Material sorting system and material sorting method

Abstract

The invention provides a material sorting system, and relates to the field of material sorting, the field of radiation inspection or other technical fields. The system comprises a conveying device configured to convey materials to be sorted; the imaging device comprises at least one imaging module; wherein in the first sorting mode, the at least one imaging module is configured to collect at least one image of a material located on the conveying device at a first position; in the second sorting mode, the at least one imaging module is configured to be switched from the first position to the second position, and at least one image of the materials which leave the conveying device and are located in the air is collected; the processor is configured to determine the sorting position of the materials based on the at least one image; and the blowing device is in communication connection with the processor and is configured to respond to a control signal of the processor to blow the materials to the sorting position.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of material sorting, the field of radiation inspection or other technical fields, and more particularly, to a material sorting system and a material sorting method. BACKGROUND

[0002] Material sorting refers to a process of classifying and selecting materials according to specific properties or standards of the materials in the processes of production, logistics, warehousing, etc. For example, the materials to be sorted are classified automatically and sorted to corresponding positions according to the categories. However, generally, a material sorting system is only adapted to a single sorting mode, and in the single sorting mode, there are certain structures, shapes, positional relationships of various hardware, and control parameters (such as conveying speed, imaging parameters, and identification parameters, etc.) of software, which have great limitations. SUMMARY

[0003] In view of the above problems, the present application provides a material sorting system and a material sorting method.

[0004] According to a first aspect of the present application, a material sorting system is provided, comprising: a conveying device configured to convey materials to be sorted; an imaging device comprising at least one imaging module; wherein in a first sorting mode, the at least one imaging module is configured to capture at least one image of the materials located on the conveying device at a first position; in a second sorting mode, the at least one imaging module is configured to switch from the first position to a second position to capture at least one image of the materials located in the air away from the conveying device; a processor configured to determine a sorting position of the materials based on the at least one image; and a blowing device in communication connection with the processor and configured to blow the materials to the sorting position in response to a control signal of the processor.

[0005] According to an embodiment of the present application, the blowing device comprises a blowing assembly, wherein in the first sorting mode, the blowing assembly is configured to blow the materials to their sorting positions at a third position; and in the second sorting mode, the blowing assembly is configured to switch from the third position to a fourth position to blow the materials to their sorting positions.

[0006] According to an embodiment of the present application, the imaging device further comprises a first imaging arm frame, comprising: an imaging portion, wherein the at least one imaging module is mounted on the imaging portion; and a first rotating portion connected with the imaging portion, the first rotating portion being configured to rotatably drive the imaging portion to rotate, so as to switch the at least one imaging module between the first position and the second position.

[0007] According to an embodiment of the present application, the first imaging arm frame further comprises: a first connecting portion configured to connect the imaging portion and the first rotating portion; wherein the first connecting portion comprises a first telescopic portion configured to telescopically drive the imaging portion to approach or move away from the materials, so as to adjust the distance between the at least one imaging module and the materials.

[0008] According to an embodiment of the present application, the imaging device further comprises a second imaging arm support and a third imaging arm support, wherein in the first sorting mode, the at least one imaging module is mounted at a first position of the second imaging arm support; and in the second sorting mode, the at least one imaging module is mounted at a second position of the third imaging arm support.

[0009] According to an embodiment of the present application, the spraying device further comprises a spraying part, wherein the spraying assembly is mounted on the spraying part; and a second rotating part connected with the spraying part, the second rotating part is configured to rotatably drive the spraying part to rotate, so as to adjust the spraying angle of the spraying assembly.

[0010] According to an embodiment of the present application, the spraying device further comprises a moving part connected with the second rotating part, the moving part is configured to move the second rotating part along at least one of the x-axis, y-axis and z-axis directions, so as to switch the spraying assembly from the third position to the fourth position, wherein the y-axis direction is consistent with the conveying direction of the conveying device.

[0011] According to an embodiment of the present application, the at least one imaging module has different imaging directions at the first position and the second position relative to the ground.

[0012] According to an embodiment of the present application, a projection of the at least one imaging module at the first position coincides with a projection of at least part of the conveying surface of the conveying device, and / or an imaging range of the at least one imaging module at the first position overlaps with at least part of the conveying surface of the conveying device; and a projection of the at least one imaging module at the second position does not coincide with a projection of the conveying surface of the conveying device, and / or an imaging range of the at least one imaging module at the second position does not overlap with the conveying surface of the conveying device.

[0013] According to an embodiment of the present application, the imaging device comprises a plurality of imaging modules, and in the second sorting mode, a plurality of imaging directions of the plurality of imaging modules converge at the same imaging position, so as to collect a plurality of images of the material at the imaging position.

[0014] According to an embodiment of the present application, the first position comprises a position above the conveying surface of the conveying device; and / or the second position comprises a position offset from the end of the conveying device by a target distance along the conveying direction.

[0015] According to an embodiment of the present application, the conveying device comprises a first conveying module configured to convey the material from the feeding area to the sorting area; a plurality of sorting conveying modules located in the sorting area, the plurality of sorting conveying modules correspond to a plurality of sorting positions; wherein the sorting conveying module is configured to reciprocally convey the material to the unloading area at one end or the second conveying module at the other end; and the second conveying module is configured to receive the material conveyed by the plurality of sorting conveying modules, so as to convey the material to the first conveying module.

[0016] According to an embodiment of the present application, in the first sorting mode, the conveying device comprises a first conveying module configured to convey the material from the feeding area to the sorting area, and the at least one imaging module is configured to capture at least one image of the material located on the first conveying module; in the second sorting mode, the conveying device comprises the first conveying module and a third conveying module, the first conveying module is configured to convey the material from the feeding area to the third conveying module located in the sorting area, and the at least one imaging module is configured to capture at least one image of the material located in the air and leaving the third conveying module; wherein the height of the bearing surface of the third conveying module is lower than the height of the bearing surface of the first conveying module, and / or the size of the third conveying module in the height direction is smaller than the size of the first conveying module in the height direction.

[0017] Another aspect of the present application provides a material sorting method, comprising: controlling a conveying device to convey a material to be sorted; in a first sorting mode, controlling at least one imaging module to capture at least one image of the material located on the conveying device at a first position; in a second sorting mode, controlling the at least one imaging module to switch from the first position to a second position to capture at least one image of the material located in the air and leaving the conveying device; determining a sorting position of the material based on the at least one image; and sending a control signal to control a blowing device to blow the material to the sorting position.

[0018] According to an embodiment of the present application, further comprising: in the first sorting mode, controlling a blowing assembly of the blowing device to blow the material to its sorting position at a third position; and in the second sorting mode, controlling the blowing assembly to switch from the third position to a fourth position to blow the material to its sorting position.

[0019] The above one or more embodiments have at least the following beneficial effects:

[0020] On the basis of multiplexing hardware and software such as the conveying device, the imaging device, the processor and the blowing device, the sorting mode can be flexibly switched between multiple sorting modes. For example, by switching the position of the imaging module, the imaging of the material on the conveying device and the imaging of the material in free fall in the air can be realized in the same system, improving the adjustability, expandability and comprehensive performance of the material sorting system, and significantly improving the multiplexing rate and the sorting level. BRIEF DESCRIPTION OF DRAWINGS

[0021] The above content and other purposes, features and advantages of the present application will be more apparent from the following description of the embodiments of the present application with reference to the accompanying drawings, in which:

[0022] Figure 1 An architectural diagram of a material sorting system in the related art is schematically shown;

[0023] Figure 2A A material sorting system in a first sorting mode according to an embodiment of the present application is schematically shown.

[0024] Figure 2B A material sorting system in a second sorting mode according to an embodiment of the present application is schematically illustrated;

[0025] Figure 2C A material sorting system in a second sorting mode according to another embodiment of the present application is schematically illustrated;

[0026] Figure 3A A material sorting system in a second sorting mode according to another embodiment of the present application is schematically illustrated; Figure 2A An enlarged view of the imaging device area;

[0027] Figure 3B An enlarged view of the imaging device area; Figure 2B An enlarged view of the imaging device area;

[0028] Figure 3C An enlarged view of the imaging device area; Figure 2C An enlarged view of the imaging device area;

[0029] Figure 4 A first imaging arm support according to an embodiment of the present application is schematically illustrated;

[0030] Figure 5 A blowing section, a second rotating section and a moving section according to an embodiment of the present application are schematically illustrated;

[0031] Figure 6 A top view of a material sorting system according to an embodiment of the present application is schematically illustrated; and

[0032] Figure 7 A flow chart of a material sorting method according to an embodiment of the present application is schematically illustrated.

