Material sorting method and material sorting equipment

Abstract

The invention relates to the technical field of material sorting, in particular to a material sorting method and material sorting equipment. The material sorting method comprises the following steps: determining image data of materials according to an image acquisition device; according to the image data, the ore content of the material is determined, and the ore content is a continuous value; determining separation parameters according to the ore content; and according to the sorting parameters, sorting operation is executed, so that the materials fall into a plurality of material receiving spaces formed by separation of partition plates of a material receiving mechanism, and each material receiving space corresponds to one target category. According to the method, the continuous value of the ore content can be determined, the materials can be conveniently divided into multiple categories according to the numerical value of the ore content, and higher recognition precision is achieved. The materials are divided into a plurality of categories according to the numerical value of the ore content, and the classification precision is high. According to the method and the device, the separation parameters can be determined according to the ore content, real-time adjustment can be performed when the separation requirements change, and the method and the device have relatively high adjustment efficiency and flexibility and better universality, can adapt to various separation requirements and can be adjusted in real time.

Description

Technical Field

[0001] The present disclosure relates to the technical field of material sorting, and particularly relates to a material sorting method and a material sorting device. Background Art

[0002] Ores such as coal, spodumene and silica are widely used in current industrial production. For the above-mentioned ores, after mining, they usually contain a large amount of gangue and impurities, and need to be sorted to distinguish different types of ores to improve the ore quality, reduce the transportation cost, and reduce environmental pollution. Ore sorting devices are widely used under this demand. For ore sorting devices and other materials, the general material sorting method can only output discrete categories of ores during the process of identifying ores, with fewer identifiable categories and poor accuracy of material identification. In addition, when the sorting requirements change, it is difficult to adjust the material sorting method. Generally, it is necessary to retrain or configure the sorting method and related models for different material sorting requirements, with low adjustment efficiency and poor universality and flexibility of the material sorting method. Summary of the Invention

[0003] To overcome the problems existing in the related art, in a first aspect, an exemplary embodiment of the present disclosure provides a material sorting method, which is applied to a material sorting device. The material sorting device includes: an image acquisition device, a sorting mechanism, and a material receiving mechanism. The material sorting method includes: determining image data of the material according to the image acquisition device; determining the ore content of the material according to the image data, where the ore content is a continuous value; determining sorting parameters according to the ore content; and performing a sorting operation according to the sorting parameters to make the material fall into a plurality of material receiving spaces formed by partitions of the material receiving mechanism, where each material receiving space corresponds to a target category.

[0004] In some embodiments, the position of the partition of the material receiving mechanism is adjustable, and the material sorting method further includes: determining the number of target categories; and determining the number of partitions based on the number of target categories.

[0005] In some embodiments, the material sorting method further includes: determining an ore content interval corresponding to each target category based on the number of target categories; and adjusting the partition or the sorting parameters based on each ore content interval so that materials belonging to the same ore content interval fall into the same material receiving space.

[0006] In some embodiments, the adjusting the partition or the sorting parameters based on each ore content interval includes: determining a target pose of the corresponding partition based on each ore content interval; and adjusting the partition based on the target pose of the partition.

[0007] In some embodiments, determining the sorting parameters according to the ore content includes: determining the linear landing position based on the ore content; and determining the sorting parameters based on the linear landing position.

[0008] In some embodiments, determining the target pose of each partition board according to each ore content interval includes: determining the corresponding landing interval of the ore content interval based on each ore content interval and the linear landing position; and determining the target pose of each partition board based on each landing interval, where the target pose includes at least one of the following: the position of the partition board, the height of the partition board, and the angle of the partition board.

[0009] In some embodiments, adjusting the partition board or the sorting parameters according to each ore content interval includes: determining the receiving space corresponding to each ore content interval respectively based on the ore content interval and the number of target categories; and determining a sorting parameter corresponding to each ore content interval respectively based on the receiving space corresponding to each ore content interval.

[0010] In some embodiments, determining the ore content of the material according to the image data includes: determining the ore content through a network model according to the image data, where the network model is determined by the following method: determining the ore content data corresponding to the material in the image data through chemical detection, where the ore content data is the ore content percentage data of the material; and training the network model through the image data and the corresponding ore content data.

[0011] In a second aspect, the present disclosure also provides a material sorting device, which is used to execute the material sorting method as described in the first aspect. The material sorting device includes: an image acquisition device for acquiring the image data of the material; a sorting mechanism for performing the sorting operation; and a receiving mechanism located downstream of the sorting mechanism for receiving the sorted material.

[0012] In some embodiments, the receiving mechanism includes: a plurality of partition boards, the poses of which are adjustable, and the plurality of partition boards are used to isolate the receiving mechanism to form a plurality of receiving spaces.

[0013] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure.

[0014] According to the material sorting method provided by the present disclosure, the ore content of the material is determined based on the image data, and the continuous value of the ore content can be determined. Thus, it is convenient to classify the materials into multiple different categories according to the specific value of the ore content, making the material sorting method provided by the present disclosure have higher material recognition accuracy, and the materials can be classified into multiple different classifications according to the specific value of the ore content, so as to classify the materials into multiple different categories with relatively high classification accuracy. In addition, through the material sorting method provided by the present disclosure, the sorting parameters can be determined according to the ore content. When the sorting requirements change, the material sorting method can be adjusted in real time, with relatively high adjustment efficiency and flexibility, making the material sorting method have better universality, being able to adapt to a variety of different sorting requirements, and being able to be adjusted in real time. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention can be better understood by describing the exemplary embodiments of the present invention in conjunction with the accompanying drawings. In the drawings:

[0016] Figure 1 is a flowchart of a material sorting method shown according to an exemplary embodiment of the present disclosure;

[0017] Figure 2 is a flowchart of a material sorting method shown according to another exemplary embodiment of the present disclosure;

[0018] Figure 3 is a flowchart of a material sorting method shown according to another exemplary embodiment of the present disclosure;

[0019] Figure 4 is a flowchart of a material sorting method shown according to another exemplary embodiment of the present disclosure;

[0020] Figure 5 is a flowchart of a material sorting method shown according to another exemplary embodiment of the present disclosure;

[0021] Figure 6 is a flowchart of a material sorting method shown according to another exemplary embodiment of the present disclosure;

[0022] Figure 7 is a flowchart of a material sorting method shown according to another exemplary embodiment of the present disclosure;

[0023] Figure 8 is a flowchart of a material sorting method shown according to another exemplary embodiment of the present disclosure;

[0024] Figure 9 is a schematic structural diagram of a material sorting device shown according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The specific embodiments of the present invention will be described below. It should be noted that in the process of the specific description of these embodiments, for the sake of concise description, it is impossible for this specification to describe all the features of the actual embodiments in detail. It should be understood that in the actual implementation process of any one of the embodiments, 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 the system-related or business-related restrictions, various specific decisions are often made, and these 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 those of ordinary skill in the art related to the content disclosed in the present invention, some design, manufacturing or production changes based on the technical content disclosed in the present disclosure are only conventional technical means and should not be understood as the content of the present disclosure being insufficient.

