Blowing gas path anomaly detection method and device and material sorting system

Abstract

The invention provides a blowing gas path anomaly detection method, and relates to the field of material sorting. The method comprises the following steps: in response to a detection request for a target blowing gas path, respectively moving a detection module and a code reader to a first preset position and a second preset position relative to the target blowing gas path; a pressure sensor and a sound sensor of the control detection module respectively collect an air pressure signal and a sound signal blown by the target blowing air path and control a code reader to collect air path information of the target blowing air path, and the collection moments of the air pressure signal, the sound signal and the air path information have a preset sequential relationship; evaluating a plurality of detection indexes of the target blowing gas path, wherein the detection indexes are obtained based on at least one of the air pressure signal and the sound signal; and in response to the fact that at least one detection index in the multiple detection indexes does not meet the evaluation standard, determining that the detection result of the target injection gas path is an abnormal result. The invention further provides a blowing gas path anomaly detection device and a material sorting system.

Description

Technical Field

[0001] This application relates to the field of material sorting, and more specifically, to a method, apparatus and material sorting system for detecting abnormalities in the blowing air path. Background Technology

[0002] Material sorting systems are intelligent devices that enable automatic material sorting. For example, material sorting systems can include mineral sorting systems in the mining industry. Their working principle is to use visible light and X-ray imaging technology and jet gas to intelligently identify and automatically sort minerals such as coal, phosphorus, and zinc. They can automatically distinguish different types of ores, significantly reducing the downstream transportation and smelting costs in the mining and metallurgical industry, and playing a role in energy conservation, emission reduction, quality improvement, and efficiency enhancement.

[0003] For example, a material sorting system uses a jetting assembly consisting of several arrayed jetting air paths for material sorting. Generally, the jetting air paths are inspected for abnormalities during production, before assembly into the material sorting system, and during use to determine if they meet the jetting requirements.

[0004] The location of each blowing air path is usually determined by visible light image recognition, and the synchronization of the blowing action of multiple blowing air paths in time is tested.

[0005] In the process of realizing the inventive concept of this application, the inventors discovered that using visible light image recognition to simultaneously identify the position of multiple blowing air paths is affected by image quality and recognition algorithm, and the synchronization test focuses on the coordination of multiple blowing air paths, making it difficult to accurately detect whether each blowing air path is abnormal. Summary of the Invention

[0006] In view of the above problems, this application provides a method, device and material sorting system for detecting abnormalities in the injection air path.

[0007] According to one aspect of this application, a method for detecting anomalies in a blown air path is provided, comprising: in response to a detection request for a target blown air path, moving a detection module and a code reader to a first predetermined position and a second predetermined position relative to the target blown air path, respectively; controlling the pressure sensor and sound sensor of the detection module to collect the air pressure signal and sound signal of the blown air path, respectively, and controlling the code reader to collect air path information of the target blown air path, wherein the collection times of the air pressure signal, sound signal and air path information have a preset timing relationship; evaluating multiple detection indicators of the target blown air path, the detection indicators being obtained based on at least one of the air pressure signal and sound signal, the detection indicators indicating the degree of anomaly of the target blown air path; and determining the detection result of the target blown air path as an abnormal result in response to at least one of the multiple detection indicators failing to meet the evaluation criteria, wherein the abnormal result is stored in association with the air path information.

[0008] According to embodiments of this application, evaluating multiple detection indicators of a target blowing air path includes at least one of the following: evaluating multiple detection indicators based on statistical information of multiple indicators, wherein the statistical information of indicators is obtained at least through the corresponding detection indicators of multiple blowing air paths different from the target blowing air path at the same working time; evaluating multiple detection indicators based on the changing trends of multiple indicators, wherein the changing trends of indicators are obtained at least through the changing trends of the corresponding detection indicators of the target blowing air path at different working times, and the corresponding detection indicators of the target blowing air path at different working times are associated with and stored in relation to the air path information.

[0009] According to an embodiment of this application, the method further includes: responding to multiple detection indicators meeting the evaluation criteria, predicting the abnormal moment of the target injection air path based on the position of the multiple detection indicators in the multiple indicator change trends; obtaining a maintenance plan for the target injection air path based on the abnormal moment, the maintenance plan being used to maintain the target injection air path to affect at least one of the multiple detection indicators.

[0010] According to an embodiment of this application, the method further includes: in response to a detection request for multiple target blowing air paths, determining the positional distribution of the multiple target blowing air paths, the positional distribution including at least one of the number of rows, the number of columns, the row spacing, and the column spacing; based on the positional distribution, moving the detection module and the code reader to a first predetermined position and a second predetermined position relative to each target blowing air path, respectively, so as to sequentially complete the detection of the multiple target blowing air paths.

[0011] According to an embodiment of this application, the detection index is obtained through at least one of the following operations: obtaining at least one of the following based on the air pressure signal: air pressure delay, air pressure peak value, air pressure rise time, air pressure fall time, air pressure fluctuation rate, and target air pressure value holding time of the target blowing air path; obtaining at least one of the following based on the sound signal: sound delay, sound peak value, sound pressure rise time, sound pressure fall time, sound pressure fluctuation rate, sound spectrum characteristics, and preset frequency amplitude of the target blowing air path.

[0012] According to an embodiment of this application, moving the detection module and the code reader to a first predetermined position and a second predetermined position relative to the target blowing air path includes: using a mobile platform to move a spherical gimbal to the target position, wherein the detection module and the code reader are mounted on the spherical gimbal, and the mobile platform is configured to move along at least one of the x-axis, y-axis, and z-axis; adjusting the angle of the spherical gimbal so that the detection module and the code reader are respectively located at the first predetermined position and the second predetermined position relative to the target blowing air path.

[0013] According to an embodiment of this application, controlling the code reader to collect air path information of the target blowing air path includes: controlling the code reader to read the graphic code of the target blowing air path, and obtaining the air path information indicated by the graphic code, wherein the air path information includes at least the identifier of the target blowing air path.

[0014] According to an embodiment of this application, controlling the pressure sensor and sound sensor of the detection module to collect the air pressure signal and sound signal of the target blowing air path respectively includes: controlling the pressure sensor to collect the air pressure signal in a first region, and controlling the sound sensor to collect the sound signal in a second region, wherein the first region and the second region are related to a first predetermined position; wherein the first region is aligned with the nozzle of the target blowing air path, and the second region is determined based on at least one of the gas impact force of the nozzle, the sound source of the target blowing air path, and the sound propagation path of the target blowing air path.

[0015] According to another aspect of this application, a jet gas path abnormality detection device is provided, comprising: a detection module, including at least a pressure sensor and a sound sensor; a code reader configured to collect gas path information of a target jet gas path; and a processing module configured to execute the jet gas path abnormality detection method as described above.

[0016] According to an embodiment of this application, it further includes a moving module, specifically including: a spherical gimbal, wherein a pressure sensor and a sound sensor are mounted on the spherical gimbal; and a moving platform connected to the spherical gimbal, the moving platform being configured to drive the spherical gimbal to move along at least one of the x-axis, y-axis and z-axis.

[0017] According to an embodiment of this application, it further includes: a signal acquisition card, which is communicatively connected to the control unit, pressure sensor and sound sensor of the target blowing air path, wherein the control unit is configured to generate a trigger signal to trigger the blowing of the target blowing air path; wherein the signal acquisition card is configured to send the trigger signal, air pressure signal and sound signal to the processing module.

[0018] According to another aspect of this application, a material sorting system is provided, comprising: a blowing assembly including at least one target blowing air path; and a blowing air path anomaly detection device as described in any of the preceding claims, configured to perform anomaly detection on at least one target blowing air path.

[0019] The above-described one or more embodiments have the following beneficial effects: They provide a movable detection module and a barcode reader adaptable to target blowing air paths in various locations. The barcode reader can accurately identify the air path information of the target blowing air path (such as air path location, air path type, working cycle, historical test results, and air path number). During the detection process, the collected air path information, air pressure signal, and sound signal are associated with a preset time sequence relationship. Accurate detection results can be obtained through multiple detection indicators across multiple dimensions. Furthermore, abnormal results can be associated and stored with air path information, which is beneficial for accurate location and full lifecycle management. This improves the automation level, detection accuracy, and detection efficiency of abnormal detection in blowing air paths. Attached Figure Description

[0020] The above-mentioned contents, other objects, features and advantages of this application will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0021] Figure 1 This is the application scenario to which the jet gas path abnormality detection method of this application embodiment is applicable;

[0022] Figure 2 A flowchart illustrating an abnormality detection method for the injection air path according to an embodiment of this application is shown schematically.

