Method and apparatus for sorting material

Abstract

The present disclosure relates to the technical field of material sorting, and particularly relates to a material sorting method and a material sorting device. The material sorting method comprises the following steps: determining image data of the material according to an image acquisition device; determining an ore content of the material according to the image data, the ore content being a continuous value; determining a sorting parameter according to the ore content; and performing a sorting operation according to the sorting parameter, so that the material falls into a plurality of material collection spaces formed by a baffle of a material collection mechanism, each material collection space corresponding to a target category. The present disclosure can determine the continuous value of the ore content, facilitate the classification of the material into multiple categories according to the numerical value of the ore content, and has higher recognition accuracy. The material is classified into multiple categories according to the numerical value of the ore content, and the classification accuracy is higher. According to the present disclosure, the sorting parameter can be determined according to the ore content, the sorting demand can be adjusted in real time when the sorting demand changes, the adjustment efficiency and flexibility are higher, the universality is better, various sorting demands can be met, and real-time adjustment can be achieved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of material sorting, in particular to a material sorting method and a material sorting device. BACKGROUND

[0002] Coal, lithium, and silicon ore are widely used in current industrial production. However, the above-mentioned ores usually contain a large amount of gangue and impurities after mining, and need to be sorted to distinguish different types of ores to improve the quality of ores, reduce transportation costs, and reduce environmental pollution. The ore sorting device is widely used to meet this demand. For the sorting device of ores and other materials, the commonly used material sorting method can only output the discrete categories of ores in the process of identifying ores, can identify fewer categories, and has poor material identification accuracy. In addition, when the sorting demand changes, it is difficult to adjust the material sorting method, and generally needs to retrain or configure the sorting method and related models for different material sorting requirements, which is low in adjustment efficiency and makes the universality and flexibility of the material sorting method poor. SUMMARY

[0003] To overcome the problems in the related art, in a first aspect, an example embodiment of the present disclosure provides a material sorting method applied to a material sorting device, the material sorting device comprising an image acquisition device, a sorting mechanism, and a material collecting mechanism, the material sorting method comprising: determining image data of a material according to the image acquisition device; determining an ore content of the material according to the image data, wherein the ore content is a continuous value; determining a sorting parameter according to the ore content; and performing a sorting operation according to the sorting parameter, so that the material falls into a plurality of material collecting spaces formed by a partition of the material collecting mechanism, wherein each of the material collecting spaces corresponds to a target category.

[0004] In some embodiments, the position of the partition of the material collecting mechanism is adjustable, and the material sorting method further comprises: 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 comprises: determining an ore content interval corresponding to each target category based on the number of target categories; and adjusting the partition or the sorting parameter based on each ore content interval, so that the material belonging to the same ore content interval falls into the same material collecting space.

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

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

[0008] In some embodiments, the determining the target pose of the baffle corresponding to each ore content interval includes: determining a drop position interval corresponding to each ore content interval based on each ore content interval and the linear drop position; and determining the target pose of each baffle based on each drop position interval, wherein the target pose includes at least one of a position of the baffle, a height of the baffle, and an angle of the baffle.

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

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

[0011] In a second aspect, the present disclosure further provides a material sorting device for performing the material sorting method according to the first aspect, the material sorting device including: an image acquisition device configured to acquire the image data of the material; a sorting mechanism configured to perform the sorting operation; and a material receiving mechanism located downstream of the sorting mechanism and configured to receive the material after the sorting operation.

[0012] In some embodiments, the material receiving mechanism includes a plurality of baffles, the poses of the baffles being adjustable, and the plurality of baffles being configured to isolate the material receiving mechanism to form a plurality of material receiving spaces.

[0013] It should be understood that the general description above and the detailed description below are only exemplary and explanatory, and are not limiting to the present disclosure.

[0014] According to the material sorting method provided by the present disclosure, the ore content of the material is determined according to the image data, the continuous value of the ore content can be determined, so as to facilitate the classification of the material into multiple different categories according to the specific value of the ore content, so that the material sorting method provided by the present disclosure has higher material recognition accuracy, and the material can be classified into multiple different categories according to the specific value of the ore content, so that the classification accuracy is higher. In addition, through the material sorting method provided by the present disclosure, the sorting parameters can be determined according to the ore content, and when the sorting demand changes, the material sorting method can be adjusted in real time, which has higher adjustment efficiency and adjustment flexibility, so that the material sorting method has better universality and can adapt to multiple different sorting demands and can be adjusted in real time. BRIEF DESCRIPTION OF DRAWINGS

[0015] The present application can be better understood by describing the exemplary embodiments thereof with reference to the accompanying drawings, in which:

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

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

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

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

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

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

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

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

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

[0025] In the following detailed description of implementations consistent with the present disclosure, various specific details are presented to provide a thorough understanding of implementations. However, it will be apparent to those skilled in the art that specific implementations can be practiced without these specific details. In other instances, well-known structures have not been described in detail in order to avoid obscuring the present disclosure. When a certain implementation is mentioned in the present disclosure, another implementation having the same or similar technical features can also be mentioned. In addition, the same reference numbers in different drawings can represent devices or components that have the same or similar technical features or functions.

