Material sorting method, sorting device and computer readable storage medium

Abstract

The present disclosure relates to a material sorting method, a sorting device and a computer readable storage medium. The material sorting method is applied to a sorting device for sorting by a push plate device, and includes: determining the category of the current material, wherein the category at least includes a 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 a target area for collecting the current material; based on the weight of the current material and the target area, determining a target pushing force for hitting the current material; and based on the target pushing force, hitting the current material to the target area by a push plate of the push plate device. The material sorting method of the present disclosure ensures that the trajectory and landing point of the material are more reliable. Avoiding different weights or types of materials from being hit and falling to a position that is too far or too close, resulting in sorting errors and equipment damage. The sorting accuracy and reliability of the sorting device are improved, and the application range of the sorting device is also improved, which can meet the material sorting of different scenes.

Description

Technical Field

[0001] This invention relates to the field of material sorting, and more specifically to a material sorting method, sorting equipment, and computer-readable storage medium. Background Technology

[0002] Currently, in the field of material sorting, such as ore sorting, waste sorting, and food sorting, push plates are commonly used as separating devices. These plates separate materials according to their type by striking them. However, due to the diversity of sorting scenarios and the irregularity of materials, in actual sorting processes, after the push plate strikes the materials to be separated, some of the struck material may fly too high, causing it to leave the collection area or damage the equipment; or some of the struck material may fly too close, resulting in ineffective separation. Summary of the Invention

[0003] To overcome the problems existing in related technologies, exemplary embodiments of this disclosure provide a material sorting method, sorting equipment, and computer-readable storage medium. The material sorting method is applied to a sorting equipment that performs sorting via a pusher plate device. The material sorting method includes: determining the category of current material, wherein the category at least includes material to be separated; in response to the current material being classified as 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; and striking the current material into the target area via a pusher plate of the pusher plate device based on the target thrust.

[0004] In some embodiments, determining the 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 the striking position of the current material; determining a target velocity based on the target distance; and determining the target thrust based on the weight of the current material and the target velocity.

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

[0006] In some embodiments, the pusher plate of the pusher device is driven by a cylinder; the step of striking the current material into the target area by the pusher plate of the pusher device based on the target thrust includes: determining a target air pressure based on the target thrust; and providing air pressure to the cylinder corresponding to the pusher plate based on the target air pressure, so that the pusher plate strikes the current material into the target area.

[0007] In some embodiments, determining the weight of the current material includes: 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 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 current material is a material to be separated and the weight of the current material is less than a weight threshold, then determining the target area as a first collection area; if the current material is a 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 a second collection area, wherein the horizontal distance between the second collection area and the pusher device is less than the horizontal distance between the first collection area and the pusher device.

[0009] In some embodiments, the material sorting method further includes: obtaining the maximum thrust of the pusher 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 pusher plate is determined by: striking 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.

[0011] Secondly, this disclosure also 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 materials, wherein the category includes at least materials to be separated; a control device for determining the weight of the current materials and a target area for collecting the current materials in response to the current materials being materials to be separated, and determining a target thrust for striking the current materials based on the weight of the current materials and the target area; and a pusher device for striking the current materials into the target area by a pusher plate of the pusher 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 acquiring the contour information of the material; and a material thickness extraction module for acquiring the thickness information of the material.

[0013] Thirdly, this disclosure also provides a computer-readable storage medium storing a program for performing the material sorting method described in the first aspect.

[0014] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure.

[0015] The material sorting method disclosed herein determines the required thrust for separating the material based on its weight and the location of the collection area. The material is then struck by a pusher plate using the required thrust, ensuring it reaches the designated area and guaranteeing a more reliable trajectory and landing point. This prevents materials of different weights or types from falling too far or too close after being struck, which could lead to sorting errors or equipment damage. The method improves the accuracy and reliability of the sorting equipment and expands its applicability, enabling it to meet the material sorting needs of various scenarios. Attached Figure Description

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

[0017] Figure 1 This is a schematic diagram of a sorting device structure shown according to an exemplary embodiment disclosed in a publication;

[0018] Figure 2 This is a flowchart illustrating a material sorting method according to another exemplary disclosure;

[0019] Figure 3 This is a flowchart illustrating a material sorting method according to another exemplary disclosure;

[0020] Figure 4 This is a flowchart illustrating a material sorting method according to another exemplary disclosure;

[0021] Figure 5 This is a schematic diagram of a maximum thrust test structure shown according to an exemplary embodiment of a published document;

[0022] Figure 6 This is a schematic diagram of an electronic device structure shown according to an exemplary embodiment disclosed in a publication. Detailed Implementation

[0023] The following describes specific embodiments of the present invention. It should be noted that, in order to provide a concise description, this specification cannot exhaustively describe all features of the actual embodiments. It should be understood that, in the actual implementation of any embodiment, just as in any engineering or design project, various specific decisions are often made to achieve the developer's specific goals and to meet system-related or business-related constraints, and this can change from one embodiment to another. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this invention, some design, manufacturing, or production modifications based on the technical content disclosed herein are merely conventional technical means and should not be construed as insufficient content of this disclosure.