[0023] Figure 3 A flowchart illustrating an embodiment of the maintenance plan according to this application is shown schematically;

[0024] Figure 4 A schematic diagram of a jet air path for sequentially detecting multiple targets according to an embodiment of this application is shown;

[0025] Figure 5 A material sorting system according to an embodiment of this application is illustrated schematically;

[0026] Figure 6 A schematic diagram showing the cooperation between the detection module and the moving module according to an embodiment of this application is shown;

[0027] Figure 7 A flowchart illustrating a method for detecting a jet gas path according to another embodiment of this application is shown schematically;

[0028] Figure 8 A schematic diagram of the response curve of the target blowing air path according to an embodiment of this application is shown;

[0029] Figure 9 This illustration schematically shows the rise time variation of the target injection gas path along the time sequence according to an embodiment of this application; and

[0030] Figure 10 A frequency domain diagram of an audio signal according to an embodiment of this application is illustrated schematically.

[0031] The reference numerals used in the above figures are as follows:

[0032] 100. Application scenarios; 110. Air source equipment; 120. Pulse blowing assembly; 130. Material sorting area; 140. Pulse blowing air path; 150. Solenoid valve; 160. Nozzle;

[0033] 410_1, A-type air jet path; 410_2, B-type air jet path; 410_3, C-type air jet path; 420, Detection module; 430, Code reader;

[0034] 500. Material sorting system; 510. Detection module; 511. Pressure sensor; 512. Sound sensor; 520. Motion module; 521. Spherical gimbal; 522. Motion platform; 530. Processing module; 540. Signal acquisition card; 550. Multi-axis controller; 560. Pneumatic spray assembly; 561. Control unit; 562. Nozzle; 570. Code reader; 580. Target pneumatic air path.

[0035] It should be noted that, for clarity, the dimensions of the overall / partial structure or the overall / partial region in the drawings used to describe the embodiments of this application may be enlarged or reduced, that is, these drawings are not drawn to actual scale. Detailed Implementation

[0036] The embodiments of this application will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of this application. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of this application for ease of explanation. However, it will be apparent that one or more embodiments may be implemented without these specific details. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concepts of this application.

[0037] Figure 1 This describes the application scenario to which the jet gas path anomaly detection method of this application's embodiments is applicable. (Reference) Figure 1 The application scenario 100 includes a gas source device 110, a blowing assembly 120, and a material sorting area 130. The gas source device 110 is used to supply gas to the blowing assembly 120, which uses the gas to blow material into the material sorting area 130. The blowing assembly 120 may include one or more nozzles 160 and one or more blowing air paths 140; for example, the multiple nozzles 160 can be arranged in a single row, double row, or multiple rows. Typically, each nozzle 160 is connected to one blowing air path 140 to achieve gas communication. In addition, the blowing assembly 120 also includes a solenoid valve 150 connected to each blowing air path 140, which controls whether gas enters the blowing air path 140 and the timing of gas entry into the blowing air path 140.

[0038] In practice, when the solenoid valve 150 is in the open state, the gas supplied by the gas source device 110 can enter the blowing air path 140 through the solenoid valve 150 end of the blowing assembly 120. The gas entering the blowing air path 140 is sprayed out by the nozzle 160, blowing the material to the corresponding material sorting area 130, thereby completing the material sorting process.

[0039] Therefore, the blowing action needs to be achieved by controlling the opening and closing of the solenoid valve 150. Thus, the performance and lifespan of the solenoid valve 150 directly affect the efficiency and performance of the material sorting system. The dynamic working characteristics, consistency, and lifespan of the solenoid valve 150 are affected by factors such as the machining accuracy, assembly accuracy, and performance quality of its various internal components. Therefore, it is necessary to test its overall performance to ensure it meets requirements during valve production, before assembly into the material sorting system, and during blowing operations. For example, the mechanical structures such as the blowing air path 140 and the nozzle 150 are fixed and not easily damaged, while the solenoid valve 150 is prone to malfunctions due to frequent opening and closing during operation. Therefore, in this embodiment, the testing of the blowing air path 140 is essentially also a testing of the solenoid valve 150, and the test results of the blowing air path 140 are used to determine whether the solenoid valve 150 is malfunctioning.

[0040] Typically, the testing process suffers from at least the following problems: Firstly, it usually tests the temporal and spatial synchronization of the blowing actions of multiple blowing paths simultaneously, without specifically testing for abnormalities in each blowing path, making it difficult to detect whether the solenoid valve is malfunctioning. Secondly, the collection of single-dimensional blowing data from the blowing path during testing only reflects one aspect of the information, making it difficult to accurately reflect the actual operating conditions of the blowing path, such as the operating conditions of the solenoid valve, and making it difficult to accurately analyze potential faults in the solenoid valve.

[0041] Based on this, the method for detecting abnormalities in the blowing air path proposed in this application provides a movable detection module and a code reader adapted to target blowing air paths in various locations. The code reader can accurately identify the air path information of the target blowing air path (such as air path location, air path type, working cycle, historical test status, and air path number). During the detection process, the collected air path information, air pressure signal, and sound signal are associated with a preset time sequence relationship. Accurate detection results can be obtained through multiple detection indicators in multiple dimensions, and abnormal results can be associated with and stored with air path information. This is beneficial for accurate positioning and full life cycle management, thereby improving the automation level, detection accuracy, and detection efficiency of abnormality detection in the blowing air path.

[0042] The execution subject of the jet gas path anomaly detection method in this application embodiment may include an electronic device, a processor in the electronic device, or a server. The electronic device includes smartphones, tablets, laptops, desktop computers, etc. The server may be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud computing, network services, and middleware services. The processor may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or related chipsets and / or a dedicated microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc.

[0043] The following will be based on Figure 1 The described scenario provides a detailed description of the jet gas path anomaly detection method according to the embodiments of this application.

[0044] Figure 2 A flowchart illustrating an abnormality detection method for the jet gas path according to an embodiment of this application is shown.

[0045] like Figure 2 As shown, the jet air path abnormality detection method 200 of this embodiment includes:

[0046] In operation S210, in response to the detection request for the target jetting air path, the detection module and the code reader are moved to a first predetermined position and a second predetermined position relative to the target jetting air path, respectively.

[0047] Inspection requests can be issued by inspectors through the user interface of the inspection application, or they can be issued based on the fulfillment of predetermined trigger conditions. Predetermined trigger conditions may include specific times or specific events.

[0048] The detection module is used to acquire multi-dimensional spray data of the spray path through multiple types of sensors. For example, the detection module may include one or more pressure sensors, sound sensors, temperature sensors, camera units (such as visible light cameras, X-ray scanners), and vibration sensors. The code reader includes hardware devices or software tools for converting encoded data or signals back into a understandable form. The first predetermined position may include a location where each of the multiple sensors can acquire signals that meet the signal quality requirements. The second predetermined position includes a location where the code reader can acquire encoded data or signals about the target spray path. The detection module and code reader can be moved manually, or a movement module can be provided to move the detection module and code reader automatically.

[0049] During operation S220, the pressure sensor and sound sensor of the control detection module are used to collect the air pressure signal and sound signal of the target blowing air path, respectively, and the code reader is used to collect the air path information of the target blowing air path. The collection times of the air pressure signal, sound signal and air path information have a preset timing relationship.

[0050] For example, the first predetermined position may include positions inside and near the nozzle. Further, the position near the nozzle may include a position where the pressure sensor is aligned with the nozzle, for example, the pressure sensor may be located in the gas path being blown by the nozzle. The position near the nozzle may also include a position where the distance between the sound sensor and the nozzle is less than or equal to a distance threshold, for example, a distance threshold may be millimeters (only an example), and the specific distance threshold can be determined based on the parameters of the sound sensor.