[0026] Unless otherwise defined, the technical terms or scientific terms used in the specification should have the ordinary meaning understood by those of ordinary skill in the technical field to which the present invention belongs. The "first", "second" and similar terms used in the specification of this patent application for the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. The terms such as "a" or "an" do not indicate a quantity limitation, but indicate that there is at least one. The terms such as "comprising" or "including" mean that the elements or objects appearing before "comprising" or "including" cover the elements or objects listed after "comprising" or "including" and their equivalent elements, and do not exclude other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0027] To solve the above technical problems, the present disclosure provides a method for sorting materials, which is applied to a material sorting device. The material sorting device includes: an image acquisition device, a sorting mechanism, and a material receiving mechanism. Among them, as Figure 1 shown, the method for sorting materials may include: step S110 to step S140.

[0028] Step S110: Determine the image data of the material according to the image acquisition device. The image data of the material can be determined according to the image acquisition device. Herein, the material can be untreated raw ore, and the raw ore can include ores such as coal, spodumene or silica as target ores, or can also include waste materials such as gangue. The image acquisition device can be a ray device, and the ray image of the material is acquired as the image data of the material. The image acquisition device can also be a visible light camera, and the RGB image of the material is acquired as the image data of the material. The image acquisition device can also be a hyperspectral scanner, and the hyperspectral data of the material is acquired as the image data of the material. The image acquisition device can be one or more of the above, and one or more of the ray image, RGB image or hyperspectral image of the material can be used as the image data. The image data can include information such as the color, position and shape of the material, so as to facilitate subsequent data processing through the image data and obtain data such as the ore content of the material. The ore content can be the percentage of the target ore in all the materials.

[0029] Step S120: Determine the ore content of the material according to the image data, wherein the ore content is a continuous value. According to the image data obtained in step S110, the continuous value of the ore content of the material can be determined according to the information such as the color and shape of the material in the image data, that is, the percentage of the target ore part in all the materials. The ore content can be a value used to characterize the content of the target ore in the material. The ore content can be the percentage of the target ore in the whole material. And the ore content can be a specific continuous value, such as 23%, 43.5%, etc. The conventional material identification method generally adopts the dichotomy method and can only output the category of the material according to the image recognition, such as: waste rock without target ore, rough ore containing target ore. This conventional material identification method cannot obtain the specific ore content of the material, and the recognition accuracy is low. However, the material sorting method provided by the present disclosure can directly determine the specific value of the ore content according to the image data during the process of identifying the material, so that the material can be classified and sorted more accurately. By determining the specific ore content of the material through step S120, more detailed classification of the material can be carried out subsequently, thereby improving the utilization rate of the ore in the material. The content of the target ore in the material can be determined through image processing according to the image data obtained in step S110. It can also be through a neural network model, inputting the ray image, RGB image or hyperspectral data, etc. used as the image data, and directly outputting the ore content of each material included in the image data.

[0030] Step S130: Determine the separation parameters according to the ore content. The separation parameters can be various parameters required for the separation mechanism to perform the separation operation. Specifically, the separation mechanism can be a blowing mechanism that drives the nozzle to blow gas through a solenoid valve, thereby blowing the material to achieve material separation. In this case, the separation parameters can be information such as the amount of gas blown by the nozzle, the blowing time of the nozzle, and the position of the nozzle. The separation mechanism can also be a push plate mechanism that can drive the push plate to flip through a solenoid valve, thereby hitting the material to achieve material separation. In this case, the separation parameters can be the force of the push plate hitting the material or the flipping speed of the push plate. In addition, the separation parameters can also include information such as the flipping angle of the push plate, the flipping time of the push plate, and the position of the push plate. The separation parameters for separating materials with different ore contents can be determined according to the ore content of each material and the customer's requirements for material separation, so as to perform separation on the materials that meet the user's separation requirements according to the separation parameters in the subsequent steps.

[0031] Step S140: Perform a separation operation according to the separation parameters, so that the materials fall into multiple receiving spaces formed by the partition of the receiving mechanism, where each receiving space corresponds to a target category. The separation operation can be performed on each material by the separation mechanism according to the separation parameters determined for each material in step S130. Among them, the separated materials can enter the receiving mechanism, and multiple partitions are provided in the receiving mechanism to isolate the receiving mechanism into multiple receiving spaces. The sizes of the respective receiving spaces can be determined according to the user's separation requirements, and the sizes of each receiving space can be the same or different. Each of the materials subjected to the separation operation can fall into the corresponding receiving space in the receiving mechanism. Each receiving space can correspond to a target category. Specifically, there can be multiple target categories, such as: waste rock, intermediate ore, low-grade concentrate (low-grade concentrate), high-grade concentrate (high-grade concentrate), etc., and the ore content of the materials in each target category is different. For the separated materials that enter the same receiving space, their ore contents are similar and belong to the same target category.

[0032] According to the material sorting method provided in this embodiment, by collecting the image data of the material and combining image recognition and intelligent analysis, the ore content of the material can be determined as a continuous value, so as to achieve higher-precision quantitative recognition and grading of the material. Compared with the traditional rough sorting method that simply divides the material into target ore and waste rock, in this embodiment, the material can be more finely divided based on the specific value of the ore content, improving the accuracy of material recognition and classification. At the same time, combined with the continuous ore content value, this embodiment can dynamically determine the corresponding sorting parameters and drive the sorting mechanism to perform corresponding sorting operations. Since the sorting parameters can be generated and adjusted in real time according to the specific ore content of the material and the sorting requirements, it has high adjustment flexibility and response efficiency. According to the material sorting method provided in this embodiment, the ore content obtained from the image data is a continuous value, making the recognition of the ore content of the material more detailed. Therefore, the ore content interval corresponding to the target category can be planned according to the user's material sorting requirements, and the partition or sorting parameters can be quickly adjusted according to the ore content of the material and its corresponding ore content interval. It has a high response speed, can timely adjust the sorting strategy of the material sorting equipment, can respond in real time, and has high flexibility. In the application scenario where the user's needs change, this embodiment can quickly adapt to and adjust the sorting strategy, realize the rapid deployment and fine control of the sorting scheme, thereby enhancing the applicability and universality of the material sorting method. In addition, the sorting process classifies the results through multiple receiving spaces, and each space corresponds to a different ore-containing category, further ensuring the accuracy and classification clarity of the sorting results and improving the recovery efficiency of the target ore.