[0026] Unless otherwise defined, technical terms or scientific terms used in the present disclosure shall have the same meaning as commonly understood by one of ordinary skill in the art to which this present disclosure belongs. Unless otherwise defined, technical terms or scientific terms used in the present disclosure shall have the same meaning as commonly understood by one of ordinary skill in the art to which this present disclosure belongs. The terms "first", "second", and similar terms are used herein to distinguish one element from another, but do not necessarily indicate an order of importance, a number or a significance, and are only used to distinguish different components. The terms "one" or "a" or similar terms do not indicate a quantity limitation, but indicate that at least one exists. The terms "include" or "contain" or similar terms mean that the elements or objects appearing before the terms "include" or "contain" cover the elements or objects listed after the terms "include" or "contain" and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" or similar terms are not limited to physical or mechanical connections, and are not limited to direct or indirect connections.

[0027] To solve the above technical problems, the present disclosure provides a material sorting method applied to a material sorting device, which comprises an image acquisition device, a sorting mechanism, and a material receiving mechanism. As shown in the accompanying drawings, the material sorting method can comprise steps S110-S140. Figure 1

[0028] ​At step S110, image data of the material is determined according to the image acquisition device. The image data of the material can be determined according to the image acquisition device. The material can be untreated raw ore, which can include target ores such as coal, spodumene, or silica, and can also include waste such as gangue. The image acquisition device can be a radiation device that acquires a radiation image of the material as the image data of the material. The image acquisition device can also be a visible light camera that acquires an RGB image of the material as the image data of the material. The image acquisition device can also be a multispectral scanner that acquires multispectral data of the material 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 radiation image, the RGB image, or the multispectral image of the material can be used as the image data. The image data can include color, position, shape, and other information of the material, so that subsequent data processing, obtaining of the ore content of the material, and other data can be performed based on the image data. The ore content can be the percentage of the target ore in the total material.

[0029] At step S120, the ore content of the material is determined according to the image data, wherein the ore content is a continuous value. According to the image data obtained at step S110, the continuous value of the ore content of the material, i.e., the percentage of the target ore in the total material, can be determined according to the color, shape, and other information of the material in the image data. The ore content can be a value used to represent the content of the target ore in the material. The ore content can be the percentage of the target ore in the total material. The ore content can be a specific continuous value, such as 23% or 43.5%. Conventional material identification methods generally use a dichotomous method and can only output the category of the material, such as waste rock without target ore or coarse ore with target ore, based on image recognition. Such conventional material identification methods cannot obtain the specific ore content of the material and have low identification accuracy. 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 identification of the material, and thus can more accurately classify and sort the material. By determining the specific ore content of the material at step S120, the material can be more accurately classified in the subsequent process, thereby improving the utilization rate of the ore in the material. The content of the target ore in the material can be determined by image processing based on the image data obtained at step S110. The neural network model can be used to input the radiation image, the RGB image, or the multispectral data as the image data, and directly output the ore content of each material included in the image data.

[0030] Step S130, determining the sorting parameters according to the ore content. The sorting parameters can be various parameters required by the sorting mechanism to perform the sorting operation. Specifically, the sorting mechanism can be a blowing mechanism, which blows gas through the electromagnetic valve to drive the nozzle to blow the material and achieve material sorting. For this purpose, the sorting parameters can be the amount of gas blown by the nozzle, the blowing time of the nozzle, and the position of the nozzle, etc. The sorting mechanism can also be a push plate mechanism, which can be driven by an electromagnetic valve to flip the push plate and hit the material to achieve material sorting. For this purpose, the sorting parameters can be the force of the push plate hitting the material, and the flipping speed of the push plate. In addition, the sorting parameters can also include the angle of the push plate flipping, the time of the push plate flipping, and the position of the push plate, etc. The sorting parameters for sorting materials with different ore contents can be determined according to the ore content of each material, combined with the customer's requirements for material sorting, so as to perform sorting on the materials that meet the user's sorting requirements according to the sorting parameters.

[0031] Step S140, performing the sorting operation according to the sorting parameters, so that the material falls into the multiple collection spaces formed by the partitions of the collection mechanism, wherein each collection space corresponds to a target category. The sorting operation can be performed on each material by the sorting mechanism according to the sorting parameters determined for each material in step S130. The sorted material can enter the collection mechanism, which is divided into multiple collection spaces by multiple partitions. The size of each collection space can be determined according to the user's sorting requirements, and the size of each collection space can be consistent or different. Each material subjected to the sorting operation can fall into the corresponding collection space in the collection mechanism. Each collection space can correspond to a target category. Specifically, the target category can have multiple categories, such as waste rock, middling, low-grade concentrate, high-grade concentrate, etc., and the ore content of each target category is different. The sorted material entering the same collection space has similar ore content and belongs to the same target category.

[0032] According to the material sorting method provided in the embodiment, the ore content of the material is determined as a continuous value through image data collection and image recognition and intelligent analysis, so that more accurate quantitative identification and classification of the material can be realized. Compared with the traditional rough sorting method of simply dividing the material into target ore and waste rock, the material can be more finely divided based on the specific value of the ore content in the embodiment, improving the accuracy of material identification and classification. Meanwhile, combined with the continuous ore content, the embodiment can dynamically determine the corresponding sorting parameters to drive the sorting mechanism to perform the corresponding sorting operation. 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, the adjustment flexibility and response efficiency are high. According to the material sorting method provided in the embodiment, the ore content obtained from the image data is a continuous value, so that the identification of the ore content of the material is 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 baffle or the sorting parameters can be quickly adjusted according to the ore content of the material and the ore content interval corresponding thereto, with high response speed. The sorting strategy of the material sorting equipment can be adjusted in time, which can respond in real time and has high flexibility. In the application scenario where the user's requirements change, the embodiment can quickly adapt to and adjust the sorting strategy, realize the rapid deployment and fine control of the sorting scheme, and thus enhance the applicability and universality of the material sorting method. In addition, the sorting process classifies the results through multiple material receiving spaces, each space corresponding to a different ore category, which further ensures the accuracy and classification clarity of the sorting results and improves the recovery efficiency of the target ore.