[0051] The air path information includes data related to the target blowing air path, such as at least one of the following: identification, location, batch, type (e.g., solenoid valve model), usage time (e.g., solenoid valve operating time), and blowing target.

[0052] The preset timing relationship can include a predefined acquisition sequence, which indicates the order in which the reader, pressure sensor, and sound sensor are triggered. For example, gas path information is acquired first to determine the model of the gas path or historical detection data. Then, the acquisition parameters of the pressure sensor and sound sensor are adjusted to acquire gas pressure signals and sound signals. Different evaluation rules are selected based on the gas path model or historical detection data to execute operation S230. For example, the pressure sensor and sound sensor can be triggered to acquire signals simultaneously or asynchronously based on a trigger pulse sent after the reader completes acquisition. For example, a predefined acquisition sequence allows each sensor to work purposefully, avoiding the acquisition of invalid or noise signals. Taking the trigger pulse sent after the reader completes acquisition as an example to trigger the asynchronous acquisition of signals by the pressure sensor and sound sensor, each sensor starts working at an appropriate time, reducing unnecessary waiting time and invalid acquisition, which helps improve the quality of the acquired signals and increases detection efficiency.

[0053] Among them, the mapping relationship between the parameters collected by the pressure sensor and the sound sensor can be preset based on one or more air path information such as different solenoid valve models, solenoid valve working time, and the target of the injection, so as to facilitate the query of the collected parameters in real time after collecting air path information.

[0054] For example, the acquisition parameters include relevant values ​​that the sensor can adjust during the acquisition process, thereby affecting the quality, range, and frequency of the sensor's acquired data. For instance, a pressure sensor may include acquisition parameters such as range and sampling frequency. Range refers to the pressure range that the pressure sensor can measure. If the solenoid valve model obtained by the code reader indicates that its normal operating pressure is 30 kPa to 70 kPa, the pressure sensor range can be adjusted to 0 to 100 kPa. Sampling frequency refers to the number of times the pressure sensor acquires signals per unit time. For example, during the initial operation phase of the solenoid valve, the operating time is short, the performance is relatively stable, and the signal changes are small, so a smaller sampling frequency can be set. After the solenoid valve has been operating for a longer period, frequent opening and closing may lead to performance degradation and large signal changes, so a larger sampling frequency can be set. A sound sensor may include acquisition parameters such as sensitivity and frequency response range. Sensitivity is related to the sound sensor's sensitivity to sound signals, and the frequency response range indicates the range of sound frequencies that the sound sensor can effectively detect. For example, knowing in advance the abnormal sound frequency range that a certain model of solenoid valve may produce under specific operating conditions allows for advance adjustment of the sensitivity and frequency response range.

[0055] In addition, the code reader obtains the air path information of the target blowing air path one-to-one, which can accurately and in real time obtain the detection data of the target blowing air path. Compared with the method of using visual image recognition, it has higher stability and avoids the loss or misalignment of the detection data of the target blowing air path (e.g., storing it as the detection data of other blowing air paths).

[0056] In operation S230, multiple detection indicators of the target injection air path are evaluated. The detection indicators are obtained based on at least one of the air pressure signal and the sound signal. The detection indicators indicate the degree of abnormality of the target injection air path.

[0057] It is understood that the "multiple" in the embodiments of this application may include more than two, such as three, four, five, or even more, and the specific number may be adjusted according to actual needs.

[0058] For example, the same or different evaluation rules are pre-configured for different detection indicators. The evaluation rules may include conditions for judging whether the detection indicator is abnormal.

[0059] In operation S240, in response to at least one of the multiple detection indicators failing to meet the evaluation criteria, the detection result of the target injection air path is determined to be an abnormal result, wherein the abnormal result is stored in association with the air path information.

[0060] The evaluation criteria include pre-set evaluation conditions for determining whether multiple detection indicators are normal. For example, pre-set evaluation conditions include that the peak air pressure value is above a preset value. If the peak air pressure value is below the preset value, the evaluation criteria are not met.

[0061] It is understandable that "at least one detection indicator fails to meet the evaluation criteria" can include determining whether the target blowing air path is abnormal from the dimension of the number of indicators. For example, setting a quantity threshold of 1, 2, 3 or more indicators, when the number of indicators that fail to meet the evaluation criteria is greater than or equal to the set quantity threshold, the target blowing air path is determined to be abnormal. "At least one detection indicator fails to meet the evaluation criteria" can also include determining whether the target blowing air path is abnormal from the dimension of the combination of indicators. When two or more indicators fail to meet the evaluation criteria at the same time, such as the air pressure peak and air pressure delay failing to meet the evaluation criteria at the same time, the target blowing air path may be normal, while the air pressure peak and sound peak failing to meet the evaluation criteria at the same time may determine that the target blowing air path is abnormal.

[0062] Because the mechanical structure of the target blowing air path, nozzle, etc. is fixed and not easily damaged, by determining whether the test results of the target blowing air path are abnormal, the working condition of the solenoid valve of the air path can be reflected, and the abnormality of the solenoid valve can be detected in time.

[0063] According to embodiments of this application, a movable detection module and a barcode reader are provided to adapt to target blowing air paths in various locations. The barcode reader accurately identifies the air path information of the target blowing air path (such as air path location, air path type, solenoid valve model, solenoid valve operating time, air path operating cycle, historical test data, and air path number). During the detection process, the collected air path information, air pressure signal, and sound signal are associated with a preset time sequence relationship. Accurate detection results can be obtained through multiple detection indicators across multiple dimensions, and abnormal results can be associated and stored with air path information, facilitating accurate location and full lifecycle management. This improves the automation level, accuracy, and efficiency of abnormal detection in blowing air paths.

[0064] In some embodiments, moving the detection module and the code reader to a first predetermined position and a second predetermined position relative to the target blowing air path in operation S210 includes:

[0065] A spherical gimbal is moved to the target position using a mobile platform, wherein a detection module and a code reader are mounted on the spherical gimbal, and the mobile platform is configured to move along at least one of the x-axis, y-axis, and z-axis; the angle of the spherical gimbal is adjusted so that the detection module and the code reader are respectively located at a first predetermined position and a second predetermined position relative to the target blowing air path.

[0066] The moving platform can be a one-dimensional, two-dimensional, or three-dimensional moving platform. For example, a two-dimensional moving platform can move along any two of the x, y, and z axes. Taking an x-axis motion unit and a z-axis motion unit as examples, the x-axis motion unit can include a slider and a linear guide rail arranged along the x-axis. The z-axis motion unit is connected to the slider of the x-axis motion unit, and vertical movement in the z-axis direction is achieved by a linear motor. A support component is connected to the output shaft of the linear motor. For example, a three-dimensional moving platform includes an x-axis motion unit, a y-axis motion unit, and a z-axis motion unit. The x-axis motion unit can include a slider and a linear guide rail arranged along the x-axis. The y-axis motion unit is connected to the slider of the x-axis motion unit, and the z-axis motion unit is connected to the slider of the y-axis motion unit. Vertical movement in the z-axis direction is achieved by a linear motor. A support component is connected to the output shaft of the linear motor.

[0067] For example, the movable part of the spherical gimbal is a sphere, which can move freely in multiple degrees of freedom, and once locked, all degrees of freedom are locked. Therefore, the tilt angle of the pressure sensor can be easily adjusted to align it with the nozzle. Furthermore, the positions of the barcode reader and sound sensor can also be adjusted accordingly.

[0068] In some embodiments, after the detection module and the barcode reader are installed on the spherical gimbal, the positions of the detection module and the barcode reader relative to the gimbal and their relative positions are fixed. The positions (or angles) of the detection module and the barcode reader are adjusted as the spherical gimbal is adjusted.

