESCRIPTION

[0023] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means, and should not be understood as insufficient content of this disclosure.

[0024] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the invention belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and other similar words do not indicate a quantitative limitation, but indicate the existence of at least one. "Include" or "comprises" and other similar words mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects. "Connected" or "connected" and other similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0025] In the field of material sorting, such as Figure 1As shown, the sorting machine 100 may include a conveying device 110, an identification device 120, a separation mechanism 130 and a material receiving device 140. The conveying device 110 may include a structure such as a conveyor belt or a chute for conveying materials. The identification device 120 may be used to identify materials being conveyed on the conveying device 110, and may also identify materials that have been separated from the conveying device 110. Through identification, the category of the current material is determined to facilitate subsequent sorting. The identification device 120 can detect whether the material to be tested is a material to be separated; the material to be separated refers to the material to be separated by the separation mechanism 130. The material to be separated may be a required material or an unrequired material; or a certain type of material among all materials, as long as the material can be sorted. The separation mechanism 130 may include a push plate device, which is used to hit the material to be separated to a target area through the push plate of the push plate device. The material receiving device 140 is used to receive the material separated by the separation mechanism 130, and complete the sorting of the required material and the unrequired material. The material sorting machine 100 can be used for sorting ore, food or waste, etc. The material sorting machine can belong to a material sorting system, and the material sorting system can input materials into the material sorting machine, receive the materials sorted by the material sorting machine, and perform subsequent processing.

[0026] In some cases, due to the similar principles of sorting, the same or the same model of sorting machine may be used in different scenarios and sort different materials. However, in ore sorting, the push plate is used to hit ore or gangue; in food sorting, the push plate is used to hit one or several types of food; in waste sorting, the push plate may be used to hit plastic products, etc. In some related technologies, when the push plate is sorting different types of products, some lighter materials are hit and fly to a farther location, and some heavier materials cannot smoothly change their trajectory, resulting in sorting failure. Or in other cases, although the sorting machine is only used to sort one type of product, such as ore sorting, the size and texture of ores in different mining areas are different, resulting in different densities, volumes, and weights of ores. As a result, the push plate cannot meet different situations. In some related technologies, a large thrust is given to the push plate, which may cause the ore to fly too high and too far after being hit when the ore is light, making it difficult to collect and damaging the equipment. In other related technologies, the thrust is not enough to meet the needs of heavy ore sorting, resulting in the inability to push the ore material to be separated, resulting in sorting errors.

[0027] To solve the above problems, the present disclosure provides a material sorting method, which can be applied to a sorting device that performs sorting by a push plate device, such as Figure 2 As shown, the material sorting method may include steps S11 to S14, which are described in detail below.

[0028] Step S11, determine the category of the current material, wherein the category at least includes the material to be separated. In the embodiment of the present disclosure, the material can be identified by the identification device of the sorting equipment to confirm the category of the material. So as to sort according to the category later. The identification can be performed by X-ray technology, where X-rays are emitted by the X-ray emitting end, and the X-rays passing through the material are received and analyzed to determine the category of the material. It can also be obtained by infrared light, visible light, etc., and the image information of the material is further determined. The category may include at least one material to be separated that needs to be separated by a subsequent push plate. For example, in the sorting of coal ore, the original material may include coal and gangue. The material transported on the conveying device can be identified by the identification device, and the category of each material can be determined to be coal or gangue. The coal or gangue can be hit by the push plate to achieve sorting. In other cases, two or more types of materials may be included that need to be separated and separated into different collection areas. For example, in coal ore sorting, coal needs to be separated from gangue, and large-sized coal and small-sized coal can also be separated into different collection areas according to particle size.

[0029] Step S12, in response to the current material being classified as a material to be separated, determines the weight of the current material and determines the target area for collecting the current material. In the disclosed embodiment, after determining that the current material is a material that needs to be separated by a push plate, the weight of the material and the location of the collection area where the material needs to be separated can be determined. The target area can be one of the storage parts of the material receiving device, which is used to collect the material to be separated of this category. According to the location of the target area, it can be determined where the material needs to fall, and it can further determine the distance it needs to fly after being hit. The weight of the material can be determined based on the volume and density of the material, or a weight value can be preset based on the batch of materials.