[0033] In some embodiments, the position of the baffle of the material receiving mechanism is adjustable, specifically, the position, posture, number, etc. of the baffle can be adjusted. As shown in Figure 2 The material sorting method can further include steps S150 and S160. Specifically, steps S150 and S160 can be processed in parallel with step S120, or can be processed asynchronously with step S120. The sequence of steps S120 and steps S150 to S160 can be determined according to requirements. Steps S150 to S160 can be executed to determine the number of baffles after step S120 is executed, or steps S150 to S160 can be executed to determine the number of baffles before step S110 is executed to obtain the image data.

[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 category can be a plurality of categories divided according to the ore content, which is determined according to the sorting requirements of the user. Each target category can correspond to a group of ore content of the material, and the material can be determined according to the ore content of the material which target category it belongs to. Among them, the target category can only include the category of the material required by the user, so that the sorted material enters different material receiving spaces, and only the material of the category required by the user is received by the material receiving mechanism. The target category can also include categories such as waste rock without target ore, so that materials of different categories can be sorted respectively.

[0035] Step S160, determine the number of partitions based on the number of target categories. The target category can have one or more, and the number of target categories can be determined according to the number of target categories, and finally the number of partitions for separating the material receiving space is determined. The number of material receiving spaces can be consistent with the number of target categories, so that the materials belonging to different target categories can enter the corresponding material receiving space. Since the material receiving space is formed by separating the material receiving mechanism by the partition, the number of corresponding partitions can be determined according to the number of target categories, so as to set the corresponding number of partitions, so that the partitions can divide the material receiving mechanism into a plurality of material receiving spaces, each of which can be used to receive the corresponding material, so that the materials belonging to a plurality of different target categories can enter a plurality of material receiving spaces separated by partitions, so as to realize the classification and sorting of materials.

[0036] In this embodiment, by setting the partitions with adjustable position, posture and number in the material receiving mechanism, 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 actual sorting requirements, which is particularly suitable for scenarios where the number of target categories changes or the sorting strategy updates. The present 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 number of target categories can be flexibly controlled. According to the determined number of target categories, the number of partitions for separating the material receiving space can be dynamically configured, and the specific position and posture can be adjusted, so that the material receiving mechanism forms a corresponding number of partitions. Each material receiving space corresponds to a target category to receive the sorted material of the 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 multi-category sorting and sorting strategy changing application scenarios, by setting adjustable partitions, the complexity of equipment adjustment can be reduced, the service life of the material sorting equipment can be prolonged, and the flexibility and stability of the material sorting equipment can be improved.

[0037] In some embodiments, as Figure 3 As 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. After executing step 120, steps S170 to S180 may be first executed, and then step S130 may be executed to re-determine the sorting parameters. Alternatively, steps S170 to S180 may be executed after executing step S130 to determine the sorting parameters or adjust the partitions.

[0038] Step S170, based on the number of target categories, determines the mineral content interval corresponding to each target category. According to the determined number of target categories, the mineral content interval corresponding to each target category can be determined. Specifically, since the mineral content of the material is a linear data from 0% to 100%, in order to facilitate the classification of materials of different target categories, the mineral content interval corresponding to each target category can be determined, such as: materials with a mineral 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 mineral content interval corresponding to the first target category. According to the number of target categories, the mineral content interval corresponding to each target category can be determined in combination with the user's material sorting requirements, so that the category of the material can be determined more quickly and conveniently based on the subsequent comparison of the mineral content of the material with the mineral content interval.

[0039] Step S180 adjusts the partitions or sorting parameters based on each mineral content interval so that materials belonging to the same mineral content interval fall into the same receiving space. Based on the mineral content interval corresponding to each target category, the partitions can be adjusted to change their position and posture, thereby changing the size of the receiving space corresponding to each target category in the receiving mechanism. The size of each receiving space is aligned with the mineral content interval of the target material. This allows the materials to enter the receiving space corresponding to the target category after sorting according to the sorting parameters, thereby achieving separation of materials belonging to different target categories. Furthermore, the sorting parameters for each material determined can also be adjusted based on the mineral content interval corresponding to each target category, thereby changing the sorting timing and sorting intensity of the sorting mechanism. This can change the falling path of each material after being sorted by the sorting mechanism, so that each material, after being sorted, enters the receiving space corresponding to its mineral content interval, achieving separation of materials belonging to different target categories.

[0040] According to the material sorting method provided in this embodiment, by dividing the mineral content interval based on the number of target categories and adjusting the partitions or sorting parameters based on the mineral content interval, the accuracy of material classification and sorting can be further improved. Through step S170, a plurality of mineral content intervals can be reasonably divided according to the number of target categories. Each target category corresponds to a mineral content interval, so that the material can be quantitatively graded. Compared with traditional two-classification and other division methods, the grading method provided in this embodiment can reflect the quality of the material more meticulously, thereby achieving high-precision material sorting. Through step S180, based on the mineral content interval, by adjusting the position or size of the partition of the material receiving mechanism, the structure and size of the material receiving space can be changed. Through step S180, based on the mineral content interval, by adjusting the sorting timing, blowing pressure or push plate force and other sorting parameters, the material falling trajectory or sorting path can be changed to ensure that the material falls accurately into the material receiving space to which it belongs. The material sorting method provided in this embodiment can not only improve the sorting accuracy, but also has good adaptability to different sorting scenarios. The material sorting equipment can be adjusted in real time according to the material sorting method provided in this embodiment, which has better flexibility.