[0033] The reference signs referred to in the above figures are listed as follows:

[0034] 10, material sorting system; 11, conveying device; 12, processor; 13, blowing device; 14, sorting bin; 15_1, integrated imaging camera; 15_2, radiographic imaging module; 16, feeder;

[0035] 100, material sorting system; 110, conveying device; 111, first conveying module; 112, first feeding device; 113, second feeding device; 120, imaging device; 121_1, X-ray machine; 121_2, detector; 122, 3D structured light camera; 123_1, visible light camera; 123_2, light source; 124, first imaging arm frame; 1241, imaging part; 1242, first rotating part; 1243, guide rail part; 1244, first connecting part; 130, blowing device; 131, blowing part; 132, second rotating part; 133, moving part; 134, second connecting part; 611, large-angle lifting belt conveyor horizontal section; 612, material returning and turning belt conveyor; 613, main belt conveyor; 614, third conveying module; 620, sorting conveying module; 630, second conveying module.

[0036] It should be noted that, for the sake of clarity, the size of the whole / partial structure or the whole / partial region may be exaggerated or reduced in the drawings used to describe the embodiments of the present application, i.e., the drawings are not drawn according to the actual scale. DETAILED DESCRIPTION

[0037] Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. It should be understood, however, that the description is merely exemplary of the present application, and is not intended to limit the scope of the present application. In the following detailed description of the embodiments of the present application, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it would be apparent to those skilled in the art that the embodiments of the present application can be practiced without these specific details. In other instances, well-known structures and methods are not described in detail in order to avoid obscuring the concepts of the present application.

[0038] The terms used herein are merely used to describe specific embodiments, and are not intended to limit the present application. The terms "include", "comprise" and the like used herein indicate the presence of the features, steps, operations and / or components, but do not exclude the presence or addition of one or more other features, steps, operations or components.

[0039] All terms used herein (including technical and scientific terms) have meanings commonly understood by one of ordinary skill in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having meanings consistent with the context of the present specification, and should not be interpreted in an idealized or overly formal manner.

[0040] In the case of using expressions such as "at least one of A, B, and C", it generally means one or more of A, B, and C, unless the context clearly indicates otherwise (e.g., "comprises at least one of A, B, and C" means that the system includes A alone, B alone, C alone, A and B together, A and C together, B and C together, or A and B and C together, etc.).

[0041] Figure 1 An architecture diagram of a material sorting system in the related art is schematically shown.

[0042] As shown in Figure 1 , the material sorting system 10 includes a conveying device 11, a processor 12, a blowing device 13, a sorting bin 14, a comprehensive imaging camera 15_1, a ray imaging module 15_2, and a feeder 16. The feeder 16 is configured to feed the material to be sorted to the conveying device 11, and the conveying device 11 is configured to convey the material to be sorted. The ray imaging module 15_2 is configured to capture a ray image of the material to be sorted. The comprehensive imaging camera 15_1 is configured to capture one or more non-ray images of the material to be sorted. The processor 12 is configured to acquire one or more images of the material to be sorted, and generate a control signal by means of image recognition. The blowing device 13 is configured to blow the material away from the conveying device 11 to the sorting bin 14 in response to the control signal of the processor 12.

[0043] The material sorting system 10 has a single sorting mode. For example, in the single sorting mode, referring to Figure 1 , the comprehensive imaging camera 15_1 and the ray imaging module 15_2 collect images of the material located on the conveying device 11. Considering the quality of the collected images, the conveying speed of the conveying device 11 is adapted to the imaging parameters of the comprehensive imaging camera 15_1 and the ray imaging module 15_2. In order to avoid the material on the conveying device 11 from stacking, the feeding of the feeder is affected by the conveying speed of the conveying device 11. Moreover, the processor 12 determines the blowing parameters of the blowing device 13 performed in the generated blowing instruction according to the image collection time, the conveying speed of the conveying device 11, the speed of the material, etc.

[0044] It can be seen that the structure, shape, positional relationship of various hardware of the material sorting system 10, and the control parameters (such as the conveying speed, the imaging parameters, and the identification parameters, etc.) of the software are adapted to the single sorting mode of the material sorting system 10, and the performance of the material sorting system 10 in terms of adjustability, expandability, and comprehensiveness is insufficient.

[0045] Based on the above defects, embodiments of the present application provide a material sorting system, which is further described in detail below.

[0046] Figure 2A A material sorting system in a first sorting mode according to an embodiment of the present application is schematically shown.Figure 2B Fig. 2 schematically illustrates a material sorting system in a second sorting mode according to an embodiment of the present application; Figure 2C Fig. 3 schematically illustrates a material sorting system in a second sorting mode according to another embodiment of the present application.

[0047] Referring to Figure 2A , Figure 2B and Figure 2C , the material sorting system 100 comprises a conveying device 110, an imaging device 120, a processor (not shown in the figures) and a blowing device 130. The conveying device 110 is configured to convey materials to be sorted; the imaging device 120 comprises at least one imaging module; wherein in a first sorting mode, the at least one imaging module is configured to acquire at least one image of the materials located on the conveying device 110 at a first position; in a second sorting mode, the at least one imaging module is configured to switch from the first position to a second position and acquire at least one image of the materials located in the air away from the conveying device 110; the processor is configured to determine a sorting position of the materials based on the at least one image; the blowing device 130 is in communication connection with the processor and is configured to blow the materials to the sorting position in response to a control signal of the processor.

[0048] Exemplarily, the imaging device 120 can acquire images of the materials by one or more image acquisition techniques. The imaging module comprises an imaging structure based on the corresponding image acquisition technique to acquire images of the materials. For example, the imaging device 120 can comprise a radiographic imaging module, and can further comprise one or more of a visible light imaging module, a near-infrared imaging module, a 3D structured light imaging module and a hyperspectral imaging module. Thus, more abundant image information can be acquired by the respective advantages of the various imaging techniques, and the material recognition and sorting effect can be improved.

[0049] The sorting mode of the material sorting system 100 is based on the difference in material characteristics, and through the coordinated cooperation of hardware parameters (such as component structure, shape and positional relationship, etc.) and software control parameters (such as conveying speed, imaging parameters, identification parameters, etc.), a dynamic operation mechanism for automatic classification and screening of materials is realized.

[0050] The first sorting mode and the second sorting mode represent different coordinated cooperation results of the hardware parameters and the software control parameters of the material sorting system 100, and are respectively different operation mechanisms for the material sorting system 100 to realize automatic classification and screening of materials. For example, referring to Figure 2A In the first sorting mode, the at least one imaging module is adjusted to the first position, and in the first position, the imaging modules acquire images of the materials on the bearing surface of the conveying device 110, obtaining images in the uniform speed (for example, the conveying speed is uniform) state of the materials. Referring to Figure 2B or Figure 2CIn the second sorting mode, the at least one imaging module is adjusted to the second position, so that each imaging module collects images of the material in the air, obtaining images of the material in the free-fall state, and achieving dynamic detection. Each image corresponds to at least one imaging module, for example, radiation images (such as X-ray images), visible light images, near-infrared images, hyperspectral images, and the like. It can be understood that each imaging module can take multiple images of the same material, and then the processor selects an image with higher quality.

[0051] In the first sorting mode, images of the material moving at a constant speed are collected, and the imaging module is adjusted to adapt to the moving speed of the material (achieved by adjusting the conveying speed), so as to obtain images with higher quality. However, in the first sorting mode, the imaging module collects images containing part of the conveying device 110, which is easily disturbed in the process of identifying the material by the processor. In the second sorting mode, the imaging module is used to collect images of the material in the free-fall state in the air, which can avoid the conveying device 110 in the collected images, reduce the disturbance to the processor in the identification process, and improve the accuracy of the processor identification.