[0069] In other embodiments, after the detection module and the barcode reader are mounted on the spherical gimbal, the positions of the detection module and the barcode reader relative to the gimbal are movable, and their angles relative to the gimbal are adjustable independently of the spherical gimbal, thus allowing their relative positions to change. For example, when multiple nozzles are arranged in double rows or more, at least two rows may be equipped with solenoid valves of different specifications. Correspondingly, one row is equipped with large-diameter nozzles, and the other row is equipped with small-diameter nozzles. When switching between the two rows of different specifications, the position and angle of the detection module and the barcode reader relative to the gimbal can be adjusted while keeping the spherical gimbal stationary (or rotating at a small angle or displacing a small distance) to adapt to changes in the specifications of the detection target. For example, when a pressure sensor detects pressure for solenoid valves and nozzles of different specifications, it can obtain more accurate pressure data by precisely adjusting its position and angle. This allows the detection module and barcode reader to adapt to changes in the specifications of the detection target while maintaining relative stability (stationary, small-angle rotation, or small-distance displacement) of the spherical gimbal. This improves the adaptability and flexibility to complex and ever-changing detection scenarios, and enables the rapid adjustment of the detection module and barcode reader for detection.

[0070] For example, a mounting base is fixed to the top of a spherical gimbal, on which a linear module for fine-tuning along the xyz axes is mounted. At least one universal joint is mounted on the linear module, and each universal joint is movable within the linear module. For instance, a pressure sensor, a sound sensor, and a barcode reader are mounted on the same universal joint, or separately on corresponding universal joints. Thus, the linear module moves the universal joints, thereby displacing the pressure sensor, sound sensor, and barcode reader, and adjusting their angles via the universal joints.

[0071] According to embodiments of this application, by utilizing a mobile platform and a spherical gimbal, the detection module and the barcode reader can be moved conveniently and quickly in multiple directions and with multiple degrees of freedom.

[0072] In some embodiments, the operation of the S220 control detection module, using pressure and sound sensors, respectively collects the air pressure signal and sound signal of the target blowing air path, including:

[0073] The pressure sensor is controlled to collect air pressure signals in a first region, and the sound sensor is controlled to collect sound signals in a second region, the first region and the second region being related to a first predetermined position;

[0074] The first region is aligned with the nozzle of the target blowing air path, and the second region is determined based on at least one of the following: the impact force of the gas ejected by the nozzle, the sound source of the target blowing air path, and the sound propagation path of the target blowing air path.

[0075] For example, the first region and the second region are related to the first predetermined position as follows: the first predetermined position is the position occupied by the entire detection module, which is divided into multiple regions. The first region is aligned with the center position of the nozzle in the target blowing air path, and the second region is separated from the first region by a certain distance. This allows the pressure sensor to accurately obtain the air pressure signal and also allows the sound sensor to obtain the sound signal.

[0076] Gas impact force refers to the force exerted by the gas ejected from the nozzle on surrounding objects or space. For example, the central path of the jet has the greatest gas impact force, decreasing with distance from this central path. This impact force may cause vibrations in the sound sensor, affecting signal acquisition. Within the target jet path, sound is generated at specific points, such as during gas flow and collisions with surrounding objects. For instance, when gas is ejected at high speed from the nozzle, it rubs against the air and impacts the surrounding environment; the nozzle itself is the sound source. Distance from the sound source can affect the quality of the sound signal, and greater distance may introduce other noise. The sound propagation path refers to the route the sound travels through space from the sound source during jet propagation. Deviating from this path can also affect the quality of the sound signal.

[0077] For example, considering that gas impact force, sound source, and sound propagation path may affect the sound signal collected by the sound sensor, a combination of experimental testing and simulation can be used. First, through experiments, sound sensors are placed at different locations, and the characteristics of the sound signal collected during the blowing process, such as sound pressure level and frequency distribution, are recorded. Simultaneously, computer simulation software is used to simulate gas flow and sound propagation processes. The experimental data is then analyzed and optimized to ultimately determine the location of the second region. For instance, for different blowing air paths, the positions of the first and second regions relative to the blowing air path may differ.

[0078] According to embodiments of this application, the working environment of the blowing air path is often complex, with various obstacles and different spatial structures, all of which affect sound propagation. By comprehensively considering the degree of gas impact, sound source, and sound propagation path to determine the second region, the sound sensor can accurately collect sound signals reflecting the blowing process even in complex environments.

[0079] In some embodiments, the operation of S220 to control the code reader to collect air path information of the target blowing air path includes: controlling the code reader to read the graphic code of the target blowing air path, and obtaining the air path information indicated by the graphic code, wherein the air path information includes at least the identifier of the target blowing air path.

[0080] For example, the reader is moved to a second predetermined position to align with the graphic code. The reader can scan the graphic code to acquire airflow information of the detected blowing airflow path. The graphic code may include a barcode or a QR code, which can be applied to the outer surface of each target blowing airflow path by spraying or pasting. For example, the airflow information can be associated and stored with air pressure signals, sound signals, detection indicators, and detection results.

[0081] According to embodiments of this application, gas path information can be quickly obtained by automatically reading graphic codes using a code reader, reducing the time and errors associated with manual input. The graphic codes can store rich information (such as gas path identifiers, production dates, maintenance records, etc.), facilitating subsequent traceability and management.

[0082] In some embodiments, the detection metrics evaluated in operation S230 are obtained through at least one of the following operations:

[0083] Based on the air pressure signal, obtain at least one of the following: air pressure delay, air pressure peak value, air pressure rise time, air pressure fall time, air pressure fluctuation rate, and target air pressure value holding time of the target injection air path;

[0084] Based on the sound signal, obtain at least one of the following: sound delay, sound peak value, sound pressure rise time, sound pressure fall time, sound pressure fluctuation rate, sound spectrum characteristics, and preset frequency amplitude of the target blowing air path.

[0085] Pressure delay includes the time elapsed from the start of injection until the pressure reaches a specific value. Peak pressure includes the maximum pressure that can be reached during injection. Pressure rise time includes the time required for the pressure to rise from a specific value to the peak pressure. Pressure fall time includes the time required for the pressure to fall from the peak pressure back to a specific value (such as the initial pressure or a set lower pressure). Pressure fluctuation rate reflects the degree of pressure fluctuation during injection, usually expressed as the ratio of the pressure change amplitude to the average pressure. Target pressure hold time includes the duration for which the pressure remains at the target value.

[0086] Sound delay includes the time elapsed from the start of the jetting process until the sound pressure reaches a specific value. Sound peak time includes the maximum sound pressure that can be reached during the jetting process. Sound pressure rise time includes the time required for the sound pressure to rise from its initial value to its peak. Sound pressure fall time includes the time required for the sound pressure to fall from its peak to a specific value (such as the initial sound pressure value or a preset lower sound pressure value). Sound pressure fluctuation rate reflects the degree of sound pressure fluctuation during the jetting process, usually expressed as the ratio of the sound pressure change amplitude to the average sound pressure. Spectral characteristics include the distribution characteristics of the sound signal at different frequencies, including frequency components and the amplitude of each frequency component. Preset frequency amplitude includes the amplitude of the sound signal at a pre-set specific frequency point. For example, when analyzing the sound signal of a target jetting air path, several key frequency points are set, and the amplitude of the sound signal at these frequency points is measured to determine the working status of the jetting air path.

[0087] According to the embodiments of this application, multiple detection indicators characterizing the blowing performance can be obtained using air pressure signals and sound signals, which can accurately reflect the working condition of the blowing air path, thereby improving the automation level, accuracy and detection efficiency of abnormality detection of the blowing air path.

[0088] In some embodiments, the multiple detection metrics used to evaluate the target injection air path during operation S230 include at least one of the following:

[0089] Multiple detection indicators are evaluated based on statistical information of multiple indicators. The statistical information of the indicators is obtained at least by the corresponding detection indicators of multiple injection air paths that are different from the target injection air path for the same working time.

[0090] Multiple detection indicators are evaluated based on the changing trends of multiple indicators. The changing trends of the indicators are obtained at least by the changing trends of the corresponding detection indicators of the target injection air path at different working times. The corresponding detection indicators of the target injection air path at different working times are associated with and stored with the air path information.

[0091] For example, one or more injection air paths can be inspected at different stages, such as during production, before assembly, and during injection use. Each inspection associates and stores air path information with air pressure signals, sound signals, inspection indicators, and inspection results, thus enabling the acquisition of statistical information. This allows for the analysis of the operating conditions of one or more injection air paths from a big data perspective, enabling accurate assessment of operating conditions and achieving vertical full lifecycle management of injection air paths as well as horizontal comparison between injection air paths.