[0033] In some embodiments, the position of the partition of the receiving mechanism is adjustable. Specifically, the position, attitude, quantity, etc. of the partition can all be adjusted. Among them, as Figure 2 shown, the material sorting method may further include: step S150, step S160. Specifically, step S150 and step S160 can be processed in parallel with step S120, or can be processed asynchronously with step S120. The order of step S120 and step S150 to step S160 can be determined according to requirements. After executing step S120, step S150 to step S160 can be executed to determine the quantity of the partition, or after executing step S110 to obtain the image data, step S150 to step S160 can be preferentially executed to determine the quantity of the partition, and then step S120 can be executed to determine the ore content of the material.

[0034] Step S150, determine the number of target categories. According to the sorting requirements of the user, the number of target categories can be determined. Among them, the target categories can be determined according to the sorting requirements of the user and are multiple categories divided according to the ore content. Each target category can correspond to a set of ore content of the materials, and it is possible to determine which corresponding target category the materials belong to according to the ore content of the materials. Among them, the target categories can only include the categories of the materials required by the user, so that the sorted materials enter different material receiving spaces respectively, and only the materials of the categories required by the user are received by the material receiving mechanism. The target categories can also include categories such as waste rocks without target ores, so that multiple different categories of materials can all be sorted separately.

[0035] Step S160, based on the number of target categories, determine the number of partitions. There can be one or more target categories. According to the number of target categories, the number of material receiving spaces required can be determined, and finally the number of partitions used to separate the material receiving spaces can be determined. The number of material receiving spaces can be the same as the number of target categories, so that materials belonging to different target categories can enter the corresponding material receiving spaces respectively. Since the material receiving spaces are formed by the partitions separating the material receiving mechanism. Therefore, according to the number of target categories, the corresponding number of partitions can be determined, so as to facilitate the setting of the corresponding number of partitions, so that the partitions can divide the material receiving mechanism into multiple material receiving spaces, and each material receiving space can be used to receive the corresponding materials, so that materials belonging to multiple different target categories can enter the multiple material receiving spaces separated by the partitions respectively, so as to facilitate the classification and sorting of the materials.

[0036] In this embodiment, by setting partitions in the material receiving mechanism with adjustable position, attitude and quantity, the flexibility and adaptability of the material sorting method are further improved. The adjustable characteristics of the partitions enable the number and layout of the material receiving spaces to be dynamically adjusted according to the actual sorting requirements, which is especially suitable for scenarios where the user changes the number of target categories or updates the sorting strategy. This embodiment provides a method for adjusting the partition configuration based on the number of target categories. The number of target categories can be determined according to the current sorting requirements of the user, and the types and quantities of the target categories can be flexibly controlled. In this embodiment, according to the determined number of target categories, the number of partitions used to separate the material receiving spaces can be dynamically configured, and their specific positions and attitudes can be adjusted, so that the material receiving mechanism forms corresponding partitions. Each material receiving space corresponds to a target category to receive the sorted materials of that target category, realizing clear and efficient material classification. Through this embodiment, the classification accuracy and equipment adaptability of the material sorting method can be significantly improved. Especially in application scenarios such as multi-category sorting and changes in sorting strategies, by setting adjustable partitions, the complexity of equipment adjustment can be reduced, the service life of the material sorting equipment can be extended, and the flexibility and stability of the material sorting equipment can be improved.

[0037] In some embodiments, such as Figure 3 shown, the material sorting method may further include: step S170 and step S180. Specifically, step S170 and step S180 may be processed in parallel with step S130, or may be processed asynchronously with step S130. It is possible to first execute step S170 to step S180 after executing step 120 and then execute step S130 to determine the sorting parameters again, or execute step S170 to step S180 after executing step S130 to determine the sorting parameters or adjust the partition plate.

[0038] Step S170, based on the number of target categories, determine the ore content interval corresponding to each target category respectively. According to the determined number of target categories, the ore content interval corresponding to each target category can be determined. Specifically, since the ore content of the material is linear data from 0% to 100%, in order to facilitate the classification of materials of different target categories, the ore content interval corresponding to each target category can be determined. For example, materials with an ore content greater than or equal to 0% and less than or equal to 10% belong to the first target category, and 0% - 10% is the ore content interval corresponding to the first target category. According to the number of target categories, combined with the user's sorting requirements for the material, the ore content interval corresponding to each target category can be determined, so as to more quickly and conveniently determine the category of the material according to the comparison between the ore content of the material and the ore content interval.

[0039] Step S180, based on each ore content interval, adjust the partition plate or sorting parameters so that materials belonging to the same ore content interval fall into the same material receiving space. According to the ore content interval corresponding to each target category respectively, the partition plate can be adjusted, thereby changing the position, attitude, etc. of the partition plate, so as to change the size of the material receiving space corresponding to each target category in the material receiving mechanism, and make the size of each material receiving space match the ore content interval of its corresponding target material, so that after the material sorting operation is performed on the material according to the sorting parameters, the material can enter the material receiving space corresponding to its target category, thereby realizing the separation of materials belonging to different target categories. In addition, the sorting parameters of each material determined can also be adjusted according to the ore content interval corresponding to each target category respectively, thereby changing the sorting timing and sorting force of the sorting mechanism. Thus, the falling path of each material after being sorted by the sorting mechanism can be changed, so that after each material is sorted, it can enter the material receiving space corresponding to the ore content interval to which it belongs, realizing the separation of materials belonging to different target categories.

[0040] According to the material sorting method provided by this embodiment, by dividing the ore content range based on the number of target categories and adjusting the baffle or sorting parameters based on the ore content range, the accuracy of material classification and sorting can be further improved. Through step S170, multiple ore content ranges can be reasonably divided according to the number of target categories. Each target category corresponds to an ore content range, realizing quantitative grading of the materials. The grading method provided in this embodiment can reflect the material quality more meticulously compared with traditional classification methods such as binary classification, thus realizing high-precision material sorting. Through step S180, based on the ore content range, by adjusting the position or size of the baffle of the material receiving mechanism, the structure and size of the material receiving space can be changed. Through step S180, it is also possible to adjust sorting parameters such as the sorting timing, blowing air pressure, or pusher force based on the ore content range, thereby changing the falling trajectory or sorting path of the materials to ensure that the materials accurately fall into their respective material receiving spaces. Through the material sorting method provided by this embodiment, not only can the sorting accuracy be improved, but also it has good adaptability to different sorting scenarios. The material sorting equipment can be adjusted in real time according to the material sorting method provided by this embodiment, with better flexibility.