[0052] The first sorting mode and the second sorting mode can be manually preset, for example, by providing a visual interface, and providing selection buttons of multiple sorting modes (such as 2, 3 or more) on the interface for selection by relevant personnel. After receiving the selected sorting mode, the hardware parameters and software control parameters are adjusted accordingly. The first sorting mode and the second sorting mode can be automatically switched by the material sorting system 100 through automatic identification of the target sorting mode according to the characteristics of the material to be sorted, for example, identifying the characteristics of the material in the feeder area, or receiving the material parameters input by the relevant personnel, so as to identify the target sorting mode, and adjust the hardware parameters and software control parameters accordingly. Exemplarily, a plurality of sorting modes can be pre-set with matching hardware parameter and software control parameter combinations, and each combination includes at least one hardware parameter and at least one specific value of the software control parameter, for example, the first position and the second position.

[0053] The switching from the first position to the second position can include one or more of the following: disassembling the imaging module from the first position and then installing it in the second position; moving the imaging module from the first position to the second position without disassembly; moving the imaging module from the first position to the second position with partial disassembly of the imaging module or part of the mechanism of the imaging module.

[0054] The conveying device 110 can include a combination of one or more of a horizontally arranged conveying belt, an inclined conveying belt, and an angled inclined slide. In the following, unless otherwise specified, the conveying device 110 includes at least one horizontally arranged conveying belt. Different types of materials of different particle sizes are distributed along the length direction (i.e., the conveying direction) and the width direction on the conveying device 110. Since the conveying belt has a certain running speed, different materials are scattered on the conveying belt and are conveyed to the end position at the end of the conveying belt, and the materials are thrown from the conveying belt into the air to perform a horizontal throwing motion.

[0055] The material to be sorted can include ore, food, beverage, or other objects to be sorted on a flow line, etc. By identifying the material information of the material to be sorted, the material is divided into multiple types based on the material information, and different types in the material are sorted. In specific classification, different types of division methods can exist according to different sorting requirements. The material type can be classified according to shape and size, classified according to density, classified according to material content, etc., which is not limited in the present application. For example, taking ore sorting as an example, the ore can be divided into metallic ore and non-metallic ore, and the metallic ore includes ferrous metal and non-ferrous metal; such as iron, manganese, chromium, etc.; non-ferrous metal ore, such as copper, lead, zinc, aluminum, tin, molybdenum, nickel, antimony, tungsten, etc. Non-metallic ore includes most of the oxygen salt ore and part of the oxide and halide ore, such as diamond, crystal, ice stone, boron, tourmaline, mica, topaz, corundum, graphite, gypsum, asbestos, and fuel ore, etc. In the classification of ore, the material type includes classification according to different types of contained metals, grade, and chemical composition, etc. Taking ore sorting as an example for illustrative description. The ore type can be divided into three types according to different specific metal content, including high-grade ore (highest specific metal content), medium-grade ore (medium specific metal content), and low-grade ore (lowest specific metal content).

[0056] The processor can include a processing unit in a host computer, a terminal device (such as a mobile phone, a notebook computer, a desktop computer, or other devices), or a server (such as a local server or a cloud server), etc. It can be understood that in the first sorting mode, the processor processes the image collected by the imaging module at the first position, and in the second sorting mode, the processor processes the image collected by the imaging module at the second position.

[0057] For example, the blowing device 130 in the embodiments of the present application can be located on the lower side of the material movement track. The material movement track in the present application refers to the movement track of the material after leaving the end of the conveying device 110 (also referred to as the discharge end). In the present embodiment, by setting the blowing device 130 on the lower side of the movement track, the blowing force can be applied to the material, reducing energy consumption while improving the influence of different blowing positions on the sorting accuracy. For example, when the material reaches the blowing position, the blowing device 130 can instantaneously blow a high-pressure gas flow for a specific duration, changing the movement track of the material through the gas flow, so that the material falls into the corresponding sorting position.

[0058] The blowing device 130 includes one or more nozzles, for example, a plurality of nozzles arranged in an array, a solenoid valve, and a gas supply device containing compressed gas for providing a gas source for the nozzles to blow different categories of materials. Each nozzle can be connected to a solenoid valve connected to the gas supply device, and the opening and closing of the solenoid valve controls the blowing of the gas by the nozzle. In some embodiments, during the sorting process, the processor can adjust the blowing strategy in real time according to the recognition results of the radiation image and / or other category images, the sorting mode (such as the position of the imaging module, the position of the nozzle, the conveying speed, the position / speed of the material at the time of blowing, etc.), for example, adjusting the position of the nozzle, increasing or reducing the pressure of the nozzle to change the intensity of the gas flow, thereby affecting the flight distance and direction of the material; adjusting the jet angle of the nozzle; adjusting the start and stop time of blowing to match the speed and position of the material passing through the nozzle; adjusting the number of nozzles to control the blowing pressure. The above adjustment results are written into the control signal and sent to the corresponding structure, for example, the blowing device 130.

[0059] In some embodiments, the material sorting system 100 provided by the embodiments of the present application can be used in the research and development test phase. By multiplexing the conveying device 110, the imaging device 120 (such as the X-ray machine 121_1, the detector 121_2, the camera, the light source 123_2, the 3D structured light camera 122, etc.), the processor and the blowing device 130, etc. hardware and software, various research and development projects (such as various sorting modes) can be tested, so as to determine the hardware parameters and software control parameters of the target material sorting system 100 according to the sorting effect. In other embodiments, the material sorting system 100 provided by the embodiments of the present application can be used in the material sorting stage in the actual production environment, which can switch multiple sorting modes to realize automatic sorting of various materials with a wider type range. In this process, the hardware and software such as the conveying device 110, the imaging device 120, the processor and the blowing device 130 can also be multiplexed.

[0060] For example, in the aspect of imaging recognition, devices such as the X-ray machine 121_1, the detector 121_2, the visible light camera 123_1, the light source 123_2, and the 3D structured light camera 122 can be reused. By adjusting the positions of one or more of the devices, testing of different physical schemes can be achieved. For example, the X-ray imaging technology (such as the XRT dual-energy material recognition technology) can be developed under multiple conditions, and imaging recognition in multiple modes can be implemented. The physical scheme includes specific technical conditions and process parameters of the imaging technology scheme, for example, the current and voltage of the X-ray machine 121_1, the dose rate angular distribution; the detection crystal material and thickness of the detector 121_2, the imaging distance (source detection, object detection, etc.), the working distance, the field of view angle, and the resolution of the visible light camera 123_1, and the working distance and sampling frequency of the 3D structured light camera 122.

[0061] According to embodiments of the present application, on the basis of reuse of the conveying device 110, the imaging device 120, the processor, and the blowing device 130, and the like, flexible conversion between multiple sorting modes can be achieved. For example, by switching the positions of the imaging modules, imaging of the material moved by the conveying device and imaging of the material in free fall in the air can be implemented in the same system, improving the adjustability, expandability, and comprehensive performance of the material sorting system 100, and significantly improving the reuse rate and the sorting level.

[0062] Figure 3A An enlarged view of the imaging device region in FIG. 1 is schematically shown in FIG. 2. Figure 2A An enlarged view of the imaging device region in FIG. 1 is schematically shown in FIG. 2. Figure 3B An enlarged view of the imaging device region in FIG. 1 is schematically shown in FIG. 2. Figure 2B An enlarged view of the imaging device region in FIG. 1 is schematically shown in FIG. 2. Figure 3C An enlarged view of the imaging device region in FIG. 1 is schematically shown in FIG. 2. Figure 2C An enlarged view of the imaging device region in FIG. 1 is schematically shown in FIG. 2.

[0063] In some embodiments, at least one imaging module has different imaging directions relative to the ground in the first position and the second position, respectively.