[0092] For example, when statistically analyzing the peak pressure of a jetting air path, the statistical information could be the average, maximum, or minimum value of the peak pressure from multiple jetting air paths over the same operating time. The operating time could include the duration during which the jetting air path participates in the actual jetting process. For instance, the average peak pressure from multiple jetting air paths over the same operating time could be calculated, and then the pressure of the target jetting air path could be compared to this average.

[0093] The trend of the indicator includes the change trend of the current test indicator of the target blowing air path and at least one previous test indicator over time. That is, for each test indicator, the trend is fitted based on the test data of different working durations. For example, the sound delay gradually increases with the increase of working duration, such as 0.1, 0.3, 0.5, and 0.8, in seconds. In some examples, the trend of the indicator includes the overall change trend of the test indicators of the other blowing air paths over time.

[0094] For example, based on time and indicator change trends, it is possible to determine the specific stage of the current detection indicator's change trend, and thus determine whether the target injection air path is abnormal.

[0095] According to embodiments of this application, by evaluating multiple detection indicators based on statistical information of multiple indicators, the target injection air path can be comprehensively considered from multiple dimensions. Furthermore, since different injection air paths operate under the same or similar working conditions, their detection indicators can serve as benchmarks for comparison. By referencing the detection indicators of multiple different injection air paths, a reasonable range of indicators can be statistically determined, thereby eliminating the influence of individual differences on the evaluation results.

[0096] According to embodiments of this application, the changing trends of indicators can more accurately reflect the actual performance changes of the gas path, accurately determine whether the gas path has experienced performance degradation, malfunctions, or other abnormalities, and improve the accuracy of the assessment. Furthermore, storing the detection indicators in association with gas path information allows for the rapid and accurate acquisition of relevant detection data based on gas path information (such as gas path number, location, etc.). This helps to more intuitively understand the specific situation of the target injection gas path, and by combining the gas path information with the analysis of the changing trends of the detection indicators, the accuracy and efficiency of the assessment can be further improved.

[0097] In some embodiments, the evaluation results of different detection indicators can be combined to comprehensively determine whether the target blowing air path is abnormal. For example, for the two detection indicators of air pressure delay and sound delay of the target blowing air path, if the air pressure delay is normal but the sound delay is abnormal, combining these two indicators may indicate that the sound abnormality is caused by mechanical wear, which can more comprehensively and dynamically evaluate the performance and status of the target blowing air path and promptly detect potential problems.

[0098] In some embodiments, multiple detection metrics can be input into a pre-trained machine learning model to obtain the prediction results output by the machine learning model. For example, during the training phase, normal operating condition samples and abnormal operating condition samples can be collected; the former may include normal detection metrics, and the latter may include abnormal detection metrics. Then, a neural network algorithm is selected to construct the machine learning model to be trained. The normal operating condition samples and abnormal operating condition samples are input into the machine learning model to be trained, and the parameters of the model are iteratively updated to gradually reduce the value of the loss function (such as the cross-entropy function) until a machine learning model with better detection results is obtained.

[0099] Figure 3 A flowchart illustrating an embodiment of the present application is shown.

[0100] like Figure 3 As shown, this embodiment includes:

[0101] In operation S310, in response to multiple detection indicators meeting the evaluation criteria, based on the positions of the multiple detection indicators in the trend of multiple indicator changes, the abnormal moment of the target injection gas path is predicted; the representation of the indicator change trend can be a trend line obtained by fitting multiple indicator values, and the position can be the position of the currently detected indicator value at the midpoint of the trend line.

[0102] Anomaly points are those predicted based on the position of the detected indicators within their changing trends, indicating when the target injection air path may experience abnormalities (such as malfunctions or performance degradation). Even if no obvious malfunctions are observed in the air path at this time, potential anomalies can be detected in advance.

[0103] During operation S320, a maintenance plan for the target injection air path is obtained based on the abnormal moment. The maintenance plan is used to maintain the target injection air path to affect at least one of multiple test indicators.

[0104] During use, regular testing is conducted. Based on predicted abnormal moments in the test indicators, targeted maintenance plans can be arranged to avoid emergency repairs after malfunctions. The maintenance plan includes a series of maintenance measures and operating procedures tailored to the target injection air circuit. Maintenance aims to maintain or improve the working performance of the air circuit, affecting at least one of several test indicators and keeping it within the normal range. For example, for peak air pressure, maintenance measures may include checking the sealing performance of the solenoid valve for leaks; checking the solenoid valve's opening and closing flexibility for any jamming or abnormal resistance. Problematic solenoid valves should be repaired or replaced promptly.

[0105] According to the embodiments of this application, predicting abnormal moments in advance when the detection indicators are still within the normal range helps to prepare for them in advance, adjust the working status of the air circuit in time before the abnormality occurs (such as cleaning the target blowing air circuit), so that the detection indicators can be restored or kept within the normal range, extend the service life of the air circuit, reduce maintenance costs, avoid blowing interruption or equipment damage due to sudden abnormality of the air circuit, and improve the stability and reliability of production.

[0106] Figure 4 A schematic diagram of a jet air path for sequentially detecting multiple targets according to an embodiment of this application is shown.

[0107] In some embodiments, the jetting air path anomaly detection method 200 further includes: in response to a detection request for multiple target jetting air paths, determining the positional distribution of the multiple target jetting air paths, the positional distribution including at least one of the number of rows, the number of columns, the row spacing, and the column spacing; based on the positional distribution, moving the detection module and the code reader to a first predetermined position and a second predetermined position relative to each target jetting air path, respectively, to sequentially complete the detection of the multiple target jetting air paths.

[0108] The location distribution includes the spatial array distribution of multiple target blowing air paths and the specific location of each air path. For example, the location distribution information can be retrieved from a database, or manually input location distribution information can be included in the detection request. For instance, for the target blowing air path in the first row and first column, the detection module is moved to its first predetermined position, and the code reader is moved to a second predetermined position to read the code information of the air path. After the detection of this air path is completed, the system moves to the next air path in sequence according to the location distribution for detection.

[0109] like Figure 4 As shown, air jet path A 410_1, air jet path B 410_2, and air jet path C 410_3 are arranged at intervals. First, air jet path A 410_1 is detected by moving the detection module 420 and the code reader 430 to a first predetermined position and a second predetermined position relative to it, respectively, to acquire the corresponding detection data. Then, air jet paths B 410_2 and C 410_3 are detected sequentially, causing the detection module 420 and the code reader 430 to move along... Figure 4 The direction of the dashed arrow shown moves to the first and second predetermined positions relative to the corresponding jet air path.

[0110] It's understandable that material sorting using jetting is generally applied in complex scenarios. Taking sound signals as an example, anomaly analysis of a single jetting air path requires high-quality sound signals, thus avoiding the influence of noise. Testing the temporal synchronization of jetting actions across multiple jetting air paths involves simultaneously triggering jetting from multiple paths to collect corresponding data. In this case, if sound signals are collected, the multiple jetting air paths would act as multiple sound sources, making accurate and efficient anomaly analysis of a single jetting air path difficult.

[0111] According to embodiments of this application, each target blowing air path can be effectively detected and its information read. By sequentially detecting multiple air paths, air pressure and sound signals can be accurately collected, thereby obtaining the working status and related information of the air paths and automating the detection of anomalies in the array-type blowing air paths.

[0112] Figure 5 A material sorting system according to an embodiment of this application is illustrated schematically. Figure 6 A schematic diagram showing the cooperation between the detection module and the moving module according to an embodiment of this application is provided. The material sorting system can perform the above-described method for detecting abnormalities in the blowing air path.

[0113] like Figure 5 and Figure 6 As shown, the material sorting system 500 may include a control unit 561, a blowing assembly 560, and a blowing air path anomaly detection device. It should be noted that the number, specifications, and arrangement of the blowing air paths in the material sorting system 500 can be determined based on information such as the size of the material sorting system 500, the size of the sorting area, and the particle size to be sorted. The material sorting system 500 may also include, for example... Figure 1 The gas source equipment shown.