[0041] In some embodiments, as Figure 4 As shown, step S180, adjusting the separator or sorting parameters based on each mineral content interval, may include: step S181 and step S182.

[0042] Step S181, based on each mineral content interval, determine the target posture of the corresponding partition. According to the mineral content interval corresponding to each target category, the target posture of the partition of the material receiving space corresponding to each mineral content interval can be determined. Specifically, the position, height and inclination angle of the partition can be determined according to the distribution of the mineral content interval, so as to determine the target posture of the partition. The target posture may include one or more of the position, height and inclination angle of the partition. The partition under the target posture enables the material to enter the material receiving space corresponding to the mineral content interval where its mineral content is located after the sorting operation is performed by the sorting mechanism.

[0043] Step S182: Adjust the partition based on the target position of the partition. Based on the determined target position of the partition, the partition can be manually adjusted to the target position. Alternatively, a drive device can be provided for the partition to automatically adjust the partition to the target position, thereby facilitating operation, effectively avoiding errors caused by manual adjustment, and providing a faster response time.

[0044] According to the material sorting method provided in this embodiment, the target position of the partition can be determined based on the mineral content interval and adjusted for each shift. By dynamically adjusting the position, angle and height of the partition, the sorting system can be flexibly adapted when processing materials in different mineral content intervals, significantly improving the accuracy of material classification and sorting and the operating efficiency of the system. By analyzing each mineral content interval, the position and angle of the partition corresponding to the material receiving space of each mineral content interval can be determined, ensuring that each material can accurately enter the corresponding material receiving space, effectively improving the accuracy of material sorting. By manually adjusting the position of the partition or accurately adjusting the target position of the partition through an automated device, the efficiency and stability of the sorting system can be improved, while the response speed and reliability of the material sorting equipment can be improved, ensuring that the material sorting equipment can adapt to different material characteristics and mineral content changes in a short time, and adjust the position of the partition in time, thereby improving production efficiency.

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

[0046] At step S131, the linear landing position is determined based on the ore content. After the sorting mechanism performs the sorting operation on the material according to the sorting parameter, the landing position of the material can be determined. Since the relationship between the ore content of the material and the sorting parameter 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, the linear landing position is determined, the historical sorting result of the material sorting device can be directly retrieved to determine the ore content of the material after sorting and the linear landing position corresponding to each material. Specifically, the landing distribution heat map can be determined according to the historical sorting result, each data point on the landing distribution heat map can correspond to a material, and thus 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 the differences in shape, density, size, etc., the landing position of the material has certain differences, which can cover a certain linear range in the landing distribution heat map. Since the sorting device can perform the same sorting operation on materials with the same ore content but different shapes and sizes, materials belonging to the same target category can be sorted to the same position, but their landing positions in the conveying direction of the conveying device have certain differences. The landing positions of a plurality of materials with the same ore content in the conveying direction of the material can be linear, and the landing positions of the materials can cover a certain distance. Therefore, for the sorting device that has performed the sorting operation, the landing position and the ore content information of each material can be determined according to the historical sorting result, and in the subsequent material sorting process, the linear landing position of the material after the sorting operation can be extracted from the historical sorting information according to the ore content of the currently sorted material, so that the material sorting device can be used as a reference to determine the sorting parameter corresponding to the sorting operation to be performed on the current material.

[0047] At step S132, the sorting parameter is determined based on the linear landing position. The sorting parameter of the material can be determined based on the linear relationship between the sorting parameter and the ore content according to the ore content of each material and the linear landing position corresponding to the material. Specifically, the sorting parameter can be linearly correlated with the ore content, such as 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 gas pressure of the gas sprayed by the nozzle, and for the push plate mechanism, P can be the angle of the push plate turning. The adjustable coefficients k and b can be determined according to the initial sorting requirement of the user and the initial number and pose of the partitions. According to the linear relationship between the sorting parameter and the ore content and the linear landing position of the material, the sorting parameter of the material can be determined.

[0048] By the material sorting method provided by the embodiment, through step S131, the falling point position of the material is determined based on the linear relationship between the ore content of the material and the falling point after sorting. Through step S132, the sorting parameter most suitable for the material can be further derived based on the linear relationship between the target falling point position of the material and the ore content, so as to meet different sorting precision requirements, and the falling point control strategy can be flexibly adjusted according to the real-time change of the number and position of the partitions in the material receiving mechanism, so as to realize the accurate sorting of the material to the corresponding material receiving space. Compared with the traditional method of using static sorting parameters, the embodiment has better adaptability and stability, can effectively improve the precision control level and operation flexibility in the sorting process, and enhances the adaptability of the system to the differentiated processing of materials under complex working conditions, which is helpful to realize the efficient recovery and accurate classification of ore resources.

[0049] In some embodiments, as shown in FIG. 18, step S181, determining the target pose of the corresponding partition based on each ore content interval, can include steps S1811 and S1812. Figure 6

[0050] Step S1811 determines the falling point interval corresponding to the ore content interval based on each ore content interval and the linear falling point position. According to each ore content interval and its corresponding linear falling point position, the position interval of the falling point of the material in each ore content interval after being subjected to the sorting operation can be determined. Specifically, the falling point distribution heat map can be determined according to the historical sorting result, and each data point on the falling point distribution heat map can correspond to a material, so the ore content of each data point on the falling point distribution heat map and the falling point position of the material corresponding to each data point can be determined, thereby determining the falling point interval corresponding to each ore content interval.