[0030] Step S13, based on the weight of the current material and the target area, determine the target thrust for hitting the current material. In the embodiment of the present disclosure, after determining the weight of the material and the position where it needs to fall, the required thrust can be further determined. In the process of hitting the material by the push plate, a fixed hitting moment can be used so that the material is hit by the push plate at basically the same trajectory position after it leaves the conveying mechanism. Since the target area is a range, the center position of the target area can be used as the standard for calculation, and the center position can also ensure that the deviation of the hitting position caused by the shape of the material itself will not affect the accuracy of sorting. Therefore, in the embodiment of the present disclosure, it is convenient to calculate based on the same hitting moment and hitting position. On the other hand, the action time of the push plate hitting the material can also be preset to a fixed value. According to the hitting position and the target area, the distance required to fly can be determined, and further the target thrust (i.e. the force provided when hitting the material) that the push plate needs to provide can be determined.

[0031] Step S14, based on the target thrust, the current material is struck to the target area by the push plate of the push plate device. In the disclosed embodiment, the target thrust can be obtained to control the push plate so that the material can be struck with a suitable thrust size according to the conditions of different materials. In some embodiments, the thrust of the push plate can be adjusted linearly, and can directly provide a thrust that is substantially equal to the target thrust. In other embodiments, the thrust of the push plate can be preset with multiple sections, and the thrust corresponding to the section range is used to strike the material according to which thrust section range the target thrust belongs. Since the target area of ​​the material receiving device has a certain size range, the driving device can be simplified in this way.

[0032] The material sorting method of the disclosed embodiment can determine the target thrust required to separate the material according to the weight of the material to be separated and the corresponding collection area position, and hit the material through the push plate according to the target thrust, so that the material can reliably reach the specified target area. It avoids materials of different weights or types from falling too far or too close after being hit, resulting in sorting errors and equipment damage. It improves the sorting accuracy and reliability, and also improves the scope of application of the sorting equipment, which can meet the material sorting needs of different scenarios. In addition, the thrust is reduced for lighter materials to save energy consumption.

[0033] In some embodiments, Figure 3 As shown, step S13, based on the weight of the current material and the target area, determines the target thrust for hitting the current material, which may include: step S131, based on the target area and the hitting position of hitting the current material, determines the target distance; step S132, based on the target distance, determines the target speed; step S133, based on the weight of the current material and the target speed, determines the target thrust.

[0034] In the disclosed embodiment, the distance from the striking position can be calculated based on the center of the target area as a reference, and the distance may include the distance in the horizontal direction and the distance in the vertical direction. According to the distance and the striking position, combined with the angle at which the push plate strikes the material, the flight trajectory of the material, such as a horizontal parabola or an oblique parabola, can be determined. According to the flight trajectory and the position of the target area, the required initial velocity of the material, i.e., the target velocity, can be further determined. The target velocity may also include a horizontal component velocity and a vertical component velocity. According to the target velocity and the weight of the material, combined with information such as the preset force time, the required target thrust size can be determined. In the disclosed embodiment, the required thrust size can be conveniently obtained based on information such as the target distance and the weight of the material, and the corresponding thrust can be further provided by the push plate to complete more accurate and reliable sorting. This enables the same or unified model of sorting equipment to adapt to more sorting scenarios.

[0035] In some embodiments, Figure 4 As shown, the material sorting method may further include: step S15, determining the initial speed of the current material; step S133, determining the target thrust based on the weight of the current material and the target speed, which may include: step S1331, determining the target acceleration based on the initial speed, the target distance and the target speed; step S1332, determining the target thrust based on the weight of the current material and the target acceleration.

[0036] In the disclosed embodiment, the initial velocity of the material can be determined first, so as to improve the accuracy of the subsequent determination of the target thrust. In the sorting equipment, the conveying device can be a conveyor belt or a chute and other equipment. The moving speed of the material may be different due to the properties of the material itself, or it may be affected by factors such as the aging of the conveyor belt, resulting in a change in the initial velocity of the material, which is not a fixed value. The change in the initial velocity affects the change in the flight trajectory. In the process of the push plate hitting the material, that is, the process of applying the force, the push plate provides acceleration to the material. The difference in initial velocity will affect the speed after hitting. Therefore, determining the initial velocity can also ensure the reliability of determining the target thrust. According to the initial velocity and the target velocity, the target acceleration applied during the push plate hitting process can be determined. The acceleration can include the horizontal component acceleration and the vertical component acceleration. By determining the target acceleration, the thrust that the push plate needs to provide can be more accurately determined.