[0041] In some embodiments, as Figure 4 shown, step S180, based on each ore content range, adjusting the baffle or sorting parameters, may include: step S181, step S182.

[0042] Step S181, based on each ore content range, determine the target pose of the corresponding baffle. According to the ore content range corresponding to each target category, the target pose of the baffle of the material receiving space corresponding to each ore content range can be determined. Specifically, according to the distribution of the ore content range, the position, height, and inclination angle of the baffle can be determined, thereby determining the target pose of the baffle. The target pose may include one or more of the position, height, and inclination angle of the baffle. The baffle in the target pose can enable the materials to enter the material receiving space corresponding to the ore content range where their ore content is located after being sorted by the sorting mechanism.

[0043] Step S182, based on the target pose of the baffle, adjust the baffle. According to the determined target pose of the baffle, the baffle can be adjusted manually by hand to make the baffle in the target pose. In addition, a driving device can also be set for the baffle to automatically adjust the baffle to the target pose, which is convenient for operation, effectively avoids errors caused by manual adjustment, and has a faster response speed.

[0044] According to the material sorting method provided by this embodiment, the target pose of the baffle can be determined based on the ore content range and adjusted for each class. Through the dynamic adjustment of the position, angle, and height of the baffle, the sorting system can be flexibly adapted when processing materials in different ore content ranges, significantly improving the accuracy of material classification and sorting and the operation efficiency of the system. By analyzing each ore content range, the position and angle of the baffle in the receiving space corresponding to each ore content range can be determined to ensure that each material can accurately enter the corresponding receiving space, effectively improving the accuracy of material sorting. By manually adjusting the baffle position or precisely adjusting the target pose of the baffle through an automated device, the efficiency and stability of the sorting system can be improved, while also enhancing the response speed and reliability of the material sorting equipment, ensuring that the material sorting equipment can adapt to different material characteristics and ore content changes in a short time and promptly adjust the baffle position, thereby improving production efficiency.

[0045] In some embodiments, as Figure 5 shown, step S130, determining the sorting parameters according to the ore content, may include: step S131, step S132.

[0046] Step S131: Determine the linear landing position based on the ore content. After the sorting mechanism performs a sorting operation on the material according to the sorting parameters, the landing position of the material can be determined. Since the relationship between the ore content of the material and the sorting parameters can be a linear relationship, the landing position of the material can also be linearly correlated with the ore content of the material. Based on the ore content, determining the linear landing position can directly retrieve the historical sorting results of the material sorting equipment, determine the ore content of the sorted materials, and the corresponding linear landing position of each material. Specifically, according to the historical sorting results, a landing distribution heat map can be determined. Each data point on the landing distribution heat map can correspond to a material. Therefore, the ore content of each data point on the landing distribution heat map and the position of the material corresponding to each data point can be determined. For materials with the same ore content, due to certain differences in their shape, density, size, etc., their landing positions are somewhat different and can cover a certain linear range in the landing distribution heat map. Since the sorting equipment can perform the same sorting operation on materials with the same ore content but different shapes and sizes. This may cause materials belonging to the same target category to be sorted to the same position, but there are certain differences in their landing points along the conveying direction of the conveying device. The landing points of multiple materials with the same ore content in the conveying direction of the material can be linear, and their landing positions can cover a certain distance. Therefore, for the sorting equipment that has performed the sorting operation, according to its historical sorting results, the landing point and ore content information of each material can be determined. In the subsequent process of material sorting, according to the ore content of the currently sorted material, the linear landing position of the material with the same ore content after being sorted can be extracted from the historical sorting information, enabling the material sorting equipment to use this as a reference to facilitate determining the sorting parameters corresponding to the sorting operation required for the current material.

[0047] Step S132: Determine the sorting parameters based on the linear landing position. According to the ore content of each material and its corresponding linear landing position, based on the linear relationship between the sorting parameters and the ore content, the sorting parameters of the material can be determined. Specifically, the sorting parameters can be linearly correlated with the ore content, such as the formula P = k⋅C + b, where C is the ore content, k and b are adjustable coefficients, and P is the sorting parameter. For the blowing mechanism, P can be the air pressure of the gas ejected from the nozzle. For the push plate mechanism, P can be the angle of the push plate flipping. The adjustable coefficients k and b can be determined according to the user's initial sorting requirements and the initial number and pose of the partitions. According to the linear relationship between the sorting parameters and the ore content, and the linear landing position of the material, the sorting parameters of the material can be determined.

[0048] Through the material sorting method provided by this embodiment, through step S131, based on the linear relationship between the ore content of the material and the landing point after sorting, the landing position of the material is determined. Through step S132, it is further possible to deduce the sorting parameters most suitable for the material based on the linear relationship between the target landing position of the material and the ore content, so as to meet different sorting accuracy requirements. It is also possible to flexibly adjust the landing point control strategy according to the real-time changes in the number and position of the partitions in the material receiving mechanism, so as to achieve precise sorting of the material to the corresponding material receiving space. Compared with the traditional method using static sorting parameters, this embodiment has better adaptability and stability, can effectively improve the accuracy control level and operation flexibility in the sorting process, enhance the adaptability of the system to the material differentiation processing ability under complex working conditions, and contribute to the efficient recovery and precise classification of ore resources.

[0049] In some embodiments, as Figure 6 shown, step S181, determining the target pose of the corresponding partition based on each ore content interval, may include: step S1811, step S1812.

[0050] Step S1811, based on each ore content interval and the linear landing position, determining the landing interval corresponding to the ore content interval. According to each ore content interval and its corresponding linear landing position, it is possible to determine the position interval where the landing point of the material in each ore content interval is located after the sorting operation is performed. Specifically, the heat map of the landing point distribution can be determined according to the historical sorting results. Each data point on the heat map of the landing point distribution can correspond to a material. Therefore, the ore content of each data point on the heat map of the landing point distribution and the landing position of the material corresponding to each data point can be determined, so as to determine the landing interval corresponding to each ore content interval.