[0051] ​At step S1812, the target pose of each baffle is determined based on each landing interval, where the target pose can include at least one of the position of the baffle, the height of the baffle, and the angle of the baffle. When the sorting requirement of the user changes, i.e., the ore content interval corresponding to the target category changes, such as the ore content interval of the first target category is changed from 40% to 80% to 15% to 80%, the sorting parameter for performing the sorting operation of the material is fixed. Therefore, the target pose of the baffle can be adjusted. The target pose of the baffle can include at least one of the position, height, and angle of the baffle. Specifically, the position of the baffle can be changed according to each landing interval, so that the material with an ore content meeting the ore content interval corresponding to the landing interval can enter the landing interval. The height of the baffle can be changed according to each landing interval. In the case that the farthest landing position of the landing interval is farther than the position of the baffle on the side of the collection space away from the sorting mechanism, the height of the baffle on the side of the collection space away from the sorting mechanism of the current landing interval can be increased, so that the falling path of the material is blocked by the baffle, and thus the material can enter the current collection space. In the case that the nearest landing position of the landing interval is closer to the position of the baffle on the side of the collection space close to the sorting mechanism, the height of the baffle on the side of the collection space close to the sorting mechanism of the current landing interval can be decreased, so as to avoid the falling path of the material being blocked by the baffle on the side close to the sorting mechanism, and thus the material can enter the current collection space. In addition, the angle of the baffle can be adjusted. In the case that the farthest landing position of the landing interval is farther than the position of the baffle on the side of the collection space away from the sorting mechanism, the baffle on the side of the collection space away from the sorting mechanism of the current landing interval can be inclined to the side away from the sorting mechanism, so that the current collection space is increased, and thus the material can enter the current collection space. In the case that the nearest landing position of the landing interval is closer to the position of the baffle on the side of the collection space close to the sorting mechanism, the baffle on the side of the collection space close to the sorting mechanism of the current landing interval can be inclined to the side close to the sorting mechanism, so that the material can be guided by the baffle and enter the current collection space.

[0052] According to the material sorting method provided by this embodiment, through steps S1811 and S1812, the landing point interval corresponding to the material belonging to the interval can be determined according to the mineral content interval, and the target position of each partition can be determined according to the landing point interval. When the user's sorting needs change, especially when the mineral content interval of each target category changes, high-precision sorting can be achieved by adjusting the position, height and inclination of the partition while keeping the sorting parameters unchanged. It has good adaptability, intelligence and flexibility, so that the material sorting equipment can not only cope with changes in material properties, but also quickly respond to adjustments to sorting strategies. The material sorting method provided by this embodiment significantly improves the accuracy and dynamic adjustment capability of material sorting, and further improves the accuracy and robustness of material sorting.

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

[0054] At step S183, the material receiving space corresponding to each ore content interval is determined based on the ore content interval and the number of target categories. The number of material receiving spaces and the corresponding relationship between the ore content interval and the material receiving space can be determined according to the ore content interval and the number of target categories, so that each target material corresponding to the ore content interval can correspond to a material receiving space. Each material receiving space can be used to receive a material of a corresponding target category, and the ore content of the material entering each material receiving space belongs to the ore content interval of the target category corresponding to the material receiving space. Specifically, the position of the material receiving space can be linearly associated with the ore content interval. The ore content interval corresponding to the plurality of material receiving spaces from the material sorting mechanism to the sorting mechanism can gradually increase. The ore content interval corresponding to the material receiving space near the material sorting mechanism can be 0% to 10%, and the minimum ore content of the ore content interval corresponding to the material receiving space gradually increases from the direction near the material sorting mechanism to the direction away from the sorting mechanism, so that the ore content interval corresponding to the material receiving space away from the material sorting mechanism is 90% to 100%. The ore content interval corresponding to the plurality of material receiving spaces from the material sorting mechanism to the sorting mechanism can also gradually decrease. The ore content interval corresponding to the material receiving space near the material sorting mechanism can be 90% to 100%, and the minimum ore content of the ore content interval corresponding to the material receiving space gradually decreases from the direction near the material sorting mechanism to the direction away from the sorting mechanism, so that the ore content interval corresponding to the material receiving space away from the material sorting mechanism is 0% to 10%. In addition, the position of the material receiving space can be non-linearly associated with the ore content interval, and the corresponding relationship can be determined according to the sorting requirements of the user. In addition, the span of each ore content interval can not be equal, for example, the ore content interval corresponding to the first target material is 0% to 5%, and the ore content interval corresponding to the second target material is 5% to 30%. The span of each ore content interval is different, which can correspondingly make the size of the material receiving space different. The target category with a small ore content interval span can correspond to a smaller material receiving space, and the target category with a large ore content interval span can correspond to a larger material receiving space.

[0055] At step S184, one sorting parameter corresponding to each ore content interval is determined based on the corresponding material receiving space of each ore content interval. The sorting parameter can be adjusted according to the position of the material receiving space corresponding to each ore content interval, so that one 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 material receiving space corresponding to the ore content interval. Specifically, one sorting parameter corresponding to each ore content interval can be determined in combination with historical sorting data. For the material that has been sorted, the linear or nonlinear relationship between the sorting parameter and the material category can be determined according to the size, ore content, target category, target ore content interval, material receiving space position, and sorting parameter corresponding to the material in the image data.