[0024] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in the patent application description and claims of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" and similar terms mean that the element or object preceding "comprising" or "including" encompasses the element or object listed following "comprising" or "including" and its equivalents, and do not exclude other elements or objects. The terms "connected" or "linked" and similar terms are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[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 separating mechanism 130, and a receiving device 140. The conveying device 110 may include a conveyor belt or chute, etc., for conveying materials. The identification device 120 can be used to identify materials being conveyed on the conveying device 110, and can also identify materials that have already left 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 the material to be separated; the material to be separated refers to the material to be separated by the separating mechanism 130. The material to be separated can be the desired material, the undesirable material, or a certain type of material among all materials, as long as the material can be sorted. The separating mechanism 130 may include a pusher plate device for striking the material to be separated into the target area using the pusher plate of the pusher plate device. The receiving device 140 is used to receive the materials separated by the separating mechanism 130, completing the sorting of the desired material and the undesirable material. The material sorting machine 100 can be used for sorting ores, as well as for food sorting or waste sorting. The material sorting machine can be part of a material sorting system, which can feed materials into the material sorting machine, receive the sorted materials, and perform subsequent processing.

[0026] In some cases, due to similar sorting principles, the same or the same model of sorting machine may be applied to different scenarios and sorting different materials. However, in ore sorting, push plates are used to impact ore or gangue; in food sorting, push plates are used to impact one or more types of food; in waste sorting, push plates may be used to impact plastic products, etc. In some related technologies, when sorting different types of products, push plates cause some lighter materials to be impacted and fall to a greater distance, while some heavier materials cannot have their trajectory changed smoothly, leading to 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 from different mining areas vary, resulting in differences in density, volume, and weight. This causes the push plate to be unable to meet the needs of different situations. In some related technologies, applying a large thrust to the pusher plate may cause the ore to fly too high and too far after being struck when the ore weight is small, making it difficult to collect and damaging the equipment; in other related technologies, the thrust is insufficient to meet the separation of heavy ore, resulting in the inability to push the ore material to be separated and the occurrence of separation errors.

[0027] To address the aforementioned problems, this disclosure provides a material sorting method applicable to sorting equipment that uses a pusher plate device for sorting, such as... Figure 2 As shown, the material sorting method may include steps S11 to S14, which will be described in detail below.

[0028] Step S11: Determine the category of the current material, wherein the category includes at least the material to be separated. In this embodiment of the disclosure, the material can be identified by the identification device of the sorting equipment to confirm the category of the material, so that it can be sorted according to the category in the future. Identification can be performed by X-ray technology, by emitting X-rays through the X-ray emitting end, receiving the X-rays passing through the material and analyzing them to determine the category of the material. Alternatively, image information of the material can be obtained by infrared light, visible light, etc., and the category of the material can be further determined. The category may include at least one material to be separated by a pusher plate. For example, in coal ore sorting, the raw material may include coal and gangue. The identification device can identify the material being conveyed on the conveying device and determine whether each material is coal or gangue. Subsequently, the coal or gangue can be separated by pushing the pusher plate. In other cases, there may be two or more types of materials that need to be separated and separated into different collection areas. For example, in coal ore sorting, it is necessary to separate coal from gangue, and at the same time, large-sized coal and small-sized coal can 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, the weight of the current material and the target area for collecting the current material are determined. In this embodiment of the present disclosure, after determining that the current material belongs to the category of materials that need to be separated by a pusher plate, the weight of the material and the location of the collection area to which the material needs to be separated can be determined. The target area can be one of the receiving parts of the receiving device, used to collect materials of this category to be separated. Based on the location of the target area, the position where the material needs to fall can be determined, and thus the distance it needs to travel after being struck can be further determined. The weight of the material can be determined based on the volume and density of the material, or a preset weight value can be used for the batch of material.