[0114] In some embodiments, such as Figure 5 and Figure 6 As shown, the jet gas path abnormality detection device may include a detection module 510, a code reader 570, and a processing module 530. The detection module 510 includes at least a pressure sensor 511 and a sound sensor 512. The code reader 570 is configured to collect gas path information of the target jet gas path 580. The processing module 530 is configured to execute the jet gas path abnormality detection method as described above, thereby realizing the abnormality detection of the solenoid valve.

[0115] For example, processing module 530 may include a single processing unit or multiple processing units for data processing. For example, processing units may include electronic devices such as desktop computers, laptops, mobile terminals, or algorithm workstations. The jetting air path anomaly detection device can use processing module 530 to send control commands to each module, enabling the modules to cooperate with each other to complete the anomaly detection of the target jetting air path 580.

[0116] In some embodiments, such as Figure 5 and Figure 6 As shown, the jet gas path abnormality detection device may include a moving module 520, which is connected to the detection module 510 and the code reader 570; the processing module 530 is configured to control the moving module 520 to move the detection module 510 and the code reader 570 to a first predetermined position and a second predetermined position, respectively.

[0117] For example, the trigger signal of the target blowing air path 580 can control the opening and closing of the solenoid valve to cause the nozzle 562 to blow gas. In response to receiving the trigger signal, the processing module 530 can determine that the target blowing air path 580 is blowing gas, and then correspondingly control the barcode reader 570 to scan the QR code, receiving the air pressure signal and sound signal collected by the pressure sensor 511 and the sound sensor 512, respectively. The processing module 530 is configured to control the preset timing relationship between the air pressure signal, the sound signal, and the air path information.

[0118] In some embodiments, the processing module 530 is configured to control the pressure sensor 511 to collect air pressure signals in a first region and control the sound sensor 512 to collect sound signals in a second region, wherein the first region and the second region are related to a first predetermined position; wherein the first region is aligned with the nozzle 562 of the target blowing air path 580, and the second region is determined based on at least one of the gas impact force ejected by the nozzle 562, the sound source of the target blowing air path 580, and the sound propagation path of the target blowing air path 580.

[0119] For example, the moving module 520 may include a slider and a linear guide rail for the slider to slide on. The detection module 510 may be fixedly connected to the slider, thereby allowing the linear guide rail to drive the detection module 510 to perform linear motion. Alternatively, the moving module 520 may also use a lead screw, such as a sliding lead screw, ball screw, or hydrostatic lead screw. A lead screw is a transmission pair component that converts rotary motion into linear motion, typically consisting of a lead screw shaft and a nut. Specifically, the linear motion of the nut is driven by the rotational motion of the lead screw shaft itself. Since the detection module 510 may be fixedly connected to the nut, the lead screw can drive the detection module 510 to perform linear motion.

[0120] In some embodiments, the motion module 520 includes a gimbal 521 and a motion platform 522. The connection between the motion module 520 and the detection module 510 includes: a barcode reader 570, a pressure sensor 511, and a sound sensor 512 mounted on the gimbal 521; and the motion platform 522 connected to the gimbal 521. The motion platform 522 is configured to drive the gimbal 521 to move along at least one of the x-axis, y-axis, and z-axis.

[0121] Reference Figure 5 and Figure 6 It provides a coordinate system containing the x-axis, y-axis, and z-axis, where the z-axis is the direction perpendicular to the plane of the paper.

[0122] It is understood that the mobile platform 522 may include a one-dimensional mobile platform 522, a two-dimensional mobile platform 522, or a three-dimensional mobile platform 522. The structure of the mobile platform 522 can refer to the structure of the mobile platform described above, and will not be repeated here.

[0123] In some embodiments, the processing module 530 is configured to control the movement of the spherical gimbal 521 to the target position by the mobile platform 522, wherein the detection module 510 and the code reader 570 are mounted on the spherical gimbal 521, and the mobile platform 522 is configured to move along at least one of the x-axis, y-axis and z-axis; and adjust the angle of the spherical gimbal 521 so that the detection module 510 and the code reader 570 are respectively located at a first predetermined position and a second predetermined position relative to the target blowing air path 580.

[0124] For example, refer to Figure 5 and Figure 6 The airflow path anomaly detection device may also include a multi-axis controller 550. The processing module 530 can issue commands to the multi-axis controller 550. In response to these commands, the multi-axis controller 550 controls the moving platform 522 to move the spherical gimbal 521 along at least one of the x-axis, y-axis, and z-axis. The processing module 530 can also control the spherical gimbal 521 to adjust its angle so that the angles of the code reader 570, pressure sensor 511, and sound sensor 512 are adapted to the target airflow path 580. For example, the angle of the pressure sensor 511 is consistent with the angle of the nozzle 562, while the angle of the code reader 570 is capable of scanning graphic codes.

[0125] For example, the barcode reader 570, pressure sensor 511, and sound sensor 512 are distributed and installed on the spherical gimbal 521. At least the relative position of the barcode reader 570 and the pressure sensor 511 corresponds to the relative position between the nozzle 562 and the graphic code corresponding to the target blowing air path 580, so that when the pressure sensor 511 and the nozzle 562 are aligned, the barcode reader 570 can be aligned with the graphic code.

[0126] According to the embodiments of this application, the mobile platform 522 can drive the spherical gimbal 521 to move in one or more dimensions. The spherical gimbal 521 then drives the barcode reader 570, pressure sensor 511, and sound sensor 512 to move accordingly. The angles of the barcode reader 570, pressure sensor 511, and sound sensor 512 can also be adjusted, making the operation more convenient.

[0127] In some embodiments, such as Figure 5As shown, the abnormal detection device for the blowing air path also includes a signal acquisition card 540. The signal acquisition card 540 is communicatively connected to the control unit 561, pressure sensor 511, and sound sensor 512 of the target blowing air path 580. The control unit 561 is configured to generate a trigger signal; the signal acquisition card 540 is configured to send the trigger signal, air pressure signal, and sound signal to the processing module 530.

[0128] For example, control unit 561 synchronously sends trigger signals to signal acquisition card 540 and target blowing air path 580, and signal acquisition card 540 sends the trigger signals to processing module 530. Then, target blowing air path 580 blows gas in response to the trigger signal. Processing module 530 controls pressure sensor 511 and sound sensor 512 to collect air pressure and sound signals in response to the trigger signal. Then, air pressure and sound signals are transmitted to processing module 530 via signal acquisition card 540 to determine the operating condition of target blowing air path 580.

[0129] It is understandable that although the control unit 561 sends trigger signals to the signal acquisition card 540 and the target blowing air path 580 simultaneously, the content of the signals sent may be different. For example, the trigger signal sent to the signal acquisition card 540 includes instructions to synchronously store air pressure signals and sound signals, while the trigger signal sent to the target blowing air path 580 includes instructions to trigger the blowing action.

[0130] In some embodiments, the processing module 530 is configured to evaluate multiple detection indicators based on statistical information of multiple indicators, and / or to evaluate multiple detection indicators based on the changing trends of multiple indicators.

[0131] In some embodiments, the processing module 530 is configured to, in response to multiple detection indicators meeting the evaluation criteria, predict the abnormal moment of the target injection air path 580 based on the position of the multiple detection indicators in the multiple indicator change trends; and obtain a maintenance plan for the target injection air path 580 based on the abnormal moment, the maintenance plan being used to maintain the target injection air path 580 to affect at least one of the multiple detection indicators.

[0132] In some embodiments, the processing module 530 is configured to, in response to a detection request for a plurality of target blowing air paths 580, determine the positional distribution of the plurality of target blowing air paths 580, the positional distribution including at least one of the number of rows, the number of columns, the row spacing, and the column spacing; based on the positional distribution, move the detection module 510 and the barcode reader 570 to a first predetermined position and a second predetermined position relative to each target blowing air path 580, respectively, so as to sequentially complete the detection of the plurality of target blowing air paths 580.