[0064] The imaging direction refers to the direction in which the camera lens or the X-ray machine is directed when the imaging module acquires an image. For example, Figure 3A The X-ray machine 121_1, the 3D structured light camera 122, and the visible light camera 123_1 are shown as being directed vertically downward toward the material, and the imaging direction is vertically downward or the vertical direction; Figure 3B Or Figure 3C The imaging module is shown as being directed toward the material in the air, and the imaging direction is oblique. By setting the imaging module to have different imaging directions in different positions, image acquisition of different regions can be achieved, which can adapt to different sorting modes and expand the image acquisition range. The two sides of the imaging direction of the visible light camera 123_1 are also provided with the light source 123_2, which can light the material. The X-ray machine 121_1 also has a matching detector 121_2, which is located below the material.

[0065] In some embodiments, the projection of the at least one imaging module in the first position coincides with the projection of the at least part of the carrying surface of the conveying device 110, and / or the imaging range of the at least one imaging module in the first position overlaps with the at least part of the carrying surface of the conveying device 110; the projection of the at least one imaging module in the second position does not coincide with the projection of the carrying surface of the conveying device 110, and / or the imaging range of the at least one imaging module in the second position does not overlap with the carrying surface of the conveying device 110.

[0066] The projection of the embodiments refers to the vertical projection on the ground. The coincidence refers to the projection of one or more imaging modules falling within the projection range of the at least part of the carrying surface. The overlap refers to the imaging range of one imaging module, or the collection of the imaging ranges of multiple imaging modules being able to capture the at least part of the carrying surface.

[0067] As Figure 3A , the projections of the X-ray machine 121, the 3D structured light camera 122 and the visible light camera 123_1 in the first position fall on the carrying surface of the conveying device 110, and the imaging ranges contain the carrying surface of the conveying device 110. As Figure 3B and Figure 3C , the projections of the X-ray machine 121_1 and the visible light camera 123_1 do not coincide with the projection of the carrying surface of the conveying device 110, and the imaging ranges do not overlap with the carrying surface of the conveying device 110. It should be noted that Figure 3B and Figure 3C The imaging module support and the 3D structured light camera 122 are omitted.

[0068] In some embodiments, the first position includes a position above the carrying surface of the conveying device 110; and / or the second position includes a position offset from the end of the conveying device 110 by a target distance in the conveying direction.

[0069] As Figure 3A , Figure 3B and Figure 3C , the first position and the second position are two positions in space. The first position and the second position of each imaging module are different, and different imaging modules have different first positions or second positions in space. For example, the first position and the second position of any one of the X-ray machine 121_1, the detector 121_2, the 3D structured light camera 122 or the visible light camera 123_1 are different. The X-ray machine 121_1, the detector 121_2, the 3D structured light camera 122 and the visible light camera 123_1 have different first positions or second positions from each other. The positions between the X-ray machine 121_1 and the detector 121_2 are matched with each other.

[0070] For example, in the process of switching from the first position to the second position, X-ray machine 121_1, detector 121_2, visible light imaging, etc. are used. As switching from the first position to the second position, as shown in Figure 3B or Figure 3C , X-ray machine 121_1 and visible light camera 123_1 move from the belt to the front end of the discharge roller (the end roller of the conveyor belt), and by rotating downward by a certain angle around a certain axis, the imaging direction of X-ray machine 121_1, detector 121_2 and visible light camera 123_1 changes from vertical to inclined.

[0071] In some embodiments, imaging device 120 includes multiple imaging modules, and in the second sorting mode, the multiple imaging directions of the multiple imaging modules converge at the same imaging position to capture multiple images of the material at the imaging position.

[0072] As shown in Figure 3B and Figure 3C , the imaging position is a certain position on the flight path when the object is in a flying state in the air. The imaging directions of X-ray machine 121_1, 3D structured light camera 122 and visible light camera 123_1 converge at the same imaging position, so that the same or similar images of the material are captured in time and space, which can reduce the complexity of matching the same material between different images and improve the recognition accuracy of the processor.

[0073] As shown in Figure 3A , Figure 3B and Figure 3C , X-ray machine 121_1 can be arranged above one side of the material to be sorted (e.g. above Figure 3A ), and detector 121_2 opposite to X-ray machine 121_1 can be arranged below the other side of the material to be sorted (e.g. below Figure 3A ). Detector 121_2 receives the ray signal after penetrating the material and converts it into a ray image.

[0074] In some embodiments, X-ray machine 121_1 can be installed at the bottom of the material with the beam direction upward, while detector 121_2 is installed above the material to receive the attenuated X-ray information after penetrating the conveyor belt and the material, so that X-ray machine 121_1 can have a shorter distance from the material, providing more space for detector 121_2 to arrange and move, which is beneficial to improve the imaging quality. Wherein the X-ray is wide-angle beam from bottom to top, penetrating the conveyor belt to the material, by adjusting the radiation distance to make the X-ray energy loss less, it is easy to obtain higher imaging quality. The X-ray imaging algorithm can include air correction, geometric correction, contour segmentation and identification classification processes.

[0075] For example, the height and front-back position of each of the X-ray machine 121_1, the detector 121_2, the visible light camera 123_1, and the 3D structured light camera 122 can be adjusted, and the adjustment amount can be accurately controlled to meet the requirements of different conveying speeds and imaging distances (detection widths). The X-ray dual-energy identification, visible light imaging, and 3D structured light profile detection technologies can be integrated to support the synchronous analysis of the surface texture, internal composition, and three-dimensional morphology of the material.

[0076] For example, based on the radiation image, the 3D structured light image, and the visible light image obtained by the X-ray machine 121_1 and the detector 121_2, the 3D structured light camera 122, and the visible light camera 123_1, the image feature combination of the ray-based image feature and the image feature based on at least one of the visible light image, the near-infrared image, and the hyperspectral image can be obtained by the processor to obtain a fusion image, the image feature combination is intelligently identified by using a deep learning algorithm, and the category of the identified object is determined. For example, a deep learning algorithm can be used to construct an encoder and train it. The training samples include samples of at least one of the 3D structured light image and the visible light image, the radiation image sample, and the corresponding fusion image sample. The difference between the predicted fusion image output by the encoder and the fusion image sample is updated by using a back propagation algorithm to update the parameters of the encoder. The encoder can be constructed by using a neural network algorithm.

[0077] Figure 4 A first imaging arm support according to an embodiment of the present application is schematically shown.

[0078] In some embodiments, the imaging device 120 further includes a first imaging arm support 124, which includes:

[0079] An imaging portion 1241, wherein the at least one imaging module is mounted on the imaging portion 1241.

[0080] A first rotating portion 1242 connected with the imaging portion 1241, the first rotating portion 1242 is configured to rotatably drive the imaging portion 1241 to rotate, so as to switch the at least one imaging module between the first position and the second position.

[0081] The first imaging arm support 124 serves to support and position the imaging module. The imaging portion 1241 is the part of the first imaging arm support 124 on which the imaging module is mounted, and carries the imaging module to complete the image acquisition work. For example, in a cantilevered imaging arm support, the part of the cantilevered arm at the front end where the imaging module is mounted is the imaging portion 1241. The first rotating portion 1242 is connected with the imaging portion 1241, and can drive the imaging portion 1241 to rotate around a specific axis, for example, by a motor, so as to change the position of the imaging module.

[0082] For example, the imaging part 1241 can be composed of a metal frame, and mounting holes or clamping grooves are provided on the frame for fixing the imaging module. The imaging module is installed on the imaging part 1241 by means of screws or buckles, etc., and has certain stability during imaging. The first rotating part 1242 can adopt a rotating shaft structure driven by a motor. The motor is fixed on the support structure, and one end of the rotating shaft is connected with the motor output shaft, and the other end is connected with the imaging part 1241 through a shaft coupling or welding, etc. After the motor is powered on, the rotating shaft is driven to rotate, and then the imaging part 1241 is driven to rotate, realizing the switching of the position of the imaging module. For example, the motor can be a stepper motor, which can accurately control the rotation angle by accurately controlling the pulse signal.

[0083] With reference to Figure 4 For example, the first imaging arm support 124 can further include a guide rail part 1243, which includes a first guide rail (not shown in the figure) connected with the first rotating part 1242, for driving the first rotating part 1242 to move back and forth in the y-axis direction. The first guide rail includes a track and a driving device, and the driving device drives the first rotating part 1242 to move along the track through a transmission mechanism (such as a lead screw, a belt, etc.).