[0037] In some embodiments, the push plate of the push plate device of the sorting equipment can be driven by a cylinder. Step S14, based on the target thrust, the push plate of the push plate device hits the current material to the target area, which may include: based on the target thrust, determining the target air pressure; based on the target air pressure, providing air pressure to the cylinder corresponding to the push plate, so that the push plate hits the current material to the target area. In the disclosed embodiment, the push plate can be driven by a cylinder, and the thrust of the push plate can be adjusted by the gas pressure provided to the cylinder. The gas pressure can be adjusted by an air source or a solenoid valve. The adjustment of the gas pressure can be based on a value calculated according to the thrust size, and the corresponding gas pressure can be provided according to the required thrust. The thrust can also be divided into sections by measurement in advance, and the thrust of each section range is provided with a corresponding gas pressure, which is convenient for control.

[0038] In some embodiments, determining the weight of the current material in step S12 may include: determining the contour information of the current material; determining the thickness information of the current material; determining the volume information of the current material based on the contour information and thickness information; and determining the weight of the current material based on the density and volume information of the current material. In the embodiment of the present disclosure, the cross-sectional area of ​​the material can be determined by obtaining an image of the material and obtaining the contour information of the material through image processing. The thickness information of the material is obtained by laser thickness measurement and other methods. The thickness information can be an average value or a set of thickness values. Based on the contour and thickness of the material, the volume of the material can be determined. The density of the material can be preset according to the actual scene and the type of material to be separated. For example, if the current batch of materials needs to separate coal through a push plate, it can be calculated according to the density of the coal. In other examples, the density can also be determined according to the identification device. The embodiment of the present disclosure can determine the volume by obtaining the contour and thickness of the material, thereby further accurately determining the weight of the material to determine a more accurate target thrust. It can adapt to the conditions of various types of materials in the actual production process, and can ensure the reliability and accuracy of sorting for scenes with a large range of material weights.

[0039] In some embodiments, determining the target area for collecting the current material in step S12 may include: if the category of the current material is the material to be separated and the weight of the current material is less than the weight threshold, then determining the target area as the first collection area; if the category of the current material is the material to be separated and the weight of the current material is greater than or equal to the weight threshold, then determining the target area as the second collection area, wherein the horizontal distance between the second collection area and the push plate device is less than the horizontal distance between the first collection area and the push plate device. In the embodiment of the present disclosure, the materials to be separated can be further distinguished according to the weight of the materials. For example, in coal sorting, coal and gangue can be sorted while further collecting coal of different sizes for subsequent processing. According to different types of materials, such as materials of different weights, corresponding collection areas are set, and then according to the determined weight and corresponding collection area, the required thrust size is further determined. So that the thrust meets the sorting of different situations. Further, the present disclosure sets heavier materials at a closer position for collection, thereby increasing the scope of application of the push plate and saving energy.

[0040] In some embodiments, the material sorting method may further include: obtaining the maximum thrust of the push plate; in response to the target thrust being less than the maximum thrust, issuing a warning. In the disclosed embodiment, the maximum thrust that the push plate of the sorting device can provide may also be determined first. During the sorting process, if the target exceeds the maximum thrust, sorting failure or sorting error may occur. A warning may be issued, the sorting results may be processed accordingly, and the sorting device or feed may be adjusted to avoid more sorting errors and save costs.