[0133] In some embodiments, the processing module 530 is configured to obtain at least one of the following based on the air pressure signal: air pressure delay, air pressure peak value, air pressure rise time, air pressure fall time, air pressure fluctuation rate, and target air pressure value holding time of the target blowing air path 580; and to obtain at least one of the following based on the sound signal: sound delay, sound peak value, sound pressure rise time, sound pressure fall time, sound pressure fluctuation rate, sound spectrum characteristics, and preset frequency amplitude of the target blowing air path 580.

[0134] Figure 7 A flowchart illustrating a method for detecting a jet gas path according to another embodiment of this application is shown. Figure 8 A schematic diagram of the response curve of the target blowing air path 580 according to an embodiment of this application is shown. Figure 9 The diagram illustrates the rise time variation of the target injection air path 580 along a time sequence according to an embodiment of this application. Figure 10 A frequency domain diagram of an audio signal according to an embodiment of this application is illustrated schematically.

[0135] For example, the abnormal detection device for the blowing air path includes a blowing assembly 560, a pressure sensor 511, a sound sensor 512, a signal acquisition card 540, a control unit 561, a spherical gimbal 521, a two-dimensional moving platform 522, a code reader 570 (e.g., an optical code reader), and a processing module 530.

[0136] In this embodiment, the blowing assembly 560 may include a valve group formed by an m-row × n-column array of solenoid valves, and a base for mounting the valve group. Each solenoid valve corresponds to a nozzle 562 and a target blowing air path 580. The air outlet of each nozzle has a certain tilt angle with the ground, consistent with the blowing angle in actual blowing operations. m and n are greater than or equal to 1.

[0137] For example, a spherical gimbal 521 is mounted on a two-dimensional mobile platform 522. A pressure sensor 511, a barcode reader 570, and a sound sensor 512 are mounted on the spherical gimbal 521. The angle of the pressure sensor 511 can be adjusted to match the tilt angle of the nozzle 562 via the spherical gimbal 521 to collect air pressure signals. The barcode reader 570 reads the QR code data of the target blowing air path 580 as an air path identifier and transmits it to the processing module 530 (such as a computer). The sound sensor 512 collects the sound signals generated when the target blowing air path 580 is working. The pressure sensor 511, barcode reader 570, sound sensor 512, and spherical gimbal 521 move along the x-axis (e.g., horizontal) and z-axis (e.g., height) directions on the two-dimensional mobile platform 522. The two-dimensional mobile platform 522 can be controlled by a multi-axis controller 550. The solenoid valve of the target blowing air path 580 is controlled by a control unit 561 (such as a logic controller, PLC). Air pressure and sound signals are acquired by signal acquisition card 540 and sent to processing module 530. Control unit 561 transmits trigger signals to acquisition card. Processing module 530 automatically controls two-dimensional moving platform 522 to move pressure sensor 511 directly in front of each nozzle 562, positioned on the path of the gas sprayed from nozzle 562, which can be considered an aligned state, thereby acquiring air pressure signals. Sound sensor 512 is arranged adjacent to pressure sensor 511, thereby acquiring sound signals. Based on the above, the gas spray path detection method is as follows.

[0138] like Figure 7 As shown, this embodiment includes:

[0139] In operation S701, the valve assembly is installed onto the base. For example, the valve assembly can be installed manually. This can be achieved by first controlling the two-dimensional moving platform 522 to move the detection module 510 to a first predetermined position, and then fine-tuning can be performed in operation S702.

[0140] In operation S702, adjust the angle of the spherical gimbal 521. For example, adjust the angle of the spherical gimbal 521 manually or automatically so that the pressure sensor 511 is aligned with the air outlet of the nozzle 562 of the target blowing air path 580.

[0141] The automatic adjustment of the spherical gimbal 521 angle may include:

[0142] For example, a camera device mounted on a spherical gimbal 521 can identify whether a nozzle 562 exists in front of the pressure sensor 511 through the captured image. When a nozzle 562 is detected in front of the pressure sensor 511, the processing module 530 can receive feedback that the pressure sensor 511 and the air outlet of the nozzle 562 are aligned. Otherwise, the device continues to move a set distance and then stops, repeating the same identification process until the processing module 530 receives feedback that the pressure sensor 511 and the nozzle 562 are aligned.

[0143] In some embodiments, the camera device may be replaced by a position sensor. The position sensor can measure the position information of an object in front to determine whether the pressure sensor 511 has reached a predetermined position aligned with the outlet of the nozzle 562.

[0144] When operating the S703, the number of rows and columns, row spacing, and column spacing can be manually set in the processing module 530 (e.g., through a setting interface displayed on a computer screen) to facilitate automatic movement to complete the detection of multiple target blowing air paths 580.

[0145] Start measurement using S704.

[0146] When operating S705, the barcode reader 570 reads the QR code of the current target injection air path 580.

[0147] In operation S706, control unit 561 controls the target blowing air path 580 to open and close, and controls the nozzle 562 to blow gas by opening and closing the solenoid valve.

[0148] When operating S707, pressure sensor 511 collects air pressure signals and sound sensor 512 collects sound signals.

[0149] When operating S708, the signal acquisition card 540 converts the analog signals of air pressure and sound signals into digital signals and transmits them to the processing module 530.

[0150] When operating S709, the processing module 530 associates and stores QR code numbers, trigger signals, air pressure signals, sound signals, etc.

[0151] For example, the target injection air path 580 can be managed throughout its entire lifecycle. For instance, a QR code can be affixed to a specific location on each target injection air path 580 as an air path identifier; then, operation S709 is executed during each inspection to record the data in the database; and the potential for malfunction can be determined by assessing the operating condition of the target injection air path 580. During use, the target injection air path 580 is periodically inspected, for example, by detecting changes in operating conditions during use, and maintenance plans are developed based on these trends to avoid emergency repairs after a malfunction occurs.

[0152] During operation of S710, the processing module 530 controls the moving module 520 to move the detection module 510 to the next target blowing air path 580.

[0153] In operation S711, the processing module 530 determines whether all target blowing air paths 580 have been detected. If yes, the process ends. If no, operations S705 to S710 are repeated.

[0154] After completion, the processing module 530 can calculate and evaluate the detection indicators based on the QR code number, trigger signal, air pressure signal and sound signal of each target blowing air path 580.

[0155] like Figure 8 The image shows the QR code number, trigger signal, and response curve for target injection air path No. 0001 and target injection air path No. 0002, obtained through the injection air path anomaly detection device. It should be noted that... Figure 8 This is for illustrative purposes only. The trigger signal and response curve are not drawn to actual scale. The response curve can be a curve of air pressure signal or a curve of sound signal.

[0156] For example, the processing module 530 can extract detection indicators reflecting the working condition of the air circuit from the air pressure signal and the sound signal, such as delay time td (such as the air pressure delay or sound delay mentioned above), rise time tr (such as the air pressure rise time or sound pressure rise time mentioned above), and fall time tf (such as the air pressure fall time or sound pressure fall time mentioned above), to determine whether the target jetting air circuit 580 is abnormal. Specifically, it can use multiple detection indicators to analyze and calculate the dynamic performance of the solenoid valve, and store them according to the air circuit identifier, automatically identify the abnormal target jetting air circuit 580 and mark it.

[0157] Reference Figure 8 , t 10 or t 20The time delay td can be the time from when the solenoid valve 150 receives an electrical signal (such as a trigger signal) to switch to the open state; the time delay td can be the time from when the solenoid valve 150 is in the open state to when the peak air pressure at the nozzle 562 rises to 5% of the rated pressure, or the time from when the solenoid valve 150 is in the open state to when the peak sound volume at the nozzle 562 rises to 5% of the rated loudness; the rise time tr can be the time from when the peak air pressure at the nozzle 562 rises from 5% of the rated pressure to 95% of the rated pressure, or the time from when the peak sound volume at the nozzle 562 rises from 5% of the rated loudness to 95% of the rated loudness; the fall time tf can be the time from when the peak air pressure at the nozzle 562 falls from 95% of the rated pressure to 5% of the rated pressure, or the time from when the peak sound volume at the nozzle 562 falls from 95% of the rated loudness to 5% of the rated loudness. The delay time td1, rise time tr1, and fall time tf1 correspond to target injection air path No. 0001, and the delay time td2, rise time tr2, and fall time tf2 correspond to target injection air path No. 0002.