[0084] In some embodiments, for example, the first imaging arm support 124 can further include a second guide rail (not shown in the figure), which is located below the first guide rail and connected with it, for driving the first guide rail to move back and forth in the x-axis direction. The second guide rail can also include a track and a driving device, and the driving device drives the first guide rail to move back and forth along the track in the x-axis direction through a transmission mechanism (such as a lead screw, a belt, etc.).

[0085] In some embodiments, the imaging part 1241 includes a deformable part, which is made of a deformable metal material, for example, and can be deformed under the action of an external force, thereby fine-tuning the position and angle of the imaging module and other parameters.

[0086] In some embodiments, the first imaging arm support 124 can include a plurality of imaging parts 1241 and a plurality of first rotating parts 1242, respectively, for mounting a plurality of imaging modules, thereby realizing the adjustment of each imaging module.

[0087] In some embodiments, the first imaging arm support 124 further includes a first connecting part 1244 configured to connect the imaging part 1241 and the first rotating part 1242; wherein the first connecting part 1244 includes a first telescopic part configured to telescopically drive the imaging part 1241 to approach or move away from the material, so as to adjust the distance between the at least one imaging module and the material.

[0088] The first connecting part 1244 includes a component connecting the imaging part 1241 and the first rotating part 1242, and the first telescopic part is a part of the first connecting part 1244 and can perform a telescopic action to change the distance between the imaging part 1241 and the material, that is, to change the distance between the imaging module and the material. For example, the first telescopic part can adopt a telescopic antenna structure, and the telescoping can be achieved by a motor or a hydraulic device. Taking the electric telescoping as an example, there are a motor, a screw rod, and a nut assembly inside. The motor drives the screw rod to rotate, and the nut moves linearly on the screw rod, thereby driving the imaging part 1241 connected with the nut to realize telescoping. In the material sorting system 100, the telescopic length of the electric telescopic rod can be automatically controlled according to the size and other parameters of the material.

[0089] Taking the X-ray machine 121_1 and the detector 121_2 as an example, in some embodiments, at least one of the X-ray machine 121_1 and the detector 121_2 can be controlled to move according to the particle size information of the material to be sorted. For example, during the transportation of the material to be sorted, in response to the change of the particle size information of the material to be sorted entering the radiation area of the X-ray machine 121_1, the position of at least one of the X-ray machine 121_1 and the detector 121_2 is dynamically adjusted to obtain a radiation distance and a detection distance that are adapted to the particle size information.

[0090] For example, the X-ray machine 121_1 can move along the z-axis direction based on the first telescopic part, move along the y-axis direction based on the first guide rail, or move along the x-axis direction based on the second guide rail. The detector 121_2 can be separately installed on a moving mechanism and can correspondingly change along at least one of the x-axis, the y-axis, and the z-axis with the change of the position of the X-ray machine 121_1. Taking the detector 121_2 as an example, the detection distance adapted to the particle size can realize consistent attenuation of the imaging distance of the rays, so that the imaging consistency is good, thereby improving the overall imaging quality, and making the attenuation difference of the rays received by the detection module as much as possible represent the material difference, and improving the material identification capability.

[0091] For example, the particle size information of the material to be sorted can be manually input or acquired in real time by a sensor. During the sorting process, if the particle size of the material continuously flowing through the radiation area of the X-ray machine 121_1 suddenly increases, the positions of the X-ray machine 121_1 and the detector 121_2 can be dynamically adjusted according to this change. For example, when the particle size of the material is detected to increase, the distance between the X-ray machine 121_1 and the material can be automatically reduced, so that the rays can penetrate the material and be effectively detected. For example, a certain target material can also be sent rays when it reaches above the X-ray machine 121_1, or the X-ray machine 121_1 can be controlled to move to the bottom of the target material.

[0092] For example, on the sorting line, the iron ore is transported to the radiation area of the X-ray machine 121_1. Before the iron ore enters the radiation area, a high-precision laser particle size analyzer measures the particle size of each iron ore and sends the data to the control module in real time. According to the received particle size information, the control module dynamically adjusts the position of the X-ray machine 121_1 to ensure that the radiation distance is suitable for the particle size of the material. Then, according to the new position of the X-ray machine 121_1, the position of the detector 121_2 is adjusted again to ensure that the detection distance is suitable for the position of the X-ray machine 121_1. In this way, the positions of the X-ray machine 121_1 and the detector 121_2 can be dynamically adjusted according to materials of different particle sizes, improving the sorting accuracy and efficiency.

[0093] In some embodiments, the imaging device 120 further comprises a second imaging arm support and a third imaging arm support, wherein in the first sorting mode, the at least one imaging module is mounted at a first position of the second imaging arm support; in the second sorting mode, the at least one imaging module is mounted at a second position of the third imaging arm support.

[0094] For example, the second imaging arm support can include a cantilever structure fixed on the support frame by bolts or welding, etc. Its interior can contain a wiring channel for connecting the lines of the imaging module and the processor. The imaging module is mounted at the first position of the cantilever structure through a mounting clamp, which can be adjustable to adjust the angle and position of the imaging module. For example, the clamp can be adjusted by screws to fine-tune the imaging module up and down, left and right within a certain range. The structure of the third imaging arm support can be similar to that of the second imaging arm support. The first position of the second imaging arm support can include a position above the carrying surface of the conveying device as shown in Figure 2A and Figure 3A The second position of the third imaging arm support can include a position in front of the discharge roller of the conveying device as shown in Figure 2B and Figure 3B , or Figure 2C and Figure 3C .

[0095] According to the embodiments of the present application, the positions of the imaging modules can be quickly switched by being mounted on different imaging arm supports for different sorting modes, without the need for complex readjustment process, thereby improving the working efficiency of the entire material sorting system 100.

[0096] The blowing device 130 is used as a separation mechanism in different imaging modes. As a rear-end sorting structure, the blowing device 130 is adjustable in multiple degrees of freedom, such as up and down, blowing angle adjustment, front and back movement adjustment, etc., to meet the requirements of different sorting modes in terms of blowing position, height, angle, front and back blowing distance, etc. Different specifications of nozzle arrays, high-speed electromagnetic valves and driving control systems can be configured to adapt to the blowing separation requirements of different particle size materials.

[0097] In some embodiments, the blowing device 130 comprises a blowing assembly, wherein in the first sorting mode, the blowing assembly is configured to blow the material to its sorting position at a third position; in the second sorting mode, the blowing assembly is configured to switch from the third position to a fourth position to blow the material to its sorting position.

[0098] The blowing assembly comprises a plurality of nozzles arranged in an array, a solenoid valve and a gas supply device. The third position and the fourth position are spatially different positions. Wherein, switching from the third position to the fourth position can include one or more of the following ways: disassembling the blowing assembly from the third position and then assembling it to the fourth position; without disassembling, moving the blowing assembly from the third position to the fourth position.

[0099] In the first sorting mode, the imaging modules are arranged at the first position to capture images of the material on the carrying surface of the conveying device 110, obtaining images in the uniform speed state of the material (for example, the conveying speed is uniform), and then the material leaves the end of the conveying device 110 in the flying state in the uniform speed state, in the process, the blowing assembly is located at the third position to blow the material, wherein the third position is related to the first position and the speed of the material in the flying state, for example, the processor can determine the distance between the blowing position (the position of the gas blowing the material) of the material in the flying state, determine the time for the material to reach the blowing position according to the distance, determine the speed of the blowing position of the material in the flying state according to the speed of the material leaving the conveying device 110 and the free-fall time, determine the third position and the blowing strategy at the third position, for example, the blowing strategy includes gas intensity, blowing angle, number of nozzles blowing at the same time, etc.