[0030] Step S13: Based on the current material weight and the target area, determine the target thrust for striking the current material. In this embodiment, after determining the material weight and the desired landing position, the required thrust magnitude can be further determined. During the process of striking the material with the push plate, a fixed striking time can be used to ensure that the material is struck by the push plate at approximately the same trajectory position after leaving the conveying mechanism. Since the target area is a range, the calculation can be based on the center position of the target area. Furthermore, using the center position as the reference can ensure that the striking position deviation caused by the material's shape will not affect the accuracy of sorting. Therefore, in this embodiment, calculations can be conveniently performed based on the same striking time and striking position. On the other hand, the action time of the push plate striking the material can also be preset to a fixed value. Based on the striking position and the target area, the required flight distance can be determined, and further, the magnitude of the target thrust (i.e., the force provided when striking 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 pusher plate of the pusher plate device. In this embodiment of the present disclosure, the target thrust can be obtained, and the pusher plate can be controlled so that an appropriate thrust magnitude can be used to strike the material according to different material conditions. In some embodiments, the thrust of the pusher plate can be linearly adjusted, directly providing a thrust that is substantially equal to the target thrust. In other embodiments, the thrust of the pusher plate can be preset with multiple segments. The material is struck by the thrust corresponding to the segment range to which the target thrust belongs. Since the target area of ​​the receiving device has a certain size range, this method can simplify the drive device.

[0032] The material sorting method of this disclosure can determine the target thrust required to separate the material based on its weight and the corresponding collection area location. The material is then struck by a pusher plate according to the target thrust, ensuring it reliably reaches the designated target area. This avoids materials of different weights or types falling too far or too close after being struck, which could lead to sorting errors and equipment damage. It improves sorting accuracy and reliability, expands the applicability of the sorting equipment, and can meet the material sorting needs of various scenarios. Furthermore, the thrust is reduced for lighter materials, saving energy consumption.

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

[0034] In this embodiment, the distance between the center of the target area and the impact position can be calculated based on the center of the target area. This distance can include both horizontal and vertical distances. Based on the distance, the impact position, and the angle at which the pusher plate impacts the material, the trajectory of the material can be determined, such as a parabola or a projectile trajectory. Based on the 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 can also include both horizontal and vertical components. Based on the target velocity, the weight of the material, and information such as the preset force-time, the required target thrust can be determined. In this embodiment, the required thrust can be easily obtained based on the target distance and the weight of the material, and the corresponding thrust can be provided by the pusher plate to achieve more accurate and reliable sorting. This allows the same or a uniform model of sorting equipment to adapt to more sorting scenarios.

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

[0036] In this embodiment, the initial velocity of the material can be determined first, thereby improving the accuracy of subsequently determining the target thrust. In the sorting equipment, the conveying device can be a conveyor belt or a chute, etc. The material's moving speed may vary due to its own properties or factors such as conveyor belt aging, causing the initial velocity to change and not be a fixed value. Changes in the initial velocity affect the flight trajectory. During the process of the pusher plate striking the material, i.e., during the application of force, the pusher plate provides acceleration to the material. Different initial velocities will affect the velocity after the strike. Therefore, determining the initial velocity also ensures the reliability of determining the target thrust. Based on the initial velocity and the target velocity, the target acceleration applied during the pusher plate's strike can be determined. This acceleration can include horizontal and vertical component accelerations. By determining the target acceleration, the magnitude of the thrust that the pusher plate needs to provide can be determined more accurately.

