Self-checking method of gas-jet separation executing mechanism and sorting machine

Abstract

The invention relates to the technical field of material sorting, in particular to a self-checking method of a gas-jet separation executing mechanism and a sorting machine. The self-checking method comprises the following steps: based on an excitation signal, enabling the gas-injection separation executing mechanism to execute injection operation; waveform signals of the gas-injection separation execution mechanism for executing injection operation are collected based on a sensor; based on the waveform signal, periodic characteristics of the gas injection separation executing mechanism are determined, and the periodic characteristics comprise characteristics of the waveform signal in multiple periods; and based on the periodic characteristics, the working state of the gas injection separation executing mechanism is determined. According to the invention, the waveform signal can be collected in the process that the gas-injection separation execution mechanism executes the injection operation, and the periodic characteristic of the gas-injection separation execution mechanism is determined, so that the working state of the gas-injection separation execution mechanism is determined, the accuracy of detection of the working state of the gas-injection separation execution mechanism can be effectively improved, and the detection efficiency is improved. Therefore, timely replacement or maintenance can be carried out under the condition that faults occur, and the sorting accuracy and the sorting efficiency are effectively improved.

Description

Technical Field

[0001] This disclosure relates to the field of material sorting technology, specifically to a self-inspection method for a pneumatic separation actuator and a sorting machine. Background Technology

[0002] Material separators typically separate and classify materials by blowing gas into them using a pneumatic spray separation actuator. Since these actuators may malfunction or age, monitoring their operational status is crucial to ensure efficient and high-quality separation. However, in the separation of materials like coal and ore, the separators are usually located underground in harsh environments. When a pneumatic spray separation actuator malfunctions, it's difficult to accurately determine its operating status, hindering timely replacement or repair, and resulting in low accuracy and efficiency in the separation process. Summary of the Invention

[0003] To overcome the problems existing in related technologies, an exemplary embodiment of this disclosure provides a self-testing method for a pneumatic injection separation actuator in a first aspect. The self-testing method for the pneumatic injection separation actuator includes: performing a blowing operation on the pneumatic injection separation actuator based on an excitation signal; acquiring a waveform signal of the pneumatic injection separation actuator performing the blowing operation based on a sensor; determining the periodic characteristics of the pneumatic injection separation actuator based on the waveform signal, wherein the periodic characteristics include the characteristics of the waveform signal within multiple periods; and determining the operating state of the pneumatic injection separation actuator based on the periodic characteristics, wherein the operating state includes at least one of: normal, performance degradation warning, and fault.

[0004] In some embodiments, the acquisition of waveform signals of the pneumatic jet separation actuator performing the blowing operation based on sensors includes at least one of the following: acquiring the sound of the pneumatic jet separation actuator performing the blowing operation through a sound sensor to obtain a sound waveform signal; or acquiring the vibration of the crossbeam of the pneumatic jet separation actuator through a vibration sensor to obtain a vibration waveform signal; or acquiring the pressure of the main air supply pipe of the pneumatic jet separation actuator through a pressure sensor to obtain a pressure waveform signal.

[0005] In some embodiments, the air-jet separation actuator includes a plurality of jetting units; determining the periodic characteristics of the air-jet separation actuator based on the waveform signal includes: determining the periodic characteristics of each jetting unit within a plurality of cycles based on the waveform signal, wherein the periodic characteristics include at least one of amplitude, energy, frequency, and duration.

[0006] In some embodiments, determining the operating state of the air-jet separation actuator based on the periodic characteristics includes: determining expected characteristics based on the periodic characteristics of one or more of the jetting units; and determining the operating state of each jetting unit based on the current periodic characteristics of each jetting unit and the corresponding expected characteristics.

[0007] In some embodiments, determining the expected characteristics based on the periodic characteristics of one or more of the blowing units further includes: determining the expected characteristics based on the periodic characteristics of multiple blowing units within the same multiple periods; or, determining the expected characteristics based on the historical periodic characteristics of the current blowing unit; or, determining the expected characteristics based on the historical periods of multiple blowing units.

[0008] In some embodiments, the waveform signal is an audio waveform signal, and determining the operating state of the air-jet separation actuator based on the periodic characteristics further includes one or more of the following: determining the operating state of the air-jet separation actuator based on the duration experienced by each of the injection units within multiple cycles and the expected characteristics; or, determining the operating state of the air-jet separation actuator based on the similarity of the audio waveform signals of each injection unit within multiple cycles, wherein the similarity of the audio waveform signals is determined based on the correlation coefficient or distance metric between the envelopes of the audio waveform signals; or, determining the operating state of the air-jet separation actuator based on the energy change trend of the audio waveform signals within multiple cycles.

[0009] In some embodiments, determining the operating state of the air-jet separation actuator based on the periodic characteristics further includes: determining the periodic characteristics of a single cycle; and determining the operating state of the air-jet separation actuator based on the periodic characteristics of a single cycle and multiple consecutive cycles.

[0010] In some embodiments, determining the operating state of the air-jet separation actuator based on the periodic characteristics further includes: determining the waveform signal of each of the jetting units in a single cycle in response to decoupling the waveform signal.

[0011] In some embodiments, determining the expected characteristics based on the periodic characteristics of one or more of the blowing units further includes: updating the expected characteristics of the corresponding blowing unit in response to the completion of the blowing unit replacement.

[0012] In some embodiments, the self-testing method of the air-jet separation actuator further includes: collecting ambient noise information; and correcting the waveform signal based on the noise information.

[0013] Secondly, this disclosure also provides a sorting machine, the sorting machine comprising: a conveying mechanism for conveying materials; an identification mechanism for detecting the type of materials conveyed by the conveying mechanism; a pneumatic spray separation actuator disposed downstream of the conveying mechanism for performing a spraying operation based on the type of the materials; a sensor for acquiring waveform signals of the pneumatic spray separation actuator; and a controller for detecting the working state of the actuator based on the self-testing method described in the first aspect.

[0014] In some embodiments, the sensor includes at least one of the following: a sound sensor disposed on the side of the air-jet separation actuator for collecting sound waveform signals of the air-jet separation actuator performing the blowing operation; or a vibration sensor disposed on the crossbeam of the air-jet separation actuator for collecting vibration waveform signals of the crossbeam of the air-jet separation actuator; or a pressure sensor disposed on the air supply main of the air-jet separation actuator for collecting pressure waveform signals of the air supply main of the air-jet separation actuator.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure.