[0158] Understandable. Figure 8 The number of trigger signals and response curves shown are only illustrative; the specific number can be determined based on the actual number of target injection air paths 580 being detected.

[0159] For example, if the peak air pressure of a target blowing air path 580 is normal, and the actual response time (such as the sum of delay time td and rise time tr) from the moment the solenoid valve 150 is in the open state to the peak air pressure does not exceed the abnormal threshold, then the target blowing air path 580 is judged to be in normal condition. If the actual response time of the target blowing air path 580 exceeds the abnormal threshold, it indicates that the blowing performance of the target blowing air path 580 has decreased. For example, the solenoid valve may have a hardware structure failure, and it needs to be repaired or replaced in time. The same judgment can be made for the loudness peak of the sound signal, which will not be elaborated here.

[0160] It should be noted that the abnormal threshold can be continuously adjusted because the requirements for spraying performance vary under different operating conditions. Specifically, the abnormal threshold can be determined based on whether the material to be sorted can be accurately sprayed to the corresponding sorting area under different operating conditions. The abnormal threshold in this embodiment can be obtained from statistical information.

[0161] For example, multiple tests are performed on a specific target injection air path 580 during use to achieve full lifecycle management. (Refer to...) Figure 9The horizontal axis represents usage time (in months), and the vertical axis represents rise time (in milliseconds). For example, if the rise time (tr) of the 580 jet nozzle for a specific target is measured to be 3ms, and subsequent measurements are taken monthly, the result is plotted as follows. Figure 9 The rise time curve (i.e., the indicator change trend). If the rise time tr is found to be greater than the rated rise time in the sixth month, the target injection air path 580 may be malfunctioning. This can be achieved through methods such as... Figure 9 The rise time curve shown can also predict the lifespan and replacement time of other injection air paths, and allow for advance maintenance planning.

[0162] Reference Figure 10 The horizontal axis represents Hertz (Hz), and the vertical axis represents decibels (dB). The sound sensor 512 can collect the sound signal generated by the blowing action of the target blowing air path 580, and generate a signal in the processing module 530 as shown in the figure. Figure 10 The audio curve. Figure 10 The audio curves in the image show the sound pressure level values ​​corresponding to different frequencies. It can be seen that in the low-frequency region (around 0-2Hz), the sound pressure level has a significant peak; while in the high-frequency region (3Hz and above), the sound pressure level drops rapidly and approaches 0dB, helping to analyze the frequency components and energy distribution of the sound signal. The audio curves corresponding to different target jet air paths 580 may be the same or different.

[0163] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0164] Those skilled in the art will understand that the features described in the various embodiments of this application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application.

[0165] The embodiments of this application have been described above. However, these embodiments are merely illustrative and not intended to limit the scope of this application. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this application is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this application, and all such substitutions and modifications should fall within the scope of this application.

Claims

1. A method for detecting abnormalities in a jetting air path, comprising: In response to a detection request for the target blowing air path, the detection module and the code reader are moved to a first predetermined position and a second predetermined position relative to the target blowing air path, respectively. The pressure sensor and sound sensor of the detection module are controlled to collect the air pressure signal and sound signal of the target blowing air path, respectively, and the code reader is controlled to collect the air path information of the target blowing air path. The collection times of the air pressure signal, the sound signal and the air path information have a preset time sequence relationship. The target blowing air path is evaluated based on multiple detection indicators, which are obtained based on at least one of the air pressure signal and the sound signal, and the detection indicators indicate the degree of abnormality of the target blowing air path. If at least one of the plurality of detection indicators fails to meet the evaluation criteria, the detection result of the target injection air path is determined to be an abnormal result, wherein the abnormal result is stored in association with the air path information.

2. The method according to claim 1, wherein, The multiple detection indicators for evaluating the target injection air path include at least one of the following: The multiple detection indicators are evaluated based on statistical information of multiple indicators, wherein the statistical information of the indicators is obtained at least by the corresponding detection indicators of multiple injection air paths that are different from the target injection air path for the same working time. The multiple detection indicators are evaluated based on the changing trends of multiple indicators, wherein the changing trends of the indicators are obtained at least through the changing trends of the corresponding detection indicators of the target injection air path at different working times, and the corresponding detection indicators of the target injection air path at different working times are stored in association with the air path information.

3. The method according to claim 2, wherein, Also includes: In response to the multiple detection indicators meeting the evaluation criteria, based on the positions of the multiple detection indicators in the changing trends of the multiple indicators, the abnormal moment of the target injection air path is predicted; Based on the abnormal moment, a maintenance plan for the target injection air path is obtained. The maintenance plan is used to maintain the target injection air path to affect at least one of the multiple detection indicators.

4. The method according to claim 1, wherein, Also includes: In response to a detection request for a plurality of the target blowing air paths, the positional distribution of the plurality of target blowing air paths is determined, the positional distribution including at least one of the number of rows, the number of columns, the row spacing, and the column spacing; Based on the location distribution, the detection module and the code reader are moved to a first predetermined position and a second predetermined position relative to each of the target blowing air paths, respectively, so as to sequentially complete the detection of multiple target blowing air paths.

5. The method according to claim 1, wherein, The detection index is obtained through at least one of the following operations: Based on the air pressure signal, at least one of the following is obtained for the target injection air path: air pressure delay, air pressure peak value, air pressure rise time, air pressure fall time, air pressure fluctuation rate, and target air pressure value holding time; Based on the sound signal, at least one of the following is obtained for the target blowing air path: sound delay, sound peak value, sound pressure rise time, sound pressure fall time, sound pressure fluctuation rate, sound spectrum characteristics, and preset frequency amplitude.

6. The method according to claim 1, wherein, The step of moving the detection module and the code reader to a first predetermined position and a second predetermined position relative to the target blowing air path includes: A spherical gimbal is moved to a target position using a mobile platform, wherein the detection module and the code reader are mounted on the spherical gimbal, and the mobile platform is configured to move along at least one of the x-axis, y-axis, and z-axis. Adjust the angle of the spherical gimbal so that the detection module and the code reader are respectively located at a first predetermined position and a second predetermined position relative to the target blowing air path.

7. The method according to claim 1, wherein, The control of the code reader to collect the air path information of the target blowing air path includes: The reader is controlled to read the graphic code of the target blowing air path to obtain the air path information indicated by the graphic code. The air path information includes at least the identifier of the target blowing air path.

8. The method according to claim 1, wherein, The pressure sensor and sound sensor controlling the detection module respectively collect the air pressure signal and sound signal of the target blowing air path, including: The pressure sensor is controlled to collect the air pressure signal in a first region, and the sound sensor is controlled to collect the sound signal in a second region, wherein the first region and the second region are related to the first predetermined position; The first region is aligned with the nozzle of the target blowing air path, and the second region is determined based on at least one of the following: the impact force of the gas blown by the nozzle, the sound source of the target blowing air path, and the sound propagation path of the target blowing air path.

9. A device for detecting abnormalities in a jetting air path, comprising: The detection module includes at least a pressure sensor and a sound sensor; The code reader is configured to collect air path information of the target injection air path; The processing module is configured to execute the jet gas path abnormality detection method as described in any one of claims 1 to 8.

10. The apparatus according to claim 9, further comprising a moving module, specifically including: A spherical gimbal, wherein the pressure sensor and the sound sensor are mounted on the spherical gimbal; A mobile platform is connected to the spherical gimbal, the mobile platform being configured to move the spherical gimbal along at least one of the x-axis, y-axis, and z-axis.

11. The apparatus of claim 9, further comprising: The signal acquisition card is communicatively connected to the control unit of the target blowing air path, the pressure sensor and the sound sensor. The control unit is configured to generate a trigger signal to trigger the blowing of the target blowing air path. The signal acquisition card is configured to send the trigger signal, the air pressure signal, and the sound signal to the processing module.

12. A material sorting system, comprising: The blowing assembly includes at least one target blowing air path; The jet gas path abnormality detection device according to any one of claims 9 to 11 is configured to perform abnormality detection on the at least one target jet gas path.

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