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

[0057] In some embodiments, the sorting parameters can include the time and position at which the sorting mechanism performs the sorting operation. The materials can be transported by the conveying device, pass through the image acquisition device, be identified by the image acquisition device, and finally fall from the end of the conveying device, and the sorting mechanism can perform the sorting operation on the materials 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 the image of the material, determine the ore content of the material according to the image of the material, and compare the ore content of each material with the ore content interval of each target category to determine the target category to which each material belongs. For materials belonging to the same target category, the same sorting operation can be performed on the sorting mechanism. Specifically, for materials belonging to the same target category, the ore content is similar, and the weight can also be similar, so the blowing force of the nozzle of the sorting mechanism, i.e., the gas pressure of the blowing gas, can be the same, or the hitting force of the push plate of the sorting mechanism, i.e., the flipping speed of the push plate, can be consistent, so that materials belonging to the same target category can be separated by the sorting mechanism and enter different material collection spaces, achieving classification and sorting of the materials. Since there is a certain interval between the time at which the image acquisition device photographs the materials and the time at which the materials fall from the conveying device and the time at which the sorting device performs the sorting operation, the time at which 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 speed at which the conveying device transports the materials, achieving more accurate sorting and 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 at which the material falls from the conveying device. Since materials belonging to the same target category can have 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 content, and the types and content of waste rocks in the materials are also similar, if the size of the material is similar, the weight of the material is also similar. However, when the size of the material is significantly different, the weight of the material can also be significantly different, so the sorting parameters need to be adjusted. A standard size range can be set in advance, and 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 gas pressure of the nozzle can be increased or the flipping speed of the push plate can be increased, so that the material can enter the corresponding sorting space and avoid incorrect 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 reduced. Specifically, the blowing gas pressure of the nozzle can be reduced or the flipping speed of the push plate can be reduced, so that the material can enter the corresponding sorting space and avoid incorrect sorting, and the sorting accuracy of the material sorting equipment is improved.

[0059] In addition, since the sorting mechanism of the material can include a plurality of nozzles or push plates arranged side by side, the sorting operation is performed on the material falling from the corresponding position by different nozzles or push plates, and accurate sorting can be achieved. In this case, the sorting parameters can also include the position of the nozzle or push plate performing the sorting operation, which is determined according to the position of the material falling from the conveying mechanism. The position of the material falling from the conveying device can be determined according to the image of the material collected by the image collection device according to the position of the material in the image. The nozzle or push plate performing the sorting operation corresponding to the position of the material falling from the conveying device can be determined according to the position of the material falling from the conveying device, so that the nozzle or push plate can achieve more accurate sorting, avoid sorting errors that may occur in the case of multiple materials falling at the same time, and thus effectively improve the sorting accuracy of the material sorting equipment.

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

[0061] As shown in Figure 8 The network model can be determined by the following steps S210 and S220.

[0062] The step S210 determines the ore content data corresponding to the material in the image data by chemical detection, wherein the ore content data is the ore content percentage data of the material. The image data obtained by the image collection device can be used to determine the ore content of each material in the image data by chemical detection, and accurate ore content data can be obtained. The ore content data determined by chemical detection can be the ore content percentage data of the material, which can more accurately obtain the ore content data of each material.

[0063] The step S220 trains the network model by the image data and the corresponding ore content data. The image data and the ore content data corresponding to each material in the image can be used as training samples of the network model, and 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 in the embodiment, the image data can be processed by the convolutional neural network model, the deep learning model, the ore content of the material can be determined efficiently and accurately, and the accuracy and reliability of the material sorting device are effectively improved. Through the convolutional neural network model, the ore content of the material can be quickly and accurately inferred by deep learning of the image data, deep learning of the ore content data of the material determined based on chemical detection, and features in the image data of the corresponding material. Through the material sorting method provided in the embodiment, the ore content of the material can be determined more quickly and accurately, and the material sorting device has higher stability and recognition efficiency.

[0065] Based on the same inventive concept, as Figure 9 The disclosure also provides a material sorting device 300 for performing the material sorting method of any of the preceding embodiments. The material sorting device 300 can include an image acquisition device 310, a sorting mechanism 320, and a material collection mechanism 330.

[0066] The image acquisition device 310 is used to acquire image data of the material. The image acquisition device 310 can be a ray device, a color selection camera, or a multi-spectral acquisition device, etc. The ray image, RGB image, or multi-spectral data of the material can be acquired by the image acquisition device 310 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 portion contained therein, the related information of the material can be determined, and the material can be sorted by the material sorting method in any of the preceding embodiments.

[0067] The sorting mechanism 320 is used to perform the sorting operation. The sorting mechanism 320 can be arranged downstream of the image acquisition device 310. The sorting mechanism 320 can be a push plate mechanism or a blowing mechanism, which is used to perform the sorting operation on the material whose image data is acquired by the image acquisition device 310 and is identified. Specifically, in the case of the push plate mechanism, the sorting mechanism 320 can control the lifting or overturning of the push plate, so that the push plate can hit the material and change the movement direction of the material, thereby performing the sorting operation on the material. The angle, time, and position of the lifting or overturning of the push plate mechanism can be determined by the material sorting method provided in any of the preceding embodiments. In the case of the blowing mechanism, the sorting mechanism 320 can control the blowing of the nozzle to blow the material, thereby performing the sorting operation on the material. The time, position, gas pressure, or gas volume of the blowing of the nozzle of the blowing mechanism can be determined by the material sorting method provided in any of the preceding embodiments. The sorting mechanism 320 can perform the sorting operation on the material according to the ore content of the material, so that the materials belonging to the same target category and having similar ore content can be collected by the material collection 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 by the sorting mechanism 320. The material receiving mechanism 330 can be provided with multiple receiving spaces to collect materials with different mineral contents, that is, to distinguish materials of different target categories, so that materials of different target categories enter different receiving spaces, thereby achieving material sorting.