[0051] Step S1812: Based on each falling point interval, determine the target pose of each baffle. The target pose may include at least one of the following: the position of the baffle, the height of the baffle, and the angle of the baffle. When the user's sorting requirement for the material changes, that is, the ore content interval corresponding to the target category changes. For example, if the original ore content interval for the first target category is changed from 40% to 80% to 15% to 80%, the ore content interval corresponding to the target category changes, while the sorting parameters for the material sorting operation are fixed. Therefore, the target pose of the baffle can be adjusted. The target pose of the baffle may include at least one of the position, height, and angle of the baffle. Specifically, according to each falling point interval, the position of the baffle can be changed so that the receiving space separated by two adjacent baffles can cover the falling point interval, so that the material with an ore content meeting the ore content interval corresponding to the falling point interval can enter the falling point interval. According to each falling point interval, the height of the baffle can be changed. When the farthest falling point position in the falling point interval is farther than the position of the baffle on the side of the receiving space away from the sorting mechanism, the height of the baffle on the side of the current falling point interval away from the sorting mechanism can be increased, so that the falling path of the material is blocked by the baffle, so that the material can enter the current receiving space. When the nearest falling point position in the falling point interval is closer than the position of the baffle on the side of the receiving space close to the sorting mechanism, the height of the baffle on the side of the current falling point interval close to the sorting mechanism can be reduced, so as to avoid the falling path of the material being blocked by the baffle on the side close to the sorting mechanism, so that the material can enter the current receiving space. In addition, the inclination angle of the baffle can be adjusted. When the farthest falling point position in the falling point interval is farther than the position of the baffle on the side of the receiving space away from the sorting mechanism, the baffle on the side of the current falling point interval away from the sorting mechanism can be tilted away from the sorting mechanism, so that the current receiving space is increased, so that the material can enter the current receiving space. When the nearest falling point position in the falling point interval is closer than the position of the baffle on the side of the receiving space close to the sorting mechanism, the baffle on the side of the current falling point interval close to the sorting mechanism can be tilted towards the sorting mechanism, so that the material can be guided by the baffle and enter the current receiving space.

[0052] According to the material sorting method provided in this embodiment, through step S1811 and step S1812, it is possible to determine the corresponding landing interval of the material belonging to the interval according to the ore content interval, and determine the target pose of each baffle according to the landing interval. When the sorting requirements of the user change, especially when the ore content intervals of each target category change, it is possible to adjust the position, height and inclination angle of the baffle while keeping the sorting parameters unchanged, so as to achieve high-precision sorting, with good adaptability, intelligence and flexibility, enabling the material sorting equipment to not only cope with the change of material properties, but also quickly respond to the adjustment of the sorting strategy. The material sorting method provided in this embodiment significantly improves the accuracy and dynamic adjustment ability of material sorting, and further enhances the accuracy and robustness of material sorting.

[0053] In some embodiments, as Figure 7 shown, step S180, based on each ore content interval, adjusting the baffle or sorting parameters, may include: step S183, step S184.

[0054] Step S183: Based on the ore content range and the number of target categories, determine the receiving space corresponding to each ore content range respectively. The number of receiving spaces and the corresponding relationship between the ore content range and the receiving space can be determined according to the ore content range and the number of target categories, so that each ore content range corresponding to the target material can correspond to a receiving space. Each receiving space can be used to receive materials of a corresponding target category, and the ore content of the materials entering each receiving space belongs to the ore content range of the target category corresponding to this receiving space. Specifically, the position of the receiving space and the ore content range can be linearly correlated. It can be set that for multiple receiving spaces from near the material sorting mechanism to far from the sorting mechanism, the corresponding ore content ranges gradually increase. It can be set that the ore content range corresponding to the receiving space near the material sorting mechanism is 0% to 10%. In the direction from the receiving space near the material sorting mechanism to the far from the sorting mechanism, the minimum ore content of the ore content range corresponding to the receiving space gradually increases, and the ore content range corresponding to the receiving space far from the material sorting mechanism is 90% to 100%. It can also be set that for multiple receiving spaces from near the material sorting mechanism to far from the sorting mechanism, the corresponding ore content ranges gradually decrease. It can be set that the ore content range corresponding to the receiving space near the material sorting mechanism is 90% to 100%. In the direction from the receiving space near the material sorting mechanism to the far from the sorting mechanism, the minimum ore content of the ore content range corresponding to the receiving space gradually decreases, and the ore content range corresponding to the receiving space far from the material sorting mechanism is 0% to 10%. In addition, the receiving position and the ore content range can be non-linearly correlated, and the corresponding relationship can be determined according to the sorting requirements of the user. In addition, the spans of each ore content range can be unequal. For example, the ore content range corresponding to the first target material is 0% to 5%, and the ore content range corresponding to the second target material is 5% to 30%. Different spans of each ore content range can correspondingly make the sizes of their receiving spaces different. It can be set that the target category with a small span of the ore content range corresponds to a smaller receiving space, and the target category with a large span of the ore content range corresponds to a larger receiving space.

[0055] Step S184: Based on the receiving space corresponding to each ore content interval, determine a sorting parameter corresponding to each ore content interval. The sorting parameter can be adjusted according to the position of the receiving space corresponding to each ore content interval, so that a sorting parameter corresponding to each ore content interval can be determined. When the ore content of the material belongs to any ore content interval, the material can be sorted according to the sorting parameter corresponding to the ore content interval, so that the material can enter the receiving space corresponding to the ore content interval where it is located. Specifically, historical sorting data can be combined to determine a sorting parameter corresponding to each ore content interval. For the materials that have been sorted, the linear or non-linear relationship between the sorting parameter and the material category can be determined according to data such as the size, ore content, target category to which the material belongs, the corresponding target ore content interval, the receiving space position, and the sorting parameter corresponding to the material when the sorting operation is performed on the material in the image data.

[0056] According to the material sorting method provided in this embodiment, based on the number of target categories and the ore content intervals corresponding to the materials of each target category, the number and position of the receiving spaces can be reasonably configured, so that each target category of materials has a uniquely corresponding receiving channel. The receiving spaces of different sizes can be correspondingly determined according to the ore content intervals of the materials, and each ore content interval corresponds to a unique sorting parameter. When the user adjusts the ore content interval division or the receiving space structure, the sorting parameter can be re-matched in real time, so that the material sorting equipment has better operation stability and flexibility and can adapt to a variety of different sorting situations.