[0016] According to the self-inspection method of the air-jet separation actuator provided in this disclosure, waveform signals can be collected during the air-jet separation actuator's blowing operation, and the periodic characteristics of the air-jet separation actuator can be determined, thereby determining the working status of the air-jet separation actuator. This can effectively improve the accuracy of the detection of the working status of the air-jet separation actuator, so that it can be replaced or repaired in time in case of failure, effectively improving the accuracy and efficiency of sorting. Attached Figure Description

[0017] This disclosure can be better understood by describing exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, in which: Figure 1 This is a flowchart illustrating a self-testing method for a pneumatic injection separation actuator according to an exemplary embodiment of a published manual. Figure 2 This is a flowchart illustrating a self-testing method for a pneumatic injection separation actuator according to an exemplary embodiment of a published manual. Figure 3 This is a flowchart illustrating a self-testing method for a pneumatic jet separation actuator according to an exemplary embodiment disclosed in a publication. Detailed Implementation

[0018] The following describes specific embodiments of the present invention. It should be noted that, in order to provide a concise description, this specification cannot exhaustively describe all features of the actual embodiments. It should be understood that, in the actual implementation of any embodiment, just as in any engineering or design project, various specific decisions are often made to achieve the developer's specific goals and to meet system-related or business-related constraints, and this can change from one embodiment to another. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this invention, some design, manufacturing, or production modifications based on the technical content disclosed herein are merely conventional technical means and should not be construed as insufficient content of this disclosure.

[0019] Unless otherwise defined, the technical or scientific terms used in the claims and description shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in the patent application description and claims of this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. The terms "an" or "a" and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising" or "including" and similar terms mean that the element or object preceding "comprising" or "including" encompasses the element or object listed following "comprising" or "including" and its equivalents, and do not exclude other elements or objects. The terms "connected" or "linked" and similar terms are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0020] For the inspection of the working status of the pneumatic spray separation actuators in material sorting machines, especially those used for ore and coal sorting, the harsh working environment makes manual inspection difficult and prone to oversight. Current self-inspection methods fail in the high dust and physical impact environments of mines. Therefore, inspecting the working status of pneumatic spray separation actuators is challenging, leading to equipment operating with malfunctions, further reducing the accuracy and efficiency of material sorting.

[0021] An exemplary embodiment of this disclosure provides a self-testing method for a pneumatic injection separation actuator, such as... Figure 1 As shown, the self-testing method of the air-jet separation actuator may include steps S110 to S140.

[0022] Step S110: Based on the excitation signal, the air-jet separation actuator performs a blowing operation. First, the air-jet separation actuator receives the excitation signal and performs the blowing operation based on it. When the air-jet separation actuator is not in operation, an excitation signal can be sent to it manually or via an industrial control computer, enabling it to perform periodic blowing operations based on the excitation signal. Alternatively, when the separator is in operation, during the material sorting process, the blowing command received by the air-jet separation actuator can be used as the excitation signal to cause it to perform non-uniform periodic blowing operations.

[0023] Step S120: Acquire waveform signals of the pneumatic jet separation actuator performing the blowing operation based on sensor data. A sensor can be installed next to the separation actuator to acquire waveform signals of the pneumatic jet separation actuator during the blowing operation.

[0024] Step S130: Based on the waveform signal, determine the periodic characteristics of the air-jet separation actuator. The periodic characteristics include the features of the waveform signal over multiple cycles. One cycle can be recorded as one injection operation performed by the air-jet separation actuator. Based on the waveform signal, the waveform image of the air-jet separation actuator during one or more injection operations can be determined. Based on waveform changes, peaks, troughs, and other relevant information, the features of the waveform signal over multiple cycles can be determined, thereby further defining the characteristics of the air-jet separation actuator over multiple cycles, thus identifying them as periodic characteristics. Multiple cycles can be continuous cycles. Specifically, during the operation of the sorting machine, when the air-jet separation actuator uses the injection command received by the air-jet separation actuator as the excitation signal during material sorting, the time interval between two adjacent injection operations may be large. Therefore, the waveform information within this time interval can be ignored, and only the waveform signal during the air-jet separation actuator's injection operation can be extracted. Therefore, the periodic characteristics of continuous cycles can be the characteristics of the air-jet separation actuator's waveform signal during multiple injection operations. Based on the waveform signal, the characteristics of the waveform signal of the air-jet separation actuator during multiple injection operations can be further determined, thereby obtaining the periodic characteristics.

[0025] Step S140: Based on periodic characteristics, determine the operating state of the air-jet separation actuator. The operating state includes at least one of: normal, performance degradation warning, and fault. According to the periodic characteristics of the waveform signal, features within multiple periods can be compared, and the operating state of the air-jet separation actuator is determined based on the changes in the waveform signal within multiple periods. Alternatively, calculations can be performed based on features within multiple periods to determine the amount of feature change or the amplitude of feature data fluctuation within multiple periods, thus determining the operating state of the air-jet separation actuator. The operating state includes at least one of: normal, performance degradation warning, and fault. When the air-jet separation actuator is in the normal state, it can perform the spraying operation under the drive of the excitation signal, exhibiting high response efficiency and accurately spraying material to the target position, demonstrating high sorting accuracy and operational stability. When the air-jet separation actuator is in the performance degradation warning state, the accuracy and stability of the spraying actuator decrease, but it can still perform the spraying operation. Specifically, when the blowing force of the air-jet separation actuator is insufficient or the response time is too long, resulting in some material being blown to the target position but others being blown incorrectly, the air-jet separation actuator can be considered to be in a performance degradation warning state. When the air-jet separation actuator cannot receive an excitation signal or cannot perform the blowing operation, it can be considered to be in a fault state.

[0026] According to this embodiment, by acquiring waveform signals during the blowing operation of the air-jet separation actuator, determining its periodic characteristics based on the waveform signals, and then analyzing the characteristics within multiple cycles to determine the working status of the air-jet separation actuator, online self-inspection of the actuator can be achieved without manual intervention. Compared with the prior art, it can effectively improve the accuracy of detecting the working status of the air-jet separation actuator in the harsh environment of the mine, avoid the equipment from operating with defects, and provide timely warnings and maintenance when the actuator experiences performance degradation or failure, thereby significantly improving the accuracy and efficiency of material sorting.

[0027] In some embodiments, the sensor may be a sound sensor, a vibration sensor, or a pressure sensor. The waveform signal acquired based on the sensor during the pneumatic jet separation actuator's blowing operation includes at least one of the following.