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

[0070] In some embodiments, as Figure 9 As shown, the material receiving mechanism 330 may include: multiple partitions 331, the position of the partitions 331 is adjustable, and the multiple partitions 331 are used to isolate the material receiving mechanism 330 to form multiple material receiving spaces. Multiple partitions 331 can be set in the material receiving mechanism 330, so that the material receiving mechanism 330 is divided into multiple material receiving spaces by the partitions 331, so that each material receiving space can be used to collect materials of different target categories. The position of each partition 331 can be adjusted independently. Specifically, the height, inclination angle and position of each partition 331 can be adjusted to meet different material sorting requirements. The position of the partition 331 can be adjusted manually. A drive device can also be set for each partition 331, and the position of each partition 331 can be independently adjusted by the drive device according to different material sorting requirements.

[0071] The material sorting device 300 provided in the embodiment can separate the material receiving mechanism 330 into multiple different material receiving spaces by the position-adjustable partition plate 331, for receiving materials of different target categories. The position of the partition plate 331 can be adjusted to meet different material sorting requirements, so that the material sorting device 300 has higher flexibility, and ensures that the materials can enter the corresponding material receiving space according to the different ore content or target category, so that the material sorting device 300 has higher sorting accuracy and stability. The partition plate 331 can be adjusted in real time, so that the partition plate 331 of the material sorting device 300 has faster response speed and higher adjustment accuracy, can quickly adapt to different material sorting conditions, and ensures efficient operation of the device. Through the adjustable partition plate 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, the bottom of the material receiving mechanism 330 can be provided with a track, and the extension direction of the track can be consistent with the direction of conveying the materials of the sorting device, so that the materials can fall within the coverage range of the track after being sorted by the sorting mechanism 320. Multiple partition plates 331 can be installed on the same track, so that the partition plates 331 can slide back and forth along the extension direction of the track, thereby changing the position of the partition plates 331. The position of the partition plates 331 can be adjusted by pushing the partition plates 331 to slide on the track, thereby changing the size of each material receiving space, according to the sorting requirements of the materials, such as the position and size of each material receiving space. By installing the partition plates 331 on the track, the sorting requirements of the materials can be met, so that the materials sorted by the sorting mechanism 320 can enter the corresponding material receiving space according to the corresponding target category, avoiding the materials from falling outside the material receiving mechanism 330 or entering the material receiving mechanism 330 that does not belong to the corresponding target category, so that the sorting of the materials has higher accuracy. In addition, the material receiving mechanism 330 can be adjusted in time by pushing the partition plates 331 to slide on the track when the material sorting requirements change, the adjustment process is simple and fast, has faster response speed, so that the material sorting device 300 has higher adjustment efficiency and adjustment flexibility.

[0073] In addition, when the material sorting requirement changes, the position of the partition plate 331 can be adjusted by pushing the partition plate 331 to slide on the track, and the number of the material receiving spaces can also be adjusted. For example, in the process of performing material sorting, it is initially required to divide the material into three target categories according to the ore content, and each target category corresponds to a material receiving space for receiving the material. In this case, four partition plates 331 can be arranged on the track, two of which are arranged at the two ends of the track, and the other two are arranged in the middle of the track, so that each two adjacent partition plates 331 on the track form a material receiving space, and three material receiving spaces are formed in total, each of which is used to receive the material of a different target category after sorting. After a period of sorting, the user's requirement for material sorting may change, and the ore content interval corresponding to each target category of the material may change, while the sorting strategy of the sorting mechanism 320 does not change. Therefore, the position and size of each material receiving space can be changed by changing the position of the partition plate 331, so that when the sorting requirement changes, the material receiving mechanism 330 can be quickly adjusted to ensure that the material falls into the corresponding material receiving space. The bottom of the partition plate 331 can be provided with a driving device for driving the movement of the partition plate 331 on the track, so that the position of the partition plate 331 does not need to be manually adjusted, and the adjustment efficiency of the partition plate 331 can be effectively improved. The driving device can be a pneumatic cylinder, which can drive the partition plate 331 to move on the track, realize automatic adjustment of the partition plate 331, avoid repeated shutdown adjustment, and improve the working efficiency of the material sorting equipment 300.

[0074] In some cases, the requirement for material sorting changes, which may change the number of target categories to be distinguished, such as changing from dividing the material into three target categories according to the ore content to dividing the material 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 located away from the sorting mechanism 320 can be directly detached from the track, so that the remaining three partition plates 331 on the track divide the material receiving mechanism 330 into two material receiving spaces for receiving the material. In addition, any partition plate 331 located in the middle of the track can also be directly pushed to the end of the track and abutted with the partition plate 331 located at the end of the track, so that the material receiving mechanism 330 is also divided into two material receiving spaces by the partition plate 331 for receiving the material. Therefore, the time for detaching the partition plate 331 can be saved, the adjustment efficiency of the material receiving mechanism 330 can be effectively improved, the material sorting equipment 300 can respond in time when the sorting requirement changes, the material receiving space can be quickly adjusted to adapt to the new sorting requirement, and the response efficiency is higher, so that the time can be effectively saved, and the working efficiency of the material sorting equipment 300 can be improved.