[0100] In the second sorting mode, the at least one imaging module is adjusted to a second position, in which the imaging module captures images of the material in the air, i.e., in the free-fall state. It can be understood that in the first sorting mode, the material moves at a uniform speed, which can prevent the material from moving too fast on the conveying device 110 and avoid stacking of the material (if stacking occurs in the captured image, the processor will be affected in segmenting each material, resulting in poor recognition accuracy). In the second sorting mode, the image is captured when the material is in the air, i.e., in the flying state, which can prevent stacking to a certain extent. The material can move faster than in the first sorting mode, and the conveying speed of the conveying device 110 can also be faster, and the overall sorting efficiency of the material sorting system 100 is higher. Since the material moves faster, the spray assembly is required to quickly and accurately hit the material to the sorting position, so the spray assembly is switched from the third position to the fourth position to meet these requirements. Then, the spray assembly sprays the material in the fourth position, wherein the fourth position is related to the second position and the speed of the material in the flying state. For example, the processor can also determine the distance between the sprayed position of the material in the flying state, determine the time for the material to reach the sprayed position according to the distance, determine the speed of the material at the sprayed position according to the speed of the material away from the conveying device 110 and the free-fall time, and thus determine the fourth position and the spraying strategy in the fourth position, such as the gas intensity, the spraying angle, the number of nozzles for simultaneous spraying, etc.

[0101] According to the embodiments of the present application, on the basis of multiplexing hardware and software such as the conveying device 110, the imaging device 120, the processor, and the spray device 130, flexible switching between various sorting modes can be achieved. For example, through the position switching of the spray chasing assembly, accurate spraying of the material can be achieved whether the imaging module images the material moving at a uniform speed or images the material in the air in the free-fall state, which improves the adjustability, expandability, and comprehensive performance of the material sorting system 100, and significantly improves the multiplexing rate and the sorting level.

[0102] Figure 5 The spray part, the second rotating part, and the moving part according to the embodiments of the present application are schematically shown.

[0103] In some embodiments, the spray device 130 further includes:

[0104] The spray part 131, wherein the spray assembly is installed in the spray part 131.

[0105] The second rotating part 132 is connected with the spray part 131, and the second rotating part 132 is configured to rotatably drive the spray part 131 to rotate, so as to adjust the spraying angle of the spray assembly.

[0106] The spraying part 131 is a part where the spraying assembly is installed, and carries the spraying assembly to complete the spraying work. The second rotating part 132 is connected with the spraying part 131, and can drive the spraying part 131 to rotate around a specific axis, for example by a motor, so as to change the position of the spraying assembly.

[0107] For example, the spraying part 131 can be formed by a metal frame, and the metal frame is provided with mounting holes or clamping grooves for fixing the spraying assembly. The second rotating part 132 can adopt a rotating shaft structure driven by a motor. The motor is fixed on the support structure, one end of the rotating shaft is connected with the output shaft of the motor, and the other end is connected with the spraying part 131 by a shaft coupling or welding. After the motor is powered on, the rotating shaft is driven to rotate, and then the spraying part 131 is driven to rotate, so as to realize the adjustment of the spraying angle of the spraying assembly. For example, the motor can be a stepping motor, and the rotation angle can be accurately controlled by accurately controlling the pulse signal.

[0108] In some embodiments, the spraying device 130 further comprises a moving part 133 connected with the second rotating part 132, and the moving part 133 is configured to drive the second rotating part 132 to move along at least one of the x-axis, y-axis and z-axis, wherein the y-axis direction is consistent with the conveying direction of the conveying device 110.

[0109] For example, the moving part 133 can include an x-axis movement unit, a y-axis movement unit and a z-axis movement unit. The x-axis movement unit can include a sliding block and a linear guide rail arranged along the x-axis, the y-axis movement unit is connected with the sliding block of the x-axis movement unit, the y-axis movement unit can include a sliding block and a linear guide rail arranged along the y-axis, the z-axis movement unit is connected with the sliding block of the y-axis movement unit, and the vertical movement in the z-axis direction is realized by a linear motor, and the second rotating part 132 is connected with the output shaft of the linear motor. It can be understood that the structure of the moving part 133 is not limited to this.

[0110] In some embodiments, the spraying part 131 comprises a second connecting part 134, which comprises a second telescopic part configured to telescopically drive the spraying part 131 to approach or move away from the material, so as to adjust the distance between the spraying assembly and the material. For example, the second telescopic part can adopt a telescopic antenna structure, and the telescopic movement can be realized by a motor or a hydraulic device. Taking the electric telescopic movement as an example, there is a motor, a screw rod and a nut assembly inside. The motor drives the screw rod to rotate, and the nut moves linearly on the screw rod, so as to drive the spraying part 131 connected with the nut to realize the telescopic movement. In the material sorting system 100, the telescopic length of the electric telescopic rod can be automatically controlled according to the parameters such as the material speed.

[0111] Figure 6 A top view of a material sorting system according to an embodiment of the present application is schematically shown.

[0112] In some embodiments, the conveying device 110 comprises a first conveying module 111 (e.g. comprising a large-angle lifting belt conveyor horizontal section 611, a material return diverting belt conveyor 612, a feeder, a main belt conveyor 613), a plurality of sorting conveying modules 620, and a second conveying module 630. The first conveying module 111 is configured to convey the material from the feeding area to the sorting area; the plurality of sorting conveying modules 620 are located in the sorting area, and the plurality of sorting conveying modules 620 correspond to a plurality of sorting positions; wherein the sorting conveying module 620 is configured to reciprocally convey the material to a discharge area at one end or to the second conveying module 630 at the other end; the second conveying module 630 is configured to receive the material conveyed by the plurality of sorting conveying modules 620 to convey the material to the first conveying module 111.

[0113] Referring to Figure 2A , Figure 2B , Figure 2C and Figure 6 , in the first sorting mode, the imaging modules are adjusted to the first positions to capture images of the material on the carrying surface of the main belt conveyor 613, obtaining images of the material in a uniform speed state (e.g. the conveying speed is uniform). In the second sorting mode, at least one imaging module is adjusted to the second position to capture images of the material in the air away from the third conveying module 614, obtaining images of the material in a free-fall state. The third conveying module 614 can comprise the first feeding device 112 (e.g. a vibrating feeder) or the second feeding device 113 (e.g. a small belt conveyor).

[0114] Referring to Figure 6 , the feeding area comprises a starting position where the material to be sorted starts to enter the conveying and sorting system. The sorting area comprises a specific area where sorting operations are performed, such as an image acquisition area, a blowing area, a sorting conveying area, and a discharge area. The discharge area comprises a place where the sorted material is placed to be transported away. The first conveying module 111 provides a channel for the material to enter the sorting area, so that the material can enter the subsequent sorting process in an orderly manner. The sorting conveying module 620 conveys the material to the corresponding discharge area or the second conveying module 630. For example, according to the detection results of the ore category, the sorting conveying module 620 corresponding to high-grade ore conveys the ore to a high-grade ore discharge area on one side for subsequent concentrate processing; the sorting conveying module 620 corresponding to low-grade ore conveys the ore to a low-grade ore discharge area on the other side, which can be used for other low-requirement industrial purposes. The sorting conveying module 620 corresponding to some ores of uncertain category conveys them to the second conveying module 630. The second conveying module 630 can send the material back to the first conveying module 111, forming a circulating conveying of the material.

[0115] According to the embodiments of the present application, the cooperation of the first conveying module 111, the sorting conveying module 620 and the second conveying module 630 improves the overall efficiency of the material sorting system 100, reduces manual intervention, and improves the utilization of resources and reduces costs.

[0116] In some embodiments, in the first sorting mode, the conveying device 110 includes the first conveying module 111 configured to convey the material from the loading area to the sorting area, and the at least one imaging module is configured to capture at least one image of the material located on the first conveying module 111; in the second sorting mode, the conveying device 110 includes the first conveying module 111 and the third conveying module 614, the first conveying module 111 is configured to convey the material from the loading area to the third conveying module 614 located in the sorting area, and the at least one imaging module is configured to capture at least one image of the material in the air leaving the third conveying module 614.

[0117] In some embodiments, the height of the carrying surface of the third conveying module 614 is lower than the height of the carrying surface of the first conveying module 111 (such as the main belt conveyor 613), and / or the size of the third conveying module 614 in the height direction is smaller than the size of the first conveying module 111 (such as the main belt conveyor 613) in the height direction.