[0028] A sound sensor is used to collect the sound emitted by the pneumatic jet separation actuator during its blowing operation, obtaining a sound waveform signal. The sound sensor can be placed near the actuator; when it performs the blowing operation, the sound sensor can collect the sound emitted by the gas being blown, thereby further determining the corresponding sound waveform signal. Based on the sound waveform signal, information such as the sound volume, energy, frequency, and duration can be determined, facilitating further analysis of the actuator's operating status.

[0029] Vibration sensors are used to collect the vibration of the crossbeam of the air-jet separation actuator, obtaining vibration waveform signals. The air-jet separation actuator may include a jetting unit for performing the jetting operation, which can be mounted on the crossbeam to ensure its stability. When the air-jet separation actuator performs the jetting operation, vibration may occur during the gas jetting process, causing slight vibrations in the crossbeam. Therefore, vibration sensors can be installed on the crossbeam to detect the vibrations that occur during gas jetting, determine the vibration waveform signal, and identify the vibration location, amplitude, and duration based on the signal, thus facilitating the subsequent determination of the operating status of the air-jet separation actuator.

[0030] A pressure sensor is used to collect the pressure in the main gas supply pipe of the air-jet separation actuator, obtaining a pressure waveform signal. When the air-jet separation actuator performs a blowing operation and injects gas, the pressure in the main gas supply pipe decreases, generating pressure fluctuations. Therefore, by installing a pressure sensor in the main gas supply pipe during the blowing operation, the pressure fluctuations caused by the injected gas can be collected, allowing for the determination of the corresponding pressure waveform signal. Based on the pressure waveform signal, information such as the pressure magnitude, pressure change trend, and pressure change time can be determined, facilitating further analysis of the air-jet separation actuator's operating status.

[0031] According to this embodiment, by employing sound sensors, vibration sensors, or pressure sensors to collect different types of waveform signals generated by the air-jet separation actuator during the jetting operation, and acquiring multi-dimensional feature information corresponding to sound, vibration, and pressure respectively, multi-source data acquisition of the jetting unit's operating status is achieved. Compared to detection methods that rely solely on a single signal source, this approach comprehensively reflects the actuator's operating status from different physical perspectives, including acoustics, mechanics, and pneumatics, thus enhancing the richness of the detection information. Furthermore, by extracting features such as volume, energy, frequency, and duration from sound waveform signals, amplitude, position, and duration from vibration waveform signals, and pressure magnitude, trend, and time of change from pressure waveform signals, sufficient data support is provided for subsequent work status determination based on periodic characteristics, thereby improving the accuracy and reliability of status identification. In addition, the various waveform signals can complement each other. Even when one type of signal is affected by environmental interference or its characteristics are not obvious, other signals can still be used for auxiliary judgment, improving the system's adaptability and robustness under complex working conditions, thereby ensuring the stable operation of the air-jet separation actuator and further improving the accuracy and efficiency of material sorting.

[0032] In some embodiments, such as Figure 2As shown, the air-jet separation actuator includes multiple jetting units. Step S130, based on waveform signals, determines the periodic characteristics of the air-jet separation actuator, including: Step S131, based on waveform signals, determines the periodic characteristics of each jetting unit within multiple cycles, wherein the periodic characteristics include at least one of amplitude, energy, frequency, and duration. The air-jet separation actuator may include multiple jetting units; therefore, the working state of each jetting unit can be detected separately. Specifically, one jetting unit to be detected can be controlled to perform a jetting operation based on an excitation signal, or multiple jetting units to be detected can perform a jetting operation, or each jetting unit to be detected can perform a jetting operation sequentially. For an air-jet separation actuator including multiple jetting units, a sensor can be set for each jetting unit to collect the waveform signal of its corresponding air-jet separation actuator. Alternatively, a single sensor can be set for multiple jetting units to collect the waveform signals of multiple jetting units, and the waveform signal of each jetting unit during the jetting operation can be determined by decoupling the waveform signals. Based on the waveform signal, the characteristics of each blowing unit within multiple cycles can be determined to facilitate subsequent monitoring of the working status of each blowing unit. The periodic characteristics can include at least one of amplitude, energy, frequency, and duration. Specifically, the waveform signal can be processed, such as through filtering and feature extraction, to extract features such as amplitude, energy, frequency, and duration. Frequency can be determined using fast Fourier transform or autocorrelation methods. Specifically, since the excitation signal used in the sorting machine is the signal that performs the blowing operation on the material, and this excitation signal is not periodic, and the time interval between two adjacent blowing operations of the same blowing unit may be large, the aforementioned time interval can be ignored, and only the waveform signal during the blowing operation can be recorded, and the periodic characteristics of this waveform signal can be determined.

[0033] According to this embodiment, by acquiring waveform signals and analyzing periodic characteristics of multiple spray units in the air-jet separation actuator, and separating the waveform characteristics of each spray unit based on the excitation signals of a single or multiple spray units, and through decoupling processing of the waveform signals, independent determination of the working state of each spray unit can be achieved. This effectively avoids the problem of difficulty in identifying local spray unit anomalies, improving the accuracy of fault location. Simultaneously, by extracting characteristic information such as amplitude energy, frequency, and duration, and combining this with filtering and feature extraction processing, the sensitivity to changes in the operating state of the spray units can be enhanced, improving the accuracy and reliability of state identification, thereby achieving refined detection and further ensuring the stability and efficiency of material sorting.

[0034] In some embodiments, such as Figure 3As shown, step S140, determining the working state of the air-jet separation actuator based on periodic characteristics, may include steps S141 and S142.

[0035] Step S141: Determine the expected characteristics based on the periodic characteristics of one or more injection units. The expected characteristics can be determined based on the historical or current periodic characteristics of one or more injection units. Compared to current technologies, this embodiment does not require the specialized acquisition of standard waveform signals and their periodic characteristics; it only needs to determine the expected characteristics based on data from the current or historical periods, and subsequently determine the operating state of each injection unit by comparing the expected characteristics with the current periodic characteristics.