[0037] In some embodiments, the pusher plate of the sorting device can be driven by a cylinder. Step S14, based on the target thrust, uses the pusher plate of the pusher plate device to strike the current material to the target area, which may include: determining the target air pressure based on the target thrust; and providing air pressure to the cylinder corresponding to the pusher plate based on the target air pressure, so that the pusher plate strikes the current material to the target area. In this embodiment of the present disclosure, the pusher plate can be driven by a cylinder, and the thrust of the pusher plate can be adjusted by the gas pressure provided to the cylinder. The gas pressure can be adjusted by a gas source or a solenoid valve. The adjustment of the gas pressure can be based on a value calculated according to the thrust magnitude, and the corresponding gas pressure can be provided according to the required thrust. Alternatively, the thrust can be pre-divided into segments by calculation, and a corresponding gas pressure is provided for each segment, thereby facilitating 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. In this embodiment, the material's cross-sectional area can be determined by acquiring an image of the material and obtaining its contour information through image processing. The material's thickness information can be obtained through methods such as laser thickness measurement. The thickness information can be an average value or a set of thickness values. Based on the material's contour and thickness, the material's volume can be determined. The material's density can be preset according to the actual scenario and the type of material to be separated. For example, if the current batch of material requires separating coal using a pusher plate, the density can be calculated based on the density of coal. In other examples, the density can also be determined by a recognition device. This embodiment can determine the volume by acquiring the material's contour and thickness, thereby further accurately determining the material's weight to determine a more accurate target thrust. It can adapt to various material conditions in actual production processes and ensure the reliability and accuracy of sorting in scenarios 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 current material is a material to be separated and its weight is less than a weight threshold, then the target area is determined as a first collection area; if the current material is a material to be separated and its weight is greater than or equal to a weight threshold, then the target area is determined as a second collection area, wherein the horizontal distance between the second collection area and the pusher device is less than the horizontal distance between the first collection area and the pusher device. In this embodiment, the material to be separated can be further distinguished according to its weight. For example, in coal sorting, coal and gangue can be sorted while coal of different sizes is collected separately for subsequent processing. Based on different types of materials, such as materials of different weights, corresponding collection areas are set up, and the required pushing force is further determined based on the determined weight and the corresponding collection area. This ensures that the pushing force meets the sorting requirements of different situations. Furthermore, this disclosure places heavier materials in closer locations for collection, thereby increasing the applicability of the pusher and saving energy.

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

[0041] In some embodiments, the maximum thrust of the pusher plate can be determined by: striking the test material with the maximum thrust; acquiring the flight distance information of the test material; and determining the value of the maximum thrust based on the flight distance information. In this embodiment, the maximum thrust can be determined during the sorting equipment commissioning phase to determine the applicable range and scenarios. In one example, the maximum thrust can be determined by the following method: Figure 5As shown, the process of testing the maximum thrust in this disclosure may include test material 11, graduated buffer pad 12, graduated table 13, table legs 14, a first position sensor 15, and a second position sensor 16. The graduated table 13 is fixed to the table legs 14, which are fixed to the ground and do not slide. In practical applications, a receiving device can be used instead of the table. The buffer pad 12 is fixed to the table 13, and the two do not produce absolute or relative movement. The first position sensor 15 is used to record the position at point O, and the second position sensor 16 is used to record the position at point A. The test material 11 has a known mass of m. After movement, the test material 11 will fall onto the buffer pad 12; the buffer pad 12 serves two purposes: firstly, to buffer the energy of the test material 11, and secondly, to prevent the test material 11 from sliding on the buffer pad 12. The graduated table 13 supports the buffer pad 12. The table legs 14 are height-adjustable. The conveying device 110 and the separating mechanism 130 can be used in actual sorting equipment that needs to test the maximum thrust. Test material 11 is placed at point O on the conveyor belt of the conveyor device 110. It moves with the belt, detaches from the belt at point A, and its trajectory is an initial parabola P1, stopping at point B on the buffer pad 12. The initial position of test material 11 is recorded as point O. The distance between point O and point A is recorded to ensure the accuracy of point O. Point B is recorded, and the dimension L1 is measured. The formula for the initial parabola P1 is: L1 = v A ×t1;d=1 / 2(gt1 2 v A v is the velocity at point A. The acceleration due to gravity is g. t1 is the time it takes for the test material 11 to travel from point A to point B. v can be calculated using formula 1. A The value of the initial parabola P1 can be calculated simultaneously. After calculating the initial parabola P1, the intersection point C of the push plate and the initial parabola P1 can be obtained. The dimension e can be obtained by measuring points A and C in the drawing, and the height f of points C and B can also be obtained. When the push plate strikes, at point C, the push plate pushes the test material 11, forming the parabola P2 after the push plate's operation. The test material 11 stops at point D on the graduated buffer pad 12. The distance L2 is measured. Formula 2 for the parabola P2 after the push plate's operation: L2 = e + v C1 ×t2;f=-v C2 ×t2+1 / 2(gt2 2 v C1 It is the horizontal velocity at point C. C2 t2 is the vertical velocity at point C. t2 is the time it takes for test material 11 to travel from point C to point D, a known value measured by a timer. v can be obtained using the parabola formula 2. C1 and v C2 The contact time t3 between the pusher device and the test material 11, i.e., the duration of the pushing force, can be measured using a timer. This can be preset or calculated using a timer. Speed ​​formula 3: vC1 =v A +a1×t3; Velocity formula 4: -v C2 =0.5×gt⁴-a²×t³; Time formula 5: t⁴=e / v A Horizontal acceleration a1, vertical acceleration a2. Time t4 from point A to point C. a1 and a2 can be obtained using formulas 3, 4, and 5. Thrust formula 6: F = m × (a 12 +a 22 ) 1 / 2 The target thrust value of the pusher device is obtained. The pusher uses compressed air at maximum pressure; the maximum thrust of the pusher can be calculated using the above calculation method.