[0057] In some embodiments, the sorting parameters may include the time and position at which the sorting mechanism performs the sorting operation. The material can be conveyed by a conveying device to pass through an image acquisition device. The material on the conveying device is identified by the image acquisition device. Finally, the material falls from the end of the conveying device, and the sorting mechanism performs a sorting operation on the material according to the identification result of the image acquisition device. The sorting mechanism can be a push plate mechanism or a blowing mechanism. The image acquisition device can acquire images of the material, determine the ore content of the material according to the images of the material, and compare the ore content of each material with the ore content range of each target category to determine the target category to which each material belongs. For materials belonging to the same target category, the sorting mechanism can perform the same sorting operation. Specifically, for materials belonging to the same target category, their ore contents are similar and their weights may also be similar. Therefore, the blowing force of the nozzles of the sorting mechanism, that is, the air pressure of the blowing gas, can be made the same, or the hitting force of the push plate of the sorting mechanism, that is, the flipping speed of the push plate, can be made consistent, so that materials belonging to the same target category can be separated by the sorting mechanism and enter different material receiving spaces, realizing the classification and sorting of the materials. Since there is a certain interval between the time when the image acquisition device captures the material, the time when the material falls from the conveying device, and the time when the sorting device performs the sorting operation, the time when the sorting mechanism performs the sorting operation can be determined according to the distance between the image acquisition device and the sorting device and the conveying speed of the conveying device, achieving more accurate sorting, avoiding missed sorting, and further improving the accuracy of the material sorting equipment.

[0058] In some embodiments, the sorting parameters can be determined according to the size of the material and the position where the material falls from the conveying device. Since materials belonging to the same target category may have relatively large differences in size or weight, the sorting parameters can be adjusted according to the size of the material. Since materials belonging to the same target category have similar ore contents and the types and contents of waste rocks in the materials are also similar, if the sizes of the materials are similar, their weights are similar. When the size differences of the materials are relatively large, it may lead to relatively large weight differences of the materials, so the sorting parameters need to be refined and adjusted. A standard size range can be preset. When the size of the material is greater than the standard size range, it can be considered that the weight of the material is large, and the sorting force of the sorting mechanism needs to be increased. Specifically, the blowing air pressure of the nozzle can be increased or the flipping speed of the push plate can be increased, so as to ensure that the material can enter the corresponding sorting space and avoid mis-sorting. When the size of the material is less than the standard size range, it can be considered that the weight of the material is small, and the sorting force of the sorting mechanism needs to be decreased. Specifically, the blowing air pressure of the nozzle can be decreased or the flipping speed of the push plate can be slowed down, so as to ensure that the material can enter the corresponding sorting space and avoid mis-sorting, improving the sorting accuracy of the material sorting equipment.

[0059] In addition, since the sorting mechanism of the material can include a plurality of nozzles or push plates arranged side by side, and the sorting operation is performed on the material falling from its corresponding position by different nozzles or push plates, accurate sorting can be achieved. In this case, the sorting parameters can also include the positions of the nozzles or push plates performing the sorting operation, which are determined according to the position where the material falls from the conveying mechanism. The position where the material falls from the conveying device can be determined according to the position of the material in the image collected by the image acquisition device. The nozzle or push plate corresponding to the sorting operation can be determined according to the position where the material falls from the conveying device, so that the nozzle or push plate can achieve more accurate sorting, avoiding the possible sorting errors in the case of multiple materials falling simultaneously, thereby effectively improving the sorting accuracy of the material sorting equipment.

[0060] In some embodiments, step S120, determining the ore content of the material according to the image data, may include: step S121, determining the ore content through a network model according to the image data. The image data can be processed by a convolutional neural network model. By inputting the image data into the convolutional neural network model, the ore content of the material can be directly output through the network model, which has high efficiency and the determined ore content of the material is more accurate.

[0061] Among them, as Figure 8 shown, the network model can be determined by the following step S210 and step S220.

[0062] Step S210, determining the ore content data corresponding to the material in the image data through chemical detection, where the ore content data is the ore content percentage data of the material. The image data obtained by the image acquisition device can be used, and through the method of chemical detection, the ore content of each material included in the image data can be measured separately to obtain accurate ore content data. The ore content data determined through chemical detection can be the ore content percentage data of the material, and the ore content data of each material can be obtained more accurately.

[0063] Step S220, training a network model through the image data and the corresponding ore content data. According to the image data and the ore content data corresponding to each material in the image as the training samples of the network model, the network model can be trained to obtain a network model for detecting the ore content of the material.

[0064] According to the material sorting method provided by this embodiment, deep learning models such as convolutional neural network models can be used to process image data, achieving efficient and accurate determination of the ore content in the material, effectively improving the accuracy and reliability of the material sorting equipment. Through the convolutional neural network model, deep learning of the image data can be carried out, based on the ore content data measured by chemical detection and the features in the image data of the corresponding material, and the ore content of the material can be quickly and accurately inferred through the learned features. Through the material sorting method provided by this embodiment, the ore content of the material can be determined more quickly and accurately, making the material sorting equipment have higher stability and recognition efficiency.

[0065] Based on the same inventive concept, as Figure 9 shown, the present disclosure also provides a material sorting device 300. The material sorting device 300 is used to execute the material sorting method of any of the foregoing embodiments. Among them, the material sorting device 300 may include: an image acquisition device 310, a sorting mechanism 320, and a material receiving mechanism 330.

[0066] The image acquisition device 310 is used to acquire image data of the material. The image acquisition device 310 may be a ray device, a color sorting camera, a multispectral acquisition device, etc., and can acquire ray images, RGB images or multispectral data of the material as the image data of the material. According to the shape, size, features of the material in the image data and the shape, size, etc. of the target ore part contained therein, relevant information of the material can be determined, and the material can be sorted by the material sorting method of any of the foregoing embodiments.

[0067] The sorting mechanism 320 is used to perform sorting operations. The sorting mechanism 320 may be arranged downstream of the image acquisition device 310. The sorting mechanism 320 may be a push plate mechanism or a blowing mechanism, and is used to perform sorting operations on the material whose image data has been acquired and recognized by the image acquisition device 310. Specifically, when the sorting mechanism 320 is a push plate mechanism, the sorting mechanism 320 can control the lifting or flipping of the push plate, so that the push plate can strike the material and change the movement direction of the material to achieve sorting operations on the material. Among them, the angle, time, and position of the lifting or flipping of the push plate mechanism can all be determined by the material sorting method provided by any of the foregoing embodiments. When the sorting mechanism 320 is a blowing mechanism, the sorting mechanism 320 can control the nozzle to blow gas, so as to blow the material away and achieve sorting operations on the material. Among them, the time, position, air pressure or gas volume of the blowing mechanism blowing gas can all be determined by the material sorting method provided by any of the foregoing embodiments. The sorting mechanism 320 can perform sorting operations on the material according to the ore content of the material, so that materials belonging to the same target category and having similar ore content can be separately collected by the material receiving mechanism 330 after being sorted by the sorting mechanism 320.