[0036] Step S142: Determine the operating state of each spraying unit based on its current cycle characteristics and corresponding expected characteristics. The cycle characteristics of the spraying unit within the current cycle are compared with the expected characteristics to determine the operating state of each spraying unit based on the difference between the cycle characteristics and the expected characteristics. A first difference range and a second difference range can be determined for the difference between the cycle characteristics and the expected characteristics, with the second difference range being greater than the first difference range. When the difference between the cycle characteristics and the expected characteristics is within the first difference range, the cycle characteristics of the spraying unit are considered stable, and the spraying unit is in normal operating condition. When the difference between the cycle characteristics and the expected characteristics exceeds the first difference range but is within the second difference range, the cycle characteristics of the spraying unit are considered to have changed, possibly indicating some minor faults that affect the accuracy and timeliness of spraying and sorting, but the impact is relatively small; the spraying unit is in a performance degradation warning state. When the difference between the cycle characteristics and the expected characteristics exceeds the second difference range, the cycle characteristics of the spraying unit have changed significantly, possibly indicating a more serious fault that significantly affects the accuracy and timeliness of spraying and sorting; the spraying unit is in a fault state.

[0037] According to this embodiment, by determining the expected characteristics based on the periodic characteristics of one or more injection units over historical or current multiple cycles, a benchmark for state determination can be constructed without the need for additional standard waveform acquisition or preset fixed reference models. Compared to detection methods relying on manual calibration or standard samples, this reduces the complexity of working state detection and improves the method's universal applicability. Furthermore, by comparing the current periodic characteristics with the dynamically determined expected characteristics and classifying the normal state, performance degradation warning state, and fault state based on the difference range, high detection accuracy can be maintained under different equipment individual differences and operating condition changes. In addition, this embodiment utilizes the equipment's own operating data to construct a reference benchmark, enabling adaptive adjustment of the injection unit state, avoiding benchmark failure due to environmental changes or equipment aging, improving the stability and robustness of the detection results, thereby ensuring the reliable operation of the air-jet separation actuator under complex operating conditions, and further improving the accuracy and efficiency of material sorting.

[0038] In some embodiments, step S141 determines the expected characteristics based on the periodic characteristics of one or more spraying units, and further includes step a1, step a2, or step a3.

[0039] Step a1: Determine the expected characteristics based on the periodic characteristics of multiple blowing units within the same multiple cycles. The periodic characteristics of other multiple blowing units within the same multiple cycles as the blowing unit to be tested can be determined to further determine the expected characteristics; wherein, the aforementioned multiple blowing units do not include the blowing unit in the current cycle's operating state.

[0040] Step a2: Determine the expected characteristics based on the historical cycle characteristics of the current injection unit. The expected characteristics of an injection unit in the current cycle can be determined based on its cycle characteristics in historical cycles prior to the current cycle. Therefore, based on the cycle characteristics of the current injection unit during past injection operations, it is possible to predict the cycle characteristics that the injection unit should maintain in the current cycle while maintaining its working state during historical cycles.

[0041] Step a3: Determine the expected characteristics based on the historical cycles of multiple injection units. The historical cycle characteristics of each injection unit can be determined based on the historical cycles preceding the current cycle, and based on this, the expected characteristics that one or more injection units of the gas-jet separation actuator may maintain in the current cycle can be predicted; wherein, the aforementioned multiple injection units may include the injection unit currently in the working state to be detected.

[0042] According to this embodiment, the method for determining the expected characteristics can be flexibly selected under different application scenarios. Compared with detection methods based on a single reference source, the adaptability and accuracy of state determination are significantly improved. By determining the expected characteristics based on the periodic characteristics of multiple injection units within the same cycle, the horizontal comparison relationship between different injection units under the same operating condition can be utilized to effectively reduce the impact of environmental factors on the detection results. By determining the expected characteristics based on the historical periodic characteristics of a single injection unit, the operating rules of the injection unit itself can be fully reflected, realizing personalized state assessment. By determining the expected characteristics based on the historical periodic characteristics of multiple injection units, the historical data of the group can be comprehensively utilized to improve the stability and representativeness of the expected characteristics. In addition, the above-mentioned methods for determining the various expected characteristics can complement each other, ensuring the continuity and reliability of detection even under conditions such as changes in equipment operating conditions, abnormalities of a single injection unit, or missing data. This further enhances the robustness of the working state determination of the air-jet separation actuator, ensures stable equipment operation, and improves the accuracy and efficiency of material sorting.

[0043] In some embodiments, the waveform signal is an audio waveform signal. Step S140, based on periodic characteristics, determines the working state of the air-jet separation actuator, and further includes one or more of the following: Step b1: Determine the operating state of the air-jet separation actuator based on the duration and expected characteristics of each injection unit over multiple cycles. First, the total time elapsed by the injection unit over multiple cycles can be determined based on the sound waveform signal and cycle division, and this total time is used as the cycle characteristic. One injection operation by the injection separation mechanism can be defined as one cycle, and the time elapsed for the injection unit to complete multiple injection operations can be determined as the total time. The total time elapsed for multiple injection units to complete the same number of injection operations can be determined separately. The expected time can be the time elapsed for the injection unit under normal operating conditions over multiple cycles, which can be determined through pre-collected data from a standard injection unit; or it can be determined by comparing and calculating the total time of each of the multiple injection units. Specifically, the median of the total time elapsed for each of the multiple injection units to complete the same number of injection operations can be determined as the expected time. The operating state of the air-jet separation actuator can be determined based on the difference between the expected time and the total time. Alternatively, the operating state of the air-jet separation actuator can be determined based on the standard deviation or variance between the expected time and the total time. In addition, for a single blowing unit, multiple consecutive cycles of sound waveform signals can be captured, and the total duration of each consecutive cycle can be determined. Based on these different consecutive cycles, the expected duration can be determined, and the working state of the air-jet separation actuator can be determined based on the total duration and the expected duration. Specifically, a first duration threshold and a second duration threshold can be set for the difference between the expected duration and the total duration. When the difference between the expected duration and the total duration is less than the first duration threshold, the blowing unit is considered to be in normal working condition. Therefore, it can be determined that when the total duration experienced by the blowing unit over multiple cycles is close to the expected duration, the blowing unit can sort materials promptly and accurately under the control of the excitation signal. When the difference between the expected duration and the total duration is less than the second duration threshold but greater than or equal to the first duration threshold, the blowing unit is considered to be in a performance degradation warning state. Therefore, it can be determined that when the total duration experienced by the blowing unit over multiple cycles differs significantly from the expected duration, the blowing unit may have problems such as nozzle blockage or poor communication leading to prolonged or shortened blowing time. When the difference between the expected time length and the total time length is greater than or equal to the second time length threshold, it can be determined that the current blowing unit is in a faulty state. Therefore, it can be determined that the total time length experienced by the blowing unit over multiple cycles differs too much from the expected time length, and the blowing unit cannot achieve accurate material sorting.