[0042] Secondly, this disclosure also provides a sorting device 100 for sorting materials, such as... Figure 1 As shown, the sorting equipment 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) for determining the weight of the current material and the target area for collecting the current material in response to the current material being classified as the 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; and a pusher device 130 for striking the current material into the target area using a pusher plate based on the target thrust. By determining the target thrust through the control device and striking the material to be separated by the pusher device 130 according to the target thrust, the sorting results are ensured, and the applicability of the sorting equipment 100 is improved.

[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 acquiring the contour information of the material; and a material thickness extraction module for acquiring the thickness information of the material. By extracting the contour and thickness, the volume information of the material can be easily obtained in different scenarios. Combined with the material category and density, the weight of the current material can be obtained in various situations, facilitating the determination of a more accurate target thrust and ensuring the sorting results.

[0044] Based on the same inventive concept, this disclosure also provides a computer-readable storage medium storing a program for executing the material sorting method described in any of the foregoing embodiments. Figure 6As shown, one embodiment of this 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 execute the material sorting method of this disclosure embodiment by calling the instructions stored in the memory 410. The processor 420 is connected to both the memory 410 and the I / O interface 430, for example, via a bus system and / or other forms of connection mechanism (not shown). The memory 410 can be used to store programs and data, including the program for the material sorting method involved in the embodiments of this disclosure. 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 this embodiment of the disclosure, the processor 420 may be implemented in at least one of the following hardware forms: digital signal processor (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 420 may be one or a combination of several of the following: central processing unit (CPU) or other processing units with data processing capability and / or instruction execution capability.

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

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

[0048] This application uses specific terms to describe embodiments of the application. Terms such as "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the application. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0049] In the context of this application, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0050] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0051] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the embodiments of this application.

Claims

1. A method of material sorting for a sorting apparatus that sorts by a pusher plate device, wherein, The pushing plate of the pushing plate device is driven by a cylinder, and the material sorting method comprises: 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; determining the initial speed of the current material, wherein the initial speed is not a fixed value; based on the weight of the current material and the target area, determining the target thrust for hitting the current material; wherein, including: based on the center position of the target area and the hitting position of the current material, determining the target distance; based on the target distance, determining the target speed; based on the initial speed, the target distance and the target speed, determining the target acceleration; and, based on the weight of the current material and the target acceleration, determining the target thrust; based on the target thrust, the current material is hit to the target area by the pushing plate of the pushing plate device; wherein, including: based on the target thrust, determining the target air pressure, wherein the thrust of the pushing plate is pre-set with multiple sections, and each section range of thrust provides a corresponding target air pressure; and, based on the target air pressure, providing air pressure to the cylinder corresponding to the pushing plate, so that the pushing plate hits the current material to the target area; wherein, the determination of the target area for collecting the current material comprises: 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, the target area is determined 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, the target area is determined as the second collection area, wherein the horizontal distance between the second collection area and the pushing plate device is less than the horizontal distance between the first collection area and the pushing plate device; wherein, the material sorting method further comprises: obtaining the maximum thrust of the pushing plate; and in response to the target thrust being less than the maximum thrust, issuing a warning.

2. The method of claim 1, wherein, determining the weight of the current material comprises: determining the contour information of the current material; determining the thickness information of the current material; based on the contour information and the thickness information, determining the volume information of the current material; based on the density of the current material and the volume information, determining the weight of the current material.

3. The method of claim 1, wherein, The maximum thrust of the pushing plate is determined by: hitting the test material by the maximum thrust; obtaining the flight distance information of the test material; based on the flight distance information, determining the value of the maximum thrust.

4. A sorting device for sorting materials by the material sorting method according to any one of claims 1-3, 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 at least includes the material to be separated; The control device is configured to determine a weight of the current material and determine a target area for collecting the current material in response to the category of the current material being a material to be separated, and determine a target thrust for hitting the current material based on the weight of the current material and the target area. The push plate device is configured to hit the current material to the target area by a push plate of the push plate device based on the target thrust.

5. The sorting apparatus of claim 4, wherein, The recognition device comprises: a category recognition module configured to determine a category of the current material; a material profile extraction module configured to obtain profile information of the material; a material thickness extraction module configured to obtain thickness information of the material. 6.A computer readable storage medium storing a program for performing the material sorting method of any one of claims 1-3.

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