[0068] The material receiving mechanism 330 is located downstream of the sorting mechanism 320 and is used to receive the sorted materials. The material receiving mechanism 330 can be located downstream of the sorting mechanism 320 to collect the materials that fall after the sorting operation performed by the sorting mechanism 320. The material receiving mechanism 330 can be provided with multiple receiving spaces for collecting materials with different ore contents, that is, to distinguish materials of different target categories, so that materials belonging to different target categories enter different receiving spaces, thereby realizing the sorting of materials.

[0069] According to the material sorting device provided in this embodiment, the detailed image data of the materials can be collected by the image acquisition device 310. Through these image data, the material sorting equipment can more accurately identify the shape, size and characteristics of the materials, thereby providing accurate input data for subsequent material identification and sorting. Through the sorting mechanism 320, the sorting operation can be accurately performed on different materials according to the image data provided by the image acquisition device 310 and the information such as the ore content and target category of the materials determined according to the material sorting method provided in any of the foregoing embodiments, realizing high-accuracy sorting. Through the material receiving mechanism 330, materials of different target categories can be separately stored according to the information such as the target category and ore content of the materials, thereby distinguishing different materials and improving the sorting accuracy and sorting efficiency of the material sorting equipment 300.

[0070] In some embodiments, as Figure 9 shown, the material receiving mechanism 330 may include: a plurality of partitions 331, the poses of the partitions 331 are adjustable, and the plurality of partitions 331 are used to isolate the material receiving mechanism 330 to form a plurality of receiving spaces. A plurality of partitions 331 can be provided in the material receiving mechanism 330, so that the material receiving mechanism 330 is separated into a plurality of receiving spaces by the partitions 331, and each receiving space can be used to collect materials of different target categories. The pose of each partition 331 can be adjusted independently. Specifically, the height, inclination angle and position of each partition 331 can be adjusted, so as to be able to adapt to different material sorting requirements. The pose of the partition 331 can be adjusted manually. A driving device can also be provided for each partition 331, and according to different material sorting requirements, the pose of each partition 331 can be independently adjusted by the driving device.

[0071] Through the material sorting device 300 provided in this embodiment, the partition 331 with adjustable pose can divide the material receiving mechanism 330 into multiple different material receiving spaces for storing materials of different target categories. Moreover, by adjusting the pose of the partition 331, various different material sorting requirements can be met, making the material sorting device 300 more flexible, ensuring that the materials can enter the corresponding material receiving spaces according to the ore content or different target categories, and enabling the material sorting device 300 to have higher sorting accuracy and stability. The partition 331 can be adjusted in real time, enabling the partition 331 of the material sorting device 300 to have a fast response speed and high adjustment accuracy, and can quickly adapt to different material sorting conditions, ensuring the efficient operation of the device. Through the adjustable partition 331, the material receiving mechanism 330 can flexibly adjust the size and shape of each material receiving space according to the characteristics and sorting requirements of different materials, thereby ensuring higher material classification accuracy.

[0072] In some embodiments, tracks can be provided at the bottom of the material receiving mechanism 330, and the extending direction of the tracks can be consistent with the direction of conveying materials of the sorting device, so that after the materials are sorted by the sorting mechanism 320, they can fall within the coverage range of the tracks. Multiple partitions 331 can be installed on the same track, enabling the partitions 331 to slide reciprocally along the extending direction of the track, thereby changing the position of the partitions 331. According to the sorting requirements of the materials, such as the position and size of each material receiving space, the partitions 331 can be pushed to slide on the track, thereby adjusting the position of the partitions 331 and changing the size of each material receiving space. By installing the partitions 331 on the tracks, the sorting requirements of the materials can be met, enabling the materials sorted by the sorting mechanism 320 to enter the corresponding material receiving spaces according to their corresponding target categories, preventing the materials from falling outside the material receiving mechanism 330 or entering the material receiving mechanism 330 that does not belong to their corresponding target categories, and making the sorting of the materials more accurate. In addition, by pushing the partitions 331 to slide on the track, the material receiving mechanism 330 can be adjusted in a timely manner when the material sorting requirements change. The adjustment process is simple and rapid, with a fast response speed, enabling the material sorting device 300 to have higher adjustment efficiency and adjustment flexibility.

[0073] In addition, when the material sorting requirements change, by pushing the sliding of the partition plate 331 on the track, not only can the position of the partition plate 331 be adjusted, but also the number of material receiving spaces can be adjusted. For example, during the process of material sorting, initially, the materials need to be divided into three target categories according to the ore content, and each target category corresponds to a material receiving space for receiving materials. In this case, four partition plates 331 can be arranged on the track. Among them, two partition plates 331 can be arranged at both ends of the track, and the other two partition plates 331 are arranged in the middle of the track, so that a material receiving space is formed between every two adjacent partition plates 331 on the track, and a total of three material receiving spaces are formed. Each material receiving space is respectively used to receive materials of three different target categories after sorting. After sorting for a period of time, the user's requirements for material sorting may change. At this time, the ore content interval corresponding to each target category of the materials may change, while the sorting strategy of the sorting mechanism 320 remains unchanged. Therefore, by changing the position of the partition plate 331, the position and size of each material receiving space can be changed, so that when the sorting requirements change, the material receiving mechanism 330 can be quickly adjusted to ensure that the materials fall into the corresponding material receiving spaces. A driving device can be provided at the bottom of the partition plate 331 to drive the movement of the partition plate 331 on the track, without manually adjusting the position of the partition plate 331, which can effectively improve the adjustment efficiency of the partition plate 331. The driving device can be a cylinder, which can drive the partition plate 331 through the cylinder to make the partition plate 331 move on the slide rail, realizing the automatic adjustment of the partition plate 331, avoiding repeated shutdown adjustments, and improving the working efficiency of the material sorting device 300.