[0044] Step b2: Based on the similarity of the acoustic waveform signals of each injection unit across multiple cycles, determine the operating state of the air-jet separation actuator. The signal waveform similarity is determined based on the correlation coefficient or distance metric between the envelopes of the acoustic waveform signals. The signal waveform of the injection unit within multiple cycles can be determined based on the acoustic waveform signals. The operating state of the air-jet separation actuator can also be determined based on the similarity of the acoustic waveform signals of consecutive cycles among multiple injection units. Specifically, the acoustic waveform signal of the air-jet separation actuator in each of multiple consecutive cycles can be analyzed. Envelope features are extracted from the acoustic waveform signal of each cycle, and the similarity of the envelope features of adjacent cycles is calculated. A first similarity threshold and a second similarity threshold can be set. When the similarity between the envelope features of two adjacent cycles is less than the first similarity threshold, it can be determined that the current injection unit is in a normal operating state. When the similarity between the envelope features of two adjacent cycles is less than the second similarity threshold but greater than or equal to the first similarity threshold, it can be determined that the current injection unit is in a performance degradation warning state. When the similarity between the envelope features of two adjacent cycles is greater than or equal to the second similarity threshold, it can be determined that the current injection unit is in a fault state.

[0045] Step b3: Determine the operating status of the air-jet separation actuator based on the energy change trend of the sound waveform signal over multiple cycles. The energy of the sound waveform signal can be the actual power or intensity carried in the sound waveform signal. The energy of the injection unit over multiple cycles can be determined based on the sound waveform signal, and the energy change trend of the sound waveform signal of each injection unit over multiple cycles can be further determined. Based on the energy change trend of the sound waveform signal of each injection unit over multiple cycles, the energy change curve of the sound waveform signal can be determined. When the energy change curve of the sound waveform signal continuously shows an increasing or decreasing trend, it can also be considered that the current injection unit has failed. A first energy change threshold and a second energy change threshold can also be set for the fluctuation amplitude of the energy change of the sound waveform signal. When the energy change of the sound waveform signal is less than the first energy change threshold, it can be determined that the sound waveform signal of the current injection unit is relatively stable and in normal working condition. When the fluctuation amplitude of the energy change of the sound waveform signal is less than the second energy change threshold but greater than or equal to the first energy change threshold, it can be determined that the current injection unit is in a performance degradation warning state. When the fluctuation amplitude of the energy change of the sound waveform signal is greater than or equal to the second energy change threshold, it can be determined that the current injection unit is in a fault state.

[0046] According to this embodiment, by comprehensively analyzing the operating status of the injection unit from multiple dimensions, including duration features, waveform similarity features, and energy change features based on sound waveform signals, the operating status of the injection unit can be comprehensively reflected from different perspectives such as time, structural morphology, and energy changes, thereby significantly improving the accuracy and reliability of status identification. Furthermore, by setting corresponding thresholds for different features and performing graded judgments, refined identification of normal states, performance degradation warning states, and fault states can be achieved. Duration features help reflect changes in execution rhythm, waveform similarity features help reflect the stability of the injection process, and energy features help reflect the injection intensity and its changing trend. These features complement each other, effectively avoiding the problem of misjudgment based on a single feature. In addition, this multi-feature fusion method can enhance the system's adaptability to complex working conditions and noise interference, improve the robustness of detection results, thereby ensuring the stable operation of the air-jet separation actuator and further improving the accuracy and efficiency of material sorting.

[0047] In some embodiments, the waveform signal is a vibration waveform signal. Based on the vibration waveform signal, the operating state of the blowing unit can be determined by analyzing characteristics such as the time difference, amplitude, and spectrum of the vibration reaching the vibration sensor. Specifically, the waveform shape of the vibration waveform signal can be compared with the expected waveform shape; a significant difference in waveform shape indicates an abnormality in the blowing unit. The operating state of the blowing unit can also be determined based on the amplitude of the vibration waveform signal. A decrease in the amplitude of the vibration waveform signal suggests blockage in the blowing unit, indicating a performance degradation warning state; a significant decrease in the amplitude of the vibration waveform signal, or no vibration detected after receiving the excitation signal, indicates severe blockage in the blowing unit, indicating a fault state. Furthermore, the time difference between the vibration waveform signal and the excitation signal can be used to determine whether there is a response delay in the blowing operation of the blowing unit.

[0048] According to this embodiment, the vibration waveform signal is used as the basis for detecting the working status of the blowing unit. The operating status of the blowing unit is analyzed based on multi-dimensional characteristics such as the time difference, amplitude, and spectrum of the vibration signal. This more directly reflects the mechanical response characteristics of the actuator, thus maintaining high detection reliability even in high-noise environments or under interference. Furthermore, by comparing the shape of the vibration waveform with the expected waveform, abnormal changes during the blowing process can be identified; by analyzing changes in vibration amplitude, it is possible to effectively determine whether the blowing unit is blocked or has reduced blowing capacity; by analyzing the time difference between the vibration signal and the excitation signal, the response delay of the blowing unit can be detected, thereby achieving comprehensive identification of multiple fault modes. In addition, this method characterizes the state of the blowing unit from the perspective of mechanical vibration, which can further improve the system's adaptability and detection accuracy under complex working conditions, thereby ensuring the stable operation of the air-jet separation actuator and improving the accuracy and efficiency of material sorting.

[0049] In some embodiments, the waveform signal is a pressure waveform signal. Based on the pressure waveform signal, the pressure changes in the main gas supply pipe of the air-jet separation actuator, such as the pressure drop amplitude, the descent slope, and the pressure recovery time, can be determined, thus determining the operating state of the injection unit. Specifically, the pressure drop amplitude can be determined based on the pressure waveform signal. When the pressure drop amplitude decreases, it can be considered that the injection unit has become blocked, and it is in a performance degradation warning state. When the pressure drop amplitude decreases significantly, or no pressure drop is detected after receiving the excitation signal, it can be considered that the injection unit has become severely blocked, and it is in a fault state. Furthermore, the time difference between the pressure waveform signal and the excitation signal can be used to determine whether there is a response delay in the injection operation of the injection unit. The waveform shape of the pressure waveform signal can also be compared with the expected waveform shape. When the waveform shape difference is large, it can be determined that the injection unit has experienced an abnormality such as valve core jamming, and is in a fault state.