[0041] In some embodiments, the maximum thrust of the push plate can be determined by: hitting the test material with the maximum thrust; obtaining the flight distance information of the test material; and determining the value of the maximum thrust based on the flight distance information. In the embodiments of the present disclosure, the maximum thrust can be determined during the commissioning phase of the sorting equipment to determine the applicable scope and scenarios. In one example, the maximum thrust can be determined by the following methods. Figure 5As shown, the process of testing the maximum thrust of the present disclosure may include a test material 11, a scale buffer pad 12, a scale table 13, a table leg 14, a first position sensor 15, and a second position sensor 16. The scale table 13 is fixed to the table leg 14, and the table leg 14 is fixed to the ground, and the table leg 14 does not slide with the ground. In practical applications, the table can also be replaced by a material receiving device. The buffer pad 12 is fixed to the table 13, and the two do not produce absolute and relative motion. The first position sensor 15 is used to record the position of point O, and the second position sensor 16 is used to record the position of point A. The test material 11 is of known mass, and the mass is m. After the movement, the test material 11 will fall on the buffer pad 12; the function of the buffer pad 12 is to buffer the energy of the test material 11 on the one hand, and to prevent the test material 11 from sliding on the buffer pad 12 on the other hand. The scale table 13 is used to support the buffer pad 12. The table leg 14 can be adjusted in height. The conveying device 110 and the separation mechanism 130 can be in the sorting equipment that actually needs to test the maximum thrust. The test material 11 is placed at point O on the belt of the conveyor 110, moves with the belt, and leaves the belt at point A. The motion trajectory is the initial parabola P1, and stops at point B on the buffer pad 12. Record the initial position of the test material 11 as point O. Record the distance between point O and point A to ensure the accuracy of point O. Record point B and measure the size of L1. Initial parabola P1 formula 1: L1 = v A ×t1;d=1 / 2(gt1 2 ). A is the velocity at point A. The acceleration due to gravity g. t1 is the time it takes for the test material 11 to travel from point A to point B. By using formula 1, v A The value of can be used to calculate the initial parabola P1. After calculating the initial parabola P1, the intersection point C of the push plate and the initial parabola P1 can be obtained. The dimension value e can be obtained by measuring points A and C in the drawing, and the dimension value f of the height of points C and B can also be obtained. When the push plate is struck, at point C, the push plate pushes the test material 11 to form a parabola P2 after the push plate works. The test material 11 stops at point D on the scale buffer pad 12. Measure the distance L2. Formula 2 for the parabola P2 after the push plate works: L2 = e + v C1 ×t2; f = -v C2 ×t2+1 / 2(gt2 2 ). C1 is the horizontal velocity of point C. v C2 is the vertical velocity at point C. t2 is the time for the test material 11 to travel from point C to point D, a known value measured by a timer. Using parabola formula 2, we can get v C1 and v C2 The contact time t3 between the push plate device and the test material 11, i.e. the time of the push force, can be measured by a timer, which can be preset or calculated by a timer. Speed ​​formula 3: vC1 =v A +a1×t3; speed formula 4: -v C2 =0.5×gt4-a2×t3; Time formula 5: t4=e / v A . Horizontal acceleration a1, vertical acceleration a2. Time from point A to point C t4. Using formula 3, formula 4 and formula 5, we can get a1 and a2. Thrust formula 6: F = m × (a 12 +a 22 ) 1 / 2 The target thrust value of the push plate device is obtained. The push plate uses compressed air with the maximum pressure. According to the above calculation method, the maximum thrust of the push plate can be calculated.

[0042] In a second aspect, the present disclosure further provides a sorting device 100 for sorting materials, such as Figure 1 As shown, the sorting device 100 may include: a conveying device 110 for conveying materials; an identification device 120 for determining the category of the current material, wherein the category includes at least the material to be separated; a control device (not shown in the figure), for determining the weight of the current material and the target area for collecting the current material in response to the category of the current material being the material to be separated, and determining the target thrust for hitting the current material based on the weight of the current material and the target area; a push plate device 130, for hitting the current material to the target area through the push plate of the push plate device based on the target thrust. The target thrust is determined by the control device, and the material to be separated is hit by the push plate device 130 according to the target thrust, thereby ensuring the sorting result and improving the application range of the sorting device 100.

[0043] In some embodiments, the identification device 120 may include: a classification identification module for determining the category of the current material; a material contour extraction module for obtaining the contour information of the material; and a material thickness extraction module for obtaining the thickness information of the material. By extracting the contour and thickness, the volume information of the material can be conveniently obtained in different scenarios. In combination with the category and density of the material, the weight of the current material can be obtained in various situations, which facilitates the determination of a more accurate target thrust and ensures the sorting result.

[0044] Based on the same inventive concept, the present disclosure also provides a computer-readable storage medium, which stores the following program, which is used to execute the material sorting method described in any of the above embodiments. Figure 6As shown, an embodiment of the present disclosure provides an electronic device 400. The electronic device 400 includes a memory 410, a processor 420, and an input / output (I / O) interface 430. The memory 410 is used to store instructions. The processor 420 is used to call the instructions stored in the memory 410 to execute the material sorting method of the embodiment of the present disclosure. The processor 420 is connected to the memory 410 and the I / O interface 430, respectively, for example, through a bus system and / or other forms of connection mechanisms (not shown). The memory 410 can be used to store programs and data, including the program of the material sorting method involved in the embodiment of the present disclosure, and the processor 420 executes various functional applications and data processing of the electronic device 400 by running the program stored in the memory 410.