[0118] It can be understood that the material in the air is in a free-fall state, which has a higher speed than on the conveying device. If the speed is too fast, it will interfere with the imaging quality and the blowing effect. Therefore, in the second sorting mode, the third conveying module 614 is added, because its carrying surface height is lower than that of the first conveying module 111, the material falls onto the third conveying module 614 after leaving the first conveying module 111, which has a certain buffering and deceleration effect. The size of the third conveying module 614 in the height direction is smaller than the size of the first conveying module 111 in the height direction, so that the travel distance and time of the material in the height direction accelerated by gravity after leaving the third conveying module 614 are shortened to a certain extent, thereby having better imaging quality and blowing effect.

[0119] For example, at least one of the first conveying module 111, the sorting conveying module 620 and the second conveying module 630 can include a horizontally arranged conveying belt. For example, the first conveying module 111 can include a horizontally arranged conveying belt, and the sorting conveying module 620 and the second conveying module 630 can include vertically arranged conveying belts. Figure 2A In the first sorting mode, the material is imaged on the belt surface, and the second conveying module 630 is not used. Figure 2B In the second sorting mode, the corresponding vertical imaging feeding device, such as the first feeding device 112 (such as a vibrating feeder) or the second feeding device 113 (such as a small belt conveyor), is added to image the material in the air, thereby realizing the transformation from belt imaging to vertical imaging, and the imaging modules such as the X-ray machine 121_1, the detector 121_2 and the visible light camera 123_1 and the blowing assembly are multiplexed in the two modes. Figure 2C In the second sorting mode, the corresponding vertical imaging feeding device, such as the first feeding device 112 (such as a vibrating feeder) or the second feeding device 113 (such as a small belt conveyor), is added to image the material in the air, thereby realizing the transformation from belt imaging to vertical imaging, and the imaging modules such as the X-ray machine 121_1, the detector 121_2 and the visible light camera 123_1 and the blowing assembly are multiplexed in the two modes.

[0120] In combination with reference to Figure 2A , Figure 2B , Figure 2C and Figure 6 , through the cooperative work of the first conveying module 111, the sorting conveying module 620 and the second conveying module 630, the free switching of compatible cyclic feeding and unloading is realized, and cyclic sorting and single sorting are realized. In the process of cyclic sorting, for the research and development test stage, the same batch of materials can be tested multiple times to obtain sufficient test parameters. For the material sorting stage in the actual production environment, the materials with inaccurate identification and sorting can be re-sorted to improve the sorting accuracy.

[0121] For example, starting from the feeding area, the materials can be fed from the large-angle lifting belt conveyor horizontal section 611, conveyed to the feeder (such as a vibrating feeder) through the return material turning belt conveyor 612, and then fed into the main belt conveyor 613. The materials enter the imaging and blowing position of the sorting area through the main belt conveyor 613. In the sorting area, different sorting modes are tested as needed. In the first sorting mode, the imaging module (such as the X-ray machine 121_1, the visible light camera 123_1, the light source 123_2 and the 3D structured light camera 122) is located above the front position of the discharge end (i.e. the end of the conveying device) of the main belt conveyor 613, and the imaging is completed on the belt surface; in the second sorting mode, the main belt conveyor 613 becomes a feeding device, and the imaging module is adjusted to the front lower position according to the experimental needs of the feeding equipment at the discharge end of the main belt conveyor 613, to complete the aerial imaging. According to the need of blowing, the position of the blowing assembly can be adjusted to complete the test under different conditions, and the sorted materials enter the corresponding sorting conveying module 620. For example, in the second sorting mode, the first feeding equipment 112 (such as a vibrating feeder) or the second feeding equipment 113 (such as a small belt conveyor) can be selected at the discharge end of the main belt conveyor 613, the imaging module is moved along the main belt direction, the X-ray machine 121_1 and the detector 121_2, the visible light camera 123_1, the light source 123_2 and the 3D structured light camera 122 are positionally and angularly transformed, and the aerial imaging condition is created; the blowing assembly is adjusted downward and forward to blow and separate the materials at a suitable position. The sorting bin and the bottom material collecting belt (sorting conveying module 620) are adjusted in position to meet the needs of sorting and collecting materials. Among them, cyclic feeding or unloading can be selected according to needs. If cyclic feeding, it is fed into the second conveying module 630 to be conveyed to the feeding area, and the materials are mixed and then enter the cyclic process; if not, the unloading of the materials can be completed in the unloading area.

[0122] Referring to Figures 1-6 , based on the material sorting system 100 of one or more embodiments as described above, the application further provides a material sorting method based on the material sorting system 100.

[0123] Figure 7 A flowchart of a material sorting method according to an embodiment of the present application is shown.

[0124] As shown in Figure 7 The execution subject of the material sorting method 700 of this embodiment can include a processor, specifically including:

[0125] At operation S710, the conveying device 110 is controlled to convey the material to be sorted.

[0126] At operation S721, in the first sorting mode, at least one imaging module is controlled to capture at least one image of the material located on the conveying device 110 at the first position; at operation S722, in the second sorting mode, at least one imaging module is controlled to switch from the first position to the second position to capture at least one image of the material located in the air away from the conveying device 110.

[0127] At operation S730, the sorting position of the material is determined based on the at least one image.

[0128] At operation S740, a control signal is sent to control the blowing device 130 to blow the material to the sorting position.

[0129] In some embodiments, the material sorting method 700 further includes: in the first sorting mode, the blowing assembly of the blowing device 130 is controlled to blow the material to its sorting position at the third position; in the second sorting mode, the blowing assembly is controlled to switch from the third position to the fourth position to blow the material to its sorting position.

[0130] In some embodiments, the imaging device 120 further includes a first imaging arm frame 124 including an imaging portion 1241 and a first rotating portion 1242, wherein at least one imaging module is installed on the imaging portion 1241; the first rotating portion 1242 is connected with the imaging portion 1241. The material sorting method 700 further includes: the first rotating portion 1242 is controlled to rotate to drive the imaging portion 1241 to rotate, so that at least one imaging module switches between the first position and the second position.

[0131] In some embodiments, the first imaging arm frame 124 further includes a first connecting portion 1244 configured to connect the imaging portion 1241 and the first rotating portion 1242; the first connecting portion 1244 includes a first telescopic portion. The material sorting method 700 further includes: the telescopic stroke of the first telescopic portion is controlled to drive the imaging portion 1241 to approach or move away from the material, to adjust the distance between at least one imaging module and the material.

[0132] In some embodiments, the imaging device 120 further comprises a second imaging arm support and a third imaging arm support, and the material sorting method 700 further comprises: in the first sorting mode, mounting the at least one imaging module to a first position of the second imaging arm support; and in the second sorting mode, dismounting the at least one imaging module from the at least one imaging module to mount to a second position of the third imaging arm support.

[0133] In some embodiments, the blowing device 130 further comprises a blowing part 131 and a second rotating part 132, wherein the blowing assembly is mounted to the blowing part 131, and the second rotating part 132 is connected to the blowing part 131. The material sorting method 700 further comprises: controlling the second rotating part 132 to rotate to drive the blowing part 131 to rotate, so as to adjust the blowing angle of the blowing assembly.

[0134] In some embodiments, the blowing device 130 further comprises a moving part 133 connected to the second rotating part 132. The material sorting method 700 further comprises: controlling the moving part 133 to drive the second rotating part 132 to move along at least one direction of the x-axis, the y-axis and the z-axis, so as to switch the blowing assembly from the third position to the fourth position, wherein the y-axis direction is consistent with the conveying direction of the conveying device 110.

[0135] In some embodiments, the material sorting method 700 further comprises: causing the at least one imaging module to have different imaging directions relative to the ground in the first position and the second position, respectively.

[0136] In some embodiments, the material sorting method 700 further comprises: causing the projection of the at least one imaging module in the first position to coincide with the projection of at least part of the bearing surface of the conveying device 110, and / or causing the imaging range of the at least one imaging module in the first position to overlap with at least part of the bearing surface of the conveying device 110; and causing the projection of the at least one imaging module in the second position to not coincide with the projection of the bearing surface of the conveying device 110, and / or causing the imaging range of the at least one imaging module in the second position to not overlap with the bearing surface of the conveying device 110.