[0050] According to this embodiment, the pressure change of the main gas supply pipe of the gas-jet separation actuator is monitored by pressure waveform signals. The working status of the jetting unit is analyzed based on characteristics such as pressure drop amplitude, pressure change slope, and pressure recovery time. This more directly reflects the flow state during gas delivery and the pneumatic response characteristics of the actuator, thereby improving the accuracy of jetting anomaly detection. Furthermore, by analyzing changes in pressure drop amplitude, problems such as nozzle blockage or reduced jetting capacity can be effectively identified. By detecting the time difference between the pressure signal and the excitation signal, it can be determined whether there is a response delay in the jetting unit. By comparing the pressure waveform shape with the expected waveform, abnormal operating conditions such as valve core jamming can also be identified, thus achieving accurate identification of various faults. In addition, this method detects the jetting unit from the perspective of gas path pressure changes, which can further improve the system's detection reliability and robustness under complex operating conditions, thereby ensuring the stable operation of the gas-jet separation actuator and improving the accuracy and efficiency of material sorting.

[0051] In some embodiments, step S140, determining the operating state of the air-jet separation actuator based on periodic characteristics, further includes: step c1, determining the periodic characteristics of a single cycle; and step c2, determining the operating state of the air-jet separation actuator based on the periodic characteristics of a single cycle and multiple consecutive cycles. For consecutive cycles taken from the same injection unit, the periodic characteristics of each cycle can be determined. The periodic characteristics of one cycle can be compared with the periodic characteristics of consecutive cycles to determine whether the injection unit has malfunctioned in the current cycle. Alternatively, the periodic characteristics of multiple consecutive cycles can be determined separately, and at least one cycle can be selected as a reference cycle to determine the difference between the periodic characteristics of the consecutive cycles and the periodic characteristics of the reference cycle, or other cycles can be compared with the reference cycle. If the difference in periodic characteristics is too large, it can be determined that the current injection unit has malfunctioned.

[0052] According to this embodiment, by extracting the periodic characteristics of the injection unit within a single cycle and comparing them with the periodic characteristics of multiple consecutive cycles, abnormal situations can be identified in a timely manner within a single cycle, improving the real-time performance of fault detection. Furthermore, by selecting a reference cycle and comparing the current cycle or other cycles with the reference cycle, the degree of change in periodic characteristics can be effectively identified, thereby determining whether an abnormality has occurred in the injection unit and preventing abnormalities from being masked by multi-cycle averaging. In addition, this embodiment can also achieve precise location of the abnormality occurrence cycle, which is beneficial for subsequent fault analysis and maintenance, improving equipment operation and maintenance efficiency. Simultaneously, by combining single-cycle and multi-cycle comprehensive analysis methods, the sensitivity and stability of detection are balanced, enabling timely detection of sudden faults while reducing the impact of occasional fluctuations on detection results. This improves the accuracy and reliability of the working status determination of the air-jet separation actuator, and further enhances the accuracy and efficiency of material sorting.

[0053] In some embodiments, step S140, determining the working state of the air-jet separation actuator based on periodic characteristics, further includes: determining the waveform signal of each jetting unit in a single cycle in response to decoupling the waveform signal. Sound information from multiple jetting units can be collected using a single sensor. Since one or more jetting units may simultaneously perform jetting operations in any cycle during the sorting machine's operation, one or more jetting units performing jetting operations in each cycle can be determined first based on the excitation signal. Waveform signals from multiple cycles can be collected, thereby further determining the waveform signal corresponding to each jetting unit based on the collected waveform signals and the excitation signal. Specifically, the excitation signal and waveform signal clocks can be aligned, and a corresponding time window can be determined in the waveform signal based on the trigger time when each jetting unit receives the excitation signal, to determine the time correspondence between the waveform signal of each jetting unit and the excitation signal. Based on all waveform signals corresponding to each nozzle, the waveform signals can be decoupled to determine the waveform signal segment of each nozzle in each cycle. Further, based on the waveform signal segment of each jetting unit, the signal of each jetting unit in the corresponding cycle can be extracted for subsequent working state analysis.

[0054] According to this embodiment, by acquiring mixed waveform signals from multiple injection units using a single sensor, clock alignment is performed in conjunction with the excitation signal, and a corresponding time window is determined in the waveform signal based on the trigger time of each injection unit. This achieves precise separation and decoupling of the waveform signals of each injection unit within a single cycle. Compared to configuring a separate sensor for each injection unit, this method can effectively monitor multiple injection units while reducing system hardware costs and deployment complexity. Furthermore, by establishing a time correspondence between the excitation signal and the waveform signal, and extracting waveform signal segments of each injection unit within each cycle, the operating information of each injection unit can be accurately distinguished when multiple injection units are operating synchronously or interleaved, avoiding the impact of signal aliasing on the detection results and improving the accuracy of signal analysis. Simultaneously, this method provides a precise data foundation for single-cycle characteristic extraction and subsequent working status determination, improving the reliability and stability of the detection results, thereby ensuring the normal operation of the gas-jet separation actuator and further improving the accuracy and efficiency of material sorting.

[0055] In some embodiments, step S141, determining the expected characteristics based on the periodic characteristics of one or more spray units, further includes: updating the expected characteristics of the corresponding spray unit in response to the completion of spray unit replacement. When a spray unit is determined to be faulty, the faulty spray unit can be replaced. After replacing the faulty spray unit, since this spray unit differs from the faulty spray unit before replacement and can maintain normal operation, the relevant parameters of the current spray unit will change. During the process of determining the expected characteristics of the spray unit, the historical periodic information of the spray unit before replacement cannot be used. Therefore, after the spray unit replacement is completed, the expected characteristics can be re-determined based on the replaced spray unit to ensure the accuracy of subsequent detection of the working status of the spray unit.

[0056] According to this embodiment, by updating the expected characteristics of the blowing unit after replacement, the historical cycle characteristics of the blowing unit before replacement are avoided as a reference benchmark, thereby eliminating the feature mismatch problem caused by equipment replacement. Compared with the detection method without benchmark updating, this method can effectively avoid misjudgment or false alarms caused by incompatible historical data, improving the accuracy of working status determination. Furthermore, by reconstructing the expected characteristics based on the replaced blowing unit, the detection benchmark can reflect the actual operating status of the current equipment in real time, thereby enhancing the system's adaptability to changes in operating conditions such as equipment replacement and performance recovery, ensuring the continuity and reliability of detection results. In addition, this method realizes the dynamic adjustment of the detection model with changes in equipment status, which is conducive to improving the long-term stability and operation and maintenance efficiency of the system, thereby ensuring the stable operation of the air-jet separation actuator and further improving the accuracy and efficiency of material sorting.