[0045] In the embodiment of the present disclosure, the processor 420 can be implemented in at least one hardware form of a digital signal processor (Digital Signal Processing, DSP), a field programmable gate array (Field-Programmable Gate Array, FPGA), and a programmable logic array (Programmable Logic Array, PLA). The processor 420 can be a central processing unit (Central Processing Unit, CPU) or one or a combination of other forms of processing units with data processing capabilities and / or instruction execution capabilities.

[0046] The memory 410 in the embodiment of the present disclosure may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.

[0047] In the embodiment of the present disclosure, the I / O interface 430 may be used to receive input instructions (such as digital or character information, and key signal input related to user settings and function control of the electronic device 400), and may also output various information (such as images or sounds) to the outside. In the embodiment of the present disclosure, the I / O interface 430 may include one or more of a physical keyboard, a function key (such as a volume control key, a switch key, etc.), a mouse, a joystick, a trackball, a microphone, a speaker, and a touch panel.

[0048] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0049] In the context of this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0050] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more application embodiments, in the above description of the embodiments of this application, multiple features are sometimes merged into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0051] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is only for example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the embodiments of the present application.

Claims

1. A material sorting method, applied to a sorting device for sorting by a push plate device, the material sorting method comprising: Determine the category of the current material, wherein the category at least includes the material to be separated; In response to the category of the current material being a material to be separated, determining the weight of the current material, and determining a target area for collecting the current material; Determining a target thrust for striking the current material based on the weight of the current material and the target area; Based on the target thrust, the current material is struck to the target area by the push plate of the push plate device.

2. The material sorting method according to claim 1, wherein: The step of determining a target thrust for striking the current material based on the weight of the current material and the target area includes: Determining a target distance based on the target area and a striking position of the current material; determining a target speed based on the target distance; The target thrust is determined based on the current material weight and the target speed.

3. The material sorting method according to claim 2, wherein: The material sorting method further includes: determining an initial velocity of the current material; The determining the target thrust based on the current material weight and the target speed includes: determining a target acceleration based on the initial speed, the target distance, and the target speed; The target thrust is determined based on the current material weight and the target acceleration.

4. The material sorting method according to claim 2 or 3, wherein: The push plate of the push plate device is driven by a cylinder; The method of hitting the current material to the target area by the push plate of the push plate device based on the target thrust includes: determining a target air pressure based on the target thrust; Based on the target air pressure, air pressure is provided to the cylinder corresponding to the push plate, so that the push plate strikes the current material to the target area.

5. The material sorting method according to claim 1, wherein: Determining the weight of the current material, including: Determining profile information of the current material; Determining thickness information of the current material; Determining volume information of the current material based on the profile information and the thickness information; The weight of the current material is determined based on the density of the current material and the volume information.

6. The material sorting method according to claim 5, wherein: The determining of a target area for collecting the current material includes: If the category of the current material is a material to be separated and the weight of the current material is less than a weight threshold, determining the target area to be a first collection area; If the category of the current material is the material to be separated and the weight of the current material is greater than or equal to the weight threshold, the target area is determined to be a second collection area, wherein the horizontal distance between the second collection area and the push plate device is smaller than the horizontal distance between the first collection area and the push plate device.

7. The material sorting method according to claim 1, wherein: The material sorting method further comprises: Obtaining the maximum thrust of the push plate; In response to the target thrust being less than the maximum thrust, a warning is issued.

8. The material sorting method according to claim 7, wherein: The maximum thrust of the push plate is determined by: Striking the test material with the maximum thrust; Obtaining flight distance information of the test material; The value of the maximum thrust is determined based on the flight distance information.

9. A sorting device for sorting materials, the sorting device comprising: A conveying device, used for conveying the material; An identification device, used to determine the category of the current material, wherein the category at least includes the material to be separated; a control device, for determining the weight of the current material and a target area for collecting the current material in response to the current material being classified as a material to be separated, and determining a target thrust for striking the current material based on the weight of the current material and the target area; A push plate device is used to, based on the target thrust, push the current material to the target area through the push plate of the push plate device.

10. The sorting device according to claim 9, wherein: The identification device comprises: Classification identification module, used to determine the category of the current material; Material profile extraction module, used to obtain material profile information; Material thickness extraction module is used to obtain material thickness information.

11. A computer-readable storage medium storing the following program, wherein the program is used to execute the material sorting method according to any one of claims 1 to 8.

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