[0137] In some embodiments, the imaging device 120 comprises a plurality of imaging modules, and the material sorting method 700 further comprises: in the second sorting mode, controlling a plurality of imaging directions of the plurality of imaging modules to converge at a same imaging position, so as to acquire a plurality of images of the material at the imaging position.

[0138] In some embodiments, the first position comprises a position above the bearing surface of the conveying device 110; and / or the second position comprises a position offset from the end of the conveying device 110 by a target distance along the conveying direction.

[0139] In some embodiments, the conveying device 110 comprises the first conveying module 111, the plurality of sorting conveying modules 620, and the second conveying module 630. The material sorting method 700 further comprises: conveying the material from the feeding area to the sorting area by the first conveying module 111; conveying the material to the unloading area at one end or the second conveying module 630 at the other end by the sorting conveying modules 620, the plurality of sorting conveying modules 620 being located in the sorting area, the plurality of sorting conveying modules 620 corresponding to the plurality of sorting positions; and receiving the material conveyed by the plurality of sorting conveying modules 620 by the second conveying module 630 to convey the material to the first conveying module 111.

[0140] In some embodiments, in the first sorting mode, the conveying device 110 comprises the first conveying module 111, and the material sorting method 700 further comprises: conveying the material from the feeding area to the sorting area by the first conveying module 111, and configuring the at least one imaging module to capture at least one image of the material located on the first conveying module 111.

[0141] In some embodiments, in the second sorting mode, the conveying device 110 comprises the first conveying module 111 and the third conveying module 614, and the material sorting method 700 further comprises: conveying the material from the feeding area to the third conveying module 614 located in the sorting area by the first conveying module 111, and controlling the at least one imaging module to capture at least one image of the material located in the air away from the third conveying module 614; wherein the height of the bearing surface of the third conveying module 614 is lower than the height of the bearing surface of the first conveying module 111, and / or the size of the third conveying module 614 in the height direction is smaller than the size of the first conveying module 111 in the height direction.

[0142] The flow diagrams and the block diagrams in the drawings are illustrations of possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flow diagrams, and combinations thereof, can be implemented by special purpose hardware-based systems that perform the specified functions or operations, or combinations of special purpose hardware and computer instructions.

[0143] Those skilled in the art will appreciate that features recited in the various embodiments of the application can be combined and / or integrated in various combinations, even if such combinations have not been recited in the application. In particular, features recited in the various embodiments of the application can be combined and / or integrated in various combinations without departing from the spirit and teachings of the application. All such combinations and / or integrations are within the scope of the application.

Claims

1. A material sorting system, comprising: a conveying device configured to convey a material to be sorted; an imaging device comprising at least one imaging module; wherein, in a first sorting mode, the at least one imaging module is configured to capture at least one image of the material located on the conveying device at a first position; in a second sorting mode, the at least one imaging module is configured to switch from the first position to a second position to capture at least one image of the material located in the air away from the conveying device; a processor configured to determine a sorting position of the material based on the at least one image; a blowing device communicatively connected to the processor and configured to blow the material to the sorting position in response to a control signal from the processor.

2. The material sorting system of claim 1, wherein, The blowing device comprises: a blowing assembly, wherein, in the first sorting mode, the blowing assembly is configured to blow the material to its sorting position at a third position; in the second sorting mode, the blowing assembly is configured to switch from the third position to a fourth position to blow the material to its sorting position.

3. The material sorting system of claim 1 or 2, wherein, The imaging device further comprises a first imaging arm support, which comprises: an imaging portion, wherein the at least one imaging module is mounted on the imaging portion; a first rotating portion connected to the imaging portion, the first rotating portion being configured to rotatably drive the imaging portion to rotate so that the at least one imaging module switches between the first position and the second position.

4. The material sorting system of claim 3, wherein, The first imaging arm support further comprises: a first connecting portion configured to connect the imaging portion and the first rotating portion; wherein the first connecting portion comprises a first telescopic portion configured to telescopically drive the imaging portion to move closer to or away from the material to adjust the distance between the at least one imaging module and the material.

5. The material sorting system of claim 1 or 2, wherein, The imaging device further comprises a second imaging arm support and a third imaging arm support, wherein, in the first sorting mode, the at least one imaging module is mounted on the first position of the second imaging arm support; in the second sorting mode, the at least one imaging module is mounted on the second position of the third imaging arm support.

6. The material sorting system of claim 2, wherein, The blowing device further comprises: a blowing portion, wherein the blowing assembly is mounted on the blowing portion; a second rotating portion connected to the blowing portion, the second rotating portion being configured to rotatably drive the blowing portion to rotate to adjust the blowing angle of the blowing assembly.

7. The material sorting system of claim 6, wherein, The blowing device further comprises: a moving portion connected to the second rotating portion, the moving portion being configured to move the second rotating portion in at least one direction of an x-axis, a y-axis and a z-axis to switch the blowing assembly from the third position to the fourth position, wherein the y-axis direction is consistent with the conveying direction of the conveying device.

8. The material sorting system of claim 1 or 2, wherein, The at least one imaging module has different imaging directions relative to the ground in the first position and the second position, respectively.

9. The material sorting system according to claim 1 or 2, wherein, a projection of the at least one imaging module in the first position coincides with a projection of at least a part of a carrying surface of the conveying device, and / or an imaging range of the at least one imaging module in the first position overlaps with at least a part of the carrying surface of the conveying device; a projection of the at least one imaging module in the second position does not coincide with a projection of the carrying surface of the conveying device, and / or an imaging range of the at least one imaging module in the second position does not overlap with the carrying surface of the conveying device.

10. The material sorting system of claim 1 or 2, wherein, the imaging device comprises a plurality of the imaging modules, in the second sorting mode, a plurality of imaging directions of the plurality of imaging modules converge at a same imaging position to capture a plurality of images of the material at the imaging position.

11. The material sorting system according to claim 1 or 2, wherein the first position comprises a position above the carrying surface of the conveying device; and / or the second position comprises a position offset from an end of the conveying device by a target distance in a conveying direction.

12. The material sorting system of claim 1 or 2, wherein, the conveying device comprises: a first conveying module configured to convey the material from a loading area to a sorting area; a plurality of sorting conveying modules located at the sorting area, the plurality of sorting conveying modules corresponding to a plurality of sorting positions; wherein the sorting conveying modules are configured to reciprocally convey the material to a discharge area at one end or a second conveying module at the other end; the second conveying module configured to receive the material conveyed by the plurality of sorting conveying modules to convey the material to the first conveying module.

13. The material sorting system according to claim 1 or 2, wherein in the first sorting mode, the conveying device comprises a first conveying module configured to convey the material from a loading area to a sorting area, and the at least one imaging module is configured to capture at least one image of the material located on the first conveying module; in the second sorting mode, the conveying device comprises a first conveying module and a third conveying module, the first conveying module is configured to convey the material from the loading area to the third conveying module located at the sorting area, and the at least one imaging module is configured to capture at least one image of the material located in air away from the third conveying module; wherein a carrying surface height of the third conveying module is lower than a carrying surface height of the first conveying module, and / or a dimension of the third conveying module in a height direction is smaller than a dimension of the first conveying module in the height direction.

14. A material sorting method, comprising: controlling a conveying device to convey a material to be sorted; in a first sorting mode, controlling at least one imaging module to capture at least one image of the material located on the conveying device at a first position; in a second sorting mode, controlling the at least one imaging module to switch from the first position to a second position to capture at least one image of the material located in air away from the conveying device; determining a sorting position of the material based on the at least one image; sending a control signal to control a blowing device to blow the material to the sorting position.

15. The method of claim 14, wherein, further comprising: In the first sorting mode, the blowing assembly of the blowing device is controlled to blow the material to its sorting position at a third position; In the second sorting mode, the blowing assembly is controlled to switch from the third position to a fourth position to blow the material to its sorting position.

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