[0057] In some embodiments, the self-testing method for the air-jet separation actuator further includes: step d1, collecting ambient noise information; and step d2, correcting the waveform signal based on the noise information. First, in the standby state of the sorting machine, a waveform signal can be collected by a sensor. The portion of the waveform signal occupied by ambient noise can be determined. Therefore, based on the noise signal, the waveform signal subsequently collected in the working state of the sorting machine can be denoised. This effectively reduces the impact of ambient noise on waveform signal acquisition and analysis, avoiding errors in working state determination due to ambient noise.

[0058] According to this embodiment, by pre-collecting environmental noise information while the sorting machine is in standby mode, and then correcting the subsequently collected waveform signals based on this noise information, effective modeling and suppression of environmental noise are achieved. Compared to detection methods without noise modeling, this significantly reduces the interference of high dust and high noise environments in mines on waveform signal acquisition, improving signal quality. Furthermore, by pre-identifying environmental noise and specifically removing it during operation, it avoids misjudging environmental noise as abnormal characteristics of the jetting unit, thereby improving the accuracy and reliability of operational status determination. In addition, this embodiment enhances the system's adaptability to complex working conditions, enabling the air-jet separation actuator to operate stably under different environmental noise conditions, improving the consistency and robustness of detection results, and thus ensuring the accuracy and efficiency of material sorting.

[0059] Secondly, this disclosure also provides a sorting machine, which may include: a conveying mechanism, an identification mechanism, a pneumatic separation actuator, a sensor, and a controller.

[0060] A conveying mechanism is used to transport materials. The conveying mechanism can be a belt conveyor or other equipment used for transporting materials. The conveying device transports the materials to an identification mechanism for recognition. The materials can be placed on the surface of the conveying mechanism and move with it, while maintaining a relatively stationary state between the materials and the conveying mechanism, thus ensuring the stability of the materials during the transport process.

[0061] An identification mechanism is used to detect the category of materials conveyed by a conveyor system. This mechanism can be an image acquisition device such as a color sorter or X-ray scanner. The identification mechanism can be positioned above the conveyor device to acquire images of the materials on its surface and determine their category based on these images.

[0062] The air-jet separation actuator, located downstream of the conveying mechanism, is used to perform a jetting operation based on the type of material. The air-jet separation actuator can also be located at the end of the conveying mechanism. After the material falls from the conveyor, the air-jet separation actuator can perform a jetting operation according to the type of material, jetting gas onto the material to be sorted to achieve material sorting.

[0063] A sensor is used to acquire waveform signals from the air-jet separation actuator. The sensor can be placed near the air-jet separation actuator or at a key location within it. It is used to acquire the corresponding waveform signals in real time during the air-jet operation and transmit the acquired signals to the controller for further processing. Furthermore, there can be one or more sensors; multiple sensors can be configured to correspond to multiple air-jet units, or a single sensor can acquire mixed signals from multiple air-jet units.

[0064] A controller is used to detect the operating status of the actuator based on the self-testing method described in the first aspect. The controller can be an industrial control computer, a programmable logic controller (PLC), or an embedded processing unit, etc. It may be equipped with a processor and memory, the memory storing a computer program. When executed by the processor, the computer program can perform the following functions: preprocessing the waveform signals acquired by the sensors, including noise reduction, timing alignment, and signal decoupling; extracting the periodic characteristics of the waveform signals, including at least one of duration characteristics, waveform characteristics, and energy characteristics; determining the expected characteristics based on the periodic characteristics, and comparing the current periodic characteristics with the expected characteristics to determine the operating status of the air-jet separation actuator. Furthermore, when the controller detects that the jetting unit is in an abnormal or faulty state, it can output control signals to trigger alarms, shutdown, or perform operations such as replacing the jetting unit.

[0065] According to this embodiment, by integrating sensors and a controller into the sorting machine, and using the sensors to collect waveform signals from the air-jet separation actuator in real time, combined with the controller's self-testing method to analyze the periodic characteristics of the jetting unit, online detection of the working status of the air-jet separation actuator is achieved. This allows for continuous acquisition of key operational information during equipment operation, improving the real-time performance and automation of the detection. Furthermore, the acquisition of waveform signals by the sensors improves the accuracy and reliability of fault identification. Simultaneously, the controller can promptly output control signals when abnormal conditions are detected, enabling alarm or shutdown procedures to prevent the equipment from operating with malfunctions, thereby improving system safety. In addition, this sorting machine integrates detection and sorting functions, enabling stable monitoring and control of the air-jet separation actuator under complex operating conditions, enhancing the overall system's intelligence level, and ensuring the accuracy and efficiency of material sorting.

[0066] In some embodiments, the sensor may include at least one of the following: a sound sensor, a vibration sensor, and a pressure sensor.

[0067] A sound sensor, located on the side of the air-jet separation actuator, is used to collect the sound waveform signal of the air-jet separation actuator performing the blowing operation. The sound sensor can be a microphone or an acoustic acquisition device, which can acquire the sound information generated by the airflow injection and mechanism movement during the blowing process in a non-contact manner, thereby reflecting the working status of the blowing unit.

[0068] A vibration sensor, installed on the crossbeam of the air-jet separation actuator, is used to collect the vibration waveform signal of the crossbeam. The vibration sensor can be an accelerometer, used to detect the mechanical vibration response caused during the operation of the jetting unit, thereby reflecting the mechanical operating state of the actuator.

[0069] A pressure sensor, installed in the main gas supply pipe of the gas-jet separation actuator, is used to collect the pressure waveform signal of the main gas supply pipe. The pressure sensor can detect pressure changes in real time during gas delivery to reflect the pneumatic performance of the injection unit and the smoothness of the air passage.