[0075] In some embodiments, the inclination angle of the partition plate 331 is adjustable. The partition plate 331 can include a lower plate mounted on the track, and an upper plate hingedly arranged with the lower plate, so that the upper plate can rotate relative to the lower plate about the hinge point, thereby changing the inclination angle of the upper part of the partition plate 331. The inclination angle of the partition plate 331 can be adjusted according to the sorting requirements. Specifically, the inclination angle of the partition plate 331 can be changed according to the sorting requirements of the material, so that the size of the upper part of the material receiving space changes, thereby enabling the material receiving spaces of the material receiving mechanism 330 to adapt to new material sorting requirements. During the material sorting process, the sorting requirements of the material can change, which can cause the ore content interval corresponding to each target category to change. When the ore content interval corresponding to the target category expands, the inclination angle of the partition plate 331 can be adjusted, so that the partition plate 331 on at least one side of the material receiving space corresponding to the target category is inclined outwardly of the material receiving mechanism 330, thereby expanding the top of the material receiving space outwardly, and the material receiving space can receive material corresponding to a wider ore content interval, thereby meeting the new sorting requirements. When the ore content interval corresponding to the target category shrinks, the inclination angle of the partition plate 331 can be adjusted, so that the partition plate 331 on at least one side of the material receiving space corresponding to the target category is inclined inwardly of the material receiving mechanism 330, thereby shrinking the top of the material receiving space inwardly, and the material receiving space can receive material corresponding to a smaller ore content interval, thereby meeting the new sorting requirements. Through the inclination angle adjustable partition plate 331 provided in the embodiment, the efficiency of the adjustment of the material receiving mechanism 330 can be effectively improved, so that the material sorting device 300 can quickly adjust the material receiving space to adapt to new sorting requirements when the sorting requirements change, thereby effectively saving time and improving the working efficiency of the material sorting device 300.

[0076] The present application uses certain terms to describe the embodiments of the present application. The terms "one embodiment", "an embodiment", and / or "some embodiments” mean that a certain feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the present application. Therefore, it is emphasized and should be appreciated that a repeated use of "one embodiment”, "an embodiment”, and / or "one alternative embodiment” in the present specification does not necessarily refer to the same embodiment, although it can. In addition, the described features, structures, or characteristics of one or more embodiments of the present application can be combined in any suitable manner.

[0077] In the context of the present application, unless the context clearly indicates otherwise, the terms "one", "an", and / or "the” do not necessarily refer to the singular, but can also include the plural. Generally, the terms "comprising” and "including” only indicate the inclusion of the steps and elements explicitly identified, and these steps and elements do not constitute an exclusive list of steps or elements.

[0078] For simplicity of exposition, and to help with the understanding of one or more embodiments of the application, the foregoing description of embodiments of the application is sometimes separated into sections by headings such as "Introduction", "Detailed Description", "Examples", "Industrial Applicability", etc. However, the inclusion of such headings is merely an aid for readability, and does not imply any meaning or implications to the sections which follow under such headings. In particular, the description of embodiments of the application under the heading "Detailed Description" is not meant to imply that the features described under such heading are necessarily comprised in one embodiment of the application. Rather, the features described under the heading "Detailed Description" can be combined with features described under the heading "Introduction", "Examples", "Industrial Applicability", etc. in any manner consistent with the description of the application.

[0079] Having described above the basic concepts, it is obvious that the above disclosure is merely an example and does not limit the application. Various modifications, improvements and adaptations of the application will be apparent to the skilled person. Such modifications, improvements and adaptations are suggested by the application and are still within the spirit and scope of the embodiments of the 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 based on the image data, wherein the mineral content is a continuous value, that is, the percentage of the target ore in the material as a whole; Determine the number of target categories; 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, adjusting the partitions or sorting parameters so that materials belonging to the same mineral content interval fall into the same receiving space; Determining separation parameters according to the ore content; Performing a sorting operation according to the sorting parameters so that the materials fall into a plurality of receiving spaces formed by separation of partitions of a receiving mechanism, wherein each receiving space corresponds to a target category; Wherein, adjusting the separator or separation parameters based on each of the ore content intervals further includes: Based on each of the mineral content intervals, determining a target position of the corresponding partition; adjusting the partition based on the target position of the partition; The partition in the target position can allow the material to enter the material receiving space corresponding to the mineral content range where the material's mineral content is located.

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: The number of the partitions is determined based on the number of the target categories.

3. The material sorting method according to claim 2, characterized in that: Determining the separation parameters according to the ore content includes: Based on the mineral content, determining a linear landing point position; The sorting parameters are determined based on the linear landing point position.

4. The material sorting method according to claim 3, characterized in that: 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 position, 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: a position of the partition, a height of the partition, and an angle of the partition.

5. The material sorting method according to claim 1, characterized in that: The adjusting of the separator 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 determining 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.

6. The material sorting method according to any one of claims 1 to 5, characterized in that: Determining the mineral content of the material according to the image data includes: The ore content is determined based on the image data through a network model, wherein the network model is determined by the following method: Determining mineral content data corresponding to the material in the image data through chemical testing, wherein the mineral content data is mineral content percentage data of the material; The network model is obtained by training the image data and the corresponding mineral content data.

7. 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 6, and the material sorting equipment includes: An image acquisition device, configured to acquire 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 to receive the sorted materials.

8. The material sorting equipment according to claim 7, 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.

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