[0074] In some cases, when the material sorting requirements change, the number of target categories to be distinguished may change. For example, the materials are divided into three target categories according to the ore content and changed to be divided into two target categories according to the ore content. In this case, the number of partition plates 331 of the material receiving mechanism 330 needs to be changed. The partition plate 331 on the side far from the sorting mechanism 320 can be directly disassembled from the track, so that there are three remaining partition plates 331 on the track, and the material receiving mechanism 330 is separated into two material receiving spaces for receiving materials. In addition, any partition plate 331 in the middle of the track can also be directly pushed to the end of the track to abut against the partition plate 331 at the end of the track, which can also make the material receiving mechanism 330 be separated into two material receiving spaces by the partition plate 331 for receiving materials, thereby saving the time for disassembling the partition plate 331, effectively improving the adjustment efficiency of the material receiving mechanism 330, enabling the material sorting device 300 to respond in a timely manner when the sorting requirements change, quickly adjusting the material receiving space to adapt to the new sorting requirements, having a higher response efficiency, thereby effectively saving time and improving the working efficiency of the material sorting device 300.

[0075] In some embodiments, the inclination angle of the partition 331 is adjustable. The partition 331 may include a lower plate mounted on a track and an upper plate hinged to the lower plate, enabling the upper plate to rotate relative to the lower plate around the hinge point, thereby changing the inclination angle of the upper part of the partition 331. The inclination angle of the partition 331 can be adjusted according to the sorting requirements. Specifically, according to the requirements of material sorting, the inclination angle of the partition 331 can be changed, causing the upper dimension of the material receiving space to change, so that each material receiving space of the material receiving mechanism 330 can adapt to the new material sorting requirements. During the material sorting process, when the sorting requirements change, the ore content range corresponding to each target category may change. When the ore content range of the target category expands, the inclination angle of the partition 331 can be adjusted to make the partition 331 on at least one side of the material receiving space corresponding to the target category incline outward from the material receiving mechanism 330, so that the top of the material receiving space expands outward, and the ore content range of the materials it can receive is wider, thus meeting the new sorting requirements. When the ore content range of the target category shrinks, the inclination angle of the partition 331 can be adjusted to make the partition 331 on at least one side of the material receiving space corresponding to the target category incline inward from the material receiving mechanism 330, so that the top of the material receiving space shrinks inward, and the ore content range of the materials it can receive is smaller, thus meeting the new sorting requirements. By the partition 331 with an adjustable inclination angle provided in this embodiment, the adjustment efficiency of the material receiving mechanism 330 can be effectively improved, enabling the material sorting device 300 to quickly adjust the material receiving space to adapt to the new sorting requirements when the sorting requirements change, effectively saving time and improving the working efficiency of the material sorting device 300.

[0076] This application uses specific terms to describe the embodiments of this application. For example, "one embodiment", "an embodiment", and / or "some embodiments" mean a certain feature, structure, or characteristic related to at least one embodiment of this application. Therefore, it should be emphasized and noted that the "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more at different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this application can be combined appropriately.

[0077] In the context of this application, unless the context clearly indicates an exception, the words "a", "an", "one", and / or "the" etc. 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 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.

[0078] Similarly, it should be noted that, in order to simplify the description of the disclosure of the present application and thus assist in the understanding of one or more embodiments of the application, in the foregoing description of the embodiments of the present application, various features are sometimes grouped into one embodiment, drawing, or description thereof. However, this method of disclosure does not mean that the features required by the subject matter of the present application are more than the features mentioned. In fact, the features of the embodiment are less than all the features of the single embodiment disclosed above.

[0079] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is only an example and does not constitute a limitation to the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to the present application. Such modifications, improvements, and corrections are proposed in the present application, so such modifications, improvements, and corrections still fall within the spirit and scope of the embodiments of the present application.

Claims

1. A material sorting method, characterized in that: Applied to material sorting equipment, the material sorting equipment includes: an image acquisition device, a sorting mechanism and a material receiving mechanism, and the material sorting method includes: Determining image data of the material according to the image acquisition device; Determine the mineral content of the material according to the image data, wherein the mineral content is a continuous value; Determining separation parameters according to the mineral content; According to the sorting parameters, a sorting operation is performed to make the materials fall into a plurality of material receiving spaces formed by separation of partitions of a material receiving mechanism, wherein each of the material receiving spaces corresponds to a target category.

2. The material sorting method according to claim 1, characterized in that: The position of the partition of the material receiving mechanism is adjustable, and the material sorting method further includes: determining the number of said target categories; Based on the number of the target categories, the number of the partitions is determined.

3. The material sorting method according to claim 2, characterized in that: The material sorting method further comprises: Based on the number of target categories, determining the mineral content interval corresponding to each target category; Based on each of the mineral content intervals, the partition or the sorting parameter is adjusted so that materials belonging to the same mineral content interval fall into the same material receiving space.

4. The material sorting method according to claim 3, characterized in that: The adjusting the partition or the separation parameter based on each of the mineral content intervals includes: Based on each of the mineral content intervals, determining a target position of the corresponding partition; The diaphragm is adjusted based on the target pose of the diaphragm.

5. The material sorting method according to claim 4, characterized in that: Determining the separation parameters according to the ore content includes: Based on the mineral content, determining a linear landing point position; Based on the linear landing point position, the sorting parameters are determined.

6. The material sorting method according to claim 5, characterized in that: The step of determining the target position of the corresponding partition based on each of the mineral content intervals includes: Based on each of the mineral content intervals and the linear landing point positions, determining the landing point interval corresponding to the mineral content interval; Based on each of the landing point intervals, a target posture of each partition is determined, wherein the target posture includes at least one of the following: the position of the partition, the height of the partition, and the angle of the partition.

7. The material sorting method according to claim 3, characterized in that: The adjusting the partition or the separation parameter based on each of the mineral content intervals includes: Based on the mineral content interval and the number of target categories, respectively determine the material receiving space corresponding to each mineral content interval; Based on the material receiving space corresponding to each of the mineral content intervals, a sorting parameter corresponding to each of the mineral content intervals is determined.

8. The material sorting method according to any one of claims 1 to 7, characterized in that: Determining the mineral content of the material according to the image data includes: According to the image data, the ore content is determined by a network model, wherein the network model is determined by the following method: Determine the mineral content data corresponding to the material in the image data by chemical detection, wherein the mineral content data is the mineral content percentage data of the material; The network model is obtained by training the image data and the corresponding mineral content data.

9. A material sorting device, characterized in that: The material sorting equipment is used to perform the material sorting method according to any one of claims 1 to 8, and the material sorting equipment comprises: An image acquisition device, used for acquiring the image data of the material; A sorting mechanism, used to perform the sorting operation; The material receiving mechanism is located downstream of the sorting mechanism and is used for receiving the sorted materials.

10. The material sorting equipment according to claim 9, characterized in that: The material receiving mechanism comprises: A plurality of partitions, the positions of the partitions are adjustable, and the plurality of partitions are used to isolate the material receiving mechanism to form a plurality of material receiving spaces.

Images