[0070] According to this embodiment, by placing sound sensors, vibration sensors, and pressure sensors at key locations such as the side, structural support, and main air supply pipe of the air-jet separation actuator, targeted acquisition of acoustic, mechanical vibration, and pneumatic pressure information during the operation of the jetting unit is achieved. Compared to a single sensor arrangement, this approach comprehensively reflects the operating status of the air-jet separation actuator from different physical dimensions, improving the completeness of the detection information. Furthermore, by arranging different types of sensors in positions matching their detection objects, the sensitivity and accuracy of signal acquisition can be improved. For example, sound sensors placed on the side acquire jetting airflow characteristics, vibration sensors placed on the crossbeam acquire mechanical responses, and pressure sensors placed on the main air supply pipe acquire aerodynamic changes, thereby enhancing the ability of various signals to characterize abnormal states. In addition, the signals acquired by multiple sensors can complement each other. Even when one type of signal is interfered with or insignificant, the state of the jetting unit can still be effectively judged through other signals, improving the robustness and reliability of the system under complex operating conditions, thus ensuring the stable operation of the air-jet separation actuator and further improving the accuracy and efficiency of material sorting.

[0071] This application uses specific terms to describe embodiments of the application. Terms such as "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the application. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0072] In the context of this application, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0073] Similarly, it should be noted that, in order to simplify the description of the present application and thus aid in the understanding of one or more embodiments, the foregoing description of the embodiments of the present application sometimes combines multiple features into a single embodiment, drawing, or description thereof. However, this disclosure method does not imply that the subject matter of the present application requires more features than those mentioned in the claims. In fact, the embodiments contain fewer features than all the features of the single embodiments disclosed above.

[0074] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is merely illustrative and does not constitute a limitation of this application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements, and corrections to this application. Such modifications, improvements, and corrections are suggested in this application, and therefore remain within the spirit and scope of the embodiments of this application.

Claims

1. A self-inspection method for a pneumatic injection separation actuator, characterized in that, The self-testing method of the air-jet separation actuator includes: Based on the excitation signal, the air jet separation actuator performs a jetting operation; The waveform signal of the air jet separation actuator performing the blowing operation is acquired based on the sensor; Based on the waveform signal, the periodic characteristics of the air jet separation actuator are determined, wherein the periodic characteristics include the features of the waveform signal within multiple periods; Based on the aforementioned periodic characteristics, the operating state of the air injection separation actuator is determined, wherein the operating state includes at least one of: normal, performance degradation warning, and fault.

2. The self-testing method for the air-jet separation actuator according to claim 1, characterized in that, The waveform signal acquired by the sensor during the blowing operation of the air-jet separation actuator includes at least one of the following: The sound waveform signal is obtained by collecting the sound of the air jet separation actuator performing the blowing operation through a sound sensor; or, The vibration of the crossbeam of the air jet separation actuator is collected by a vibration sensor to obtain a vibration waveform signal; or, The pressure of the main gas supply pipe of the gas jet separation actuator is collected by a pressure sensor to obtain a pressure waveform signal.

3. The self-testing method for the air-jet separation actuator according to claim 2, characterized in that, The air-jet separation actuator includes multiple jetting units; determining the periodic characteristics of the air-jet separation actuator based on the waveform signal includes: Based on the waveform signal, the periodic characteristics of each jetting unit in multiple cycles are determined, wherein the periodic characteristics include at least one of amplitude, energy, frequency, and duration.

4. The self-testing method for the air-jet separation actuator according to claim 3, characterized in that, Determining the operating state of the gas injection separation actuator based on the periodic characteristics includes: Based on the periodic characteristics of one or more of the blowing units, the expected characteristics are determined; The operating state of each injection unit is determined based on its current cycle characteristics and corresponding expected characteristics.

5. The self-testing method for the air-jet separation actuator according to claim 4, characterized in that, The determination of expected characteristics based on the periodic characteristics of one or more of the blowing units further includes: The expected characteristics are determined based on the periodic characteristics of multiple injection units within the same multiple cycles; or... The expected characteristics are determined based on the historical cycle characteristics of the current injection unit; or... The expected characteristics are determined based on the historical cycles of multiple of the aforementioned jetting units.

6. The self-testing method for the air-jet separation actuator according to claim 4, characterized in that, The waveform signal is an audio waveform signal. The determination of the operating state of the air-jet separation actuator based on the periodic characteristics further includes one or more of the following: Based on the duration experienced by each of the injection units within multiple cycles and the expected characteristics, the operating state of the air injection separation actuator is determined; or, The operating state of the air-jet separation actuator is determined based on the similarity of the acoustic waveform signals of each of the jetting units across multiple cycles, wherein the similarity of the acoustic waveform signals is determined based on the correlation coefficient or distance metric between the envelopes of the acoustic waveform signals; or, The working state of the air jet separation actuator is determined based on the energy change trend of the sound waveform signal within multiple cycles.

7. The self-testing method for the air-jet separation actuator according to claim 3, characterized in that, The method of determining the working state of the gas injection separation actuator based on the periodic characteristics further includes: Determine the periodic characteristics of a single period; The operating state of the air-jet separation actuator is determined based on the periodic characteristics of a single cycle and multiple consecutive cycles.

8. The self-testing method for the air-jet separation actuator according to claim 7, characterized in that, The method of determining the working state of the gas injection separation actuator based on the periodic characteristics further includes: In response to decoupling the waveform signal, the waveform signal of each of the blowing units in a single cycle is determined.

9. The self-testing method for the air-jet separation actuator according to claim 4, characterized in that, Determining the expected characteristics based on the periodic characteristics of one or more of the blowing units further includes: In response to the completion of the replacement of the blowing unit, the expected characteristics of the corresponding blowing unit are updated.

10. The self-testing method for the air-jet separation actuator according to any one of claims 1-9, characterized in that, The self-testing method for the air-jet separation actuator also includes: Collect environmental noise information; The waveform signal is corrected based on the noise information.

11. A sorting machine, characterized in that, The sorting machine includes: Conveying mechanisms are used to transport materials; An identification mechanism is used to detect the type of material being conveyed by the conveying mechanism; A pneumatic separation actuator is located downstream of the conveying mechanism and is used to perform a pneumatic blowing operation based on the type of material. A sensor is used to acquire waveform signals from the air jet separation actuator; A controller is used to detect the operating status of the actuator based on the self-testing method of the air-jet separation actuator as described in any one of claims 1-10.

12. The sorting machine according to claim 11, characterized in that, The sensor includes at least one of the following: A sound sensor is disposed on the side of the air jet separation actuator to collect the sound waveform signal of the air jet separation actuator performing the blowing operation; or, A vibration sensor is installed on the crossbeam of the air-jet separation actuator to collect the vibration waveform signal of the crossbeam of the air-jet separation actuator. or, A pressure sensor is installed in the main gas supply pipe of the gas injection separation actuator to collect the pressure waveform signal of the main gas supply pipe of the gas injection separation actuator.

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