Material sorting apparatus and material sorting method

Abstract

A material sorting apparatus, comprising: a carrying assembly (300), comprising a plurality of grid compartments used for carrying a plurality of materials, wherein the plurality of grid compartments comprise at least one adjustable grid compartment, the size of an accommodating space inside the adjustable grid compartment is adjustable, and the adjusted accommodating space is used for carrying a target number of target materials; a detection assembly, used for detecting the plurality of materials carried in the plurality of grid compartments to obtain a detection image; and a control unit (500), used for processing the detection image to obtain an identification result for each material among the plurality of materials, so as to sort each material from the grid compartment where the material is located to a target position matching the identification result. The design of the adjustable grid compartment allows for accommodation of materials of different sizes and types, thereby improving the flexibility of sorting processes and improving sorting efficiency and accuracy. Also provided is a material sorting method.

Description

Material sorting device and material sorting method

[0001] This application claims priority to Chinese patent application No. 202411834836.1, filed on December 12, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the fields of material sorting, radiation detection, material category identification, or other technical fields, and more specifically, to material sorting apparatus and material sorting method. Background Technology

[0003] Material sorting refers to the process of classifying and selecting materials based on their specific properties or standards during production, logistics, and warehousing. Taking ore sorting as an example, existing intelligent dry separators identify materials as concentrates and tailings, or separate different types of ore, using methods such as radiation scanning and optical scanning, and then use sorting technology to achieve separation. Sorting technology can include jet spraying technology, which involves spraying different ores through nozzles to corresponding sorting bins.

[0004] However, while blasting technology offers excellent accuracy for larger ores (e.g., particles larger than 6 mm, for example), it is less effective for smaller ores (e.g., particles smaller than 6 mm, for example). For instance, smaller ores may slip relative to the conveyor belt during transport from X-ray scanning to the blasting point, leading to positional misalignment and making accurate blasting difficult. Furthermore, smaller particle sizes result in smaller overall volumes, making it harder for the blasting airflow to accurately target them. Additionally, smaller particles or powders are easily dispersed into the surrounding environment by the airflow, causing pollution.

[0005] In some solutions, multiple cells are used to hold materials with smaller particle sizes to avoid relative slippage during the conveying process.

[0006] In implementing the embodiments of this disclosure, the inventors discovered that the structure of the cell is fixed, and multiple materials may be contained within each cell. If these materials are stacked together, it will reduce the accuracy of identifying each material when using methods such as radiation scanning or optical scanning, thereby affecting the sorting effect. Summary of the Invention

[0007] This disclosure provides a material sorting device and a material sorting method.

[0008] According to a first aspect of this disclosure, a material sorting apparatus is provided, comprising: a carrying component including a plurality of grids for carrying a plurality of materials, wherein the size of the accommodating space inside at least one adjustable grid is adjustable, and the adjustable accommodating space is used to carry a target quantity of target materials; a detection component for detecting the plurality of materials carried by the plurality of grids and obtaining a detection image; and a control unit for processing the detection image to obtain an identification result of each material among the plurality of materials, so as to sort each material from its grid to a target position matching its identification result.

[0009] In some embodiments, the control unit is used to adjust the size of the containment space according to the number of targets to be contained in the adjustable grid and the particle size of the target material.

[0010] In some embodiments, when the target quantity is greater than 1, adjacent target materials held in the adjusted containment space do not stack.

[0011] In some embodiments, the material sorting device further includes: a fabric assembly for placing multiple materials in multiple grids in batches, wherein the particle size of the materials in different batches is different, and the particle size of the materials in the same batch is approximately the same.

[0012] In some embodiments, the control unit is used to adjust the size of the accommodating space of the adjustable grid that does not contain material, based on the target quantity and particle size of each batch.

[0013] In some embodiments, the plurality of grids includes a plurality of adjustable grids, wherein the plurality of adjustable grids are located in a plurality of regions, each region including at least one adjustable grid; the control unit is configured to adjust the accommodating space of each adjustable grid according to the plurality of regions, wherein the accommodating space of the adjustable grids in different regions is different in size, and the accommodating space of the adjustable grids in the same region is approximately the same in size.

[0014] In some embodiments, each of the plurality of grids includes: a bearing surface; a barrier component retractably mounted on the bearing surface, wherein the barrier component and the bearing surface form a receiving space; and when the detection assembly detects a plurality of materials, the barrier component retracts to a predetermined position, wherein at the predetermined position, the top of the barrier component is below or substantially flush with the bearing surface.

[0015] In some embodiments, the material sorting device further includes: a first suction assembly, including a plurality of first suction ports corresponding one-to-one with a plurality of grids, each first suction port being mounted on the bearing surface of the corresponding grid; in response to the enclosure component retracting to a predetermined position, each first suction port generates a suction force toward the bearing surface on the material carried by the grid.

[0016] In some embodiments, when the target location of each material is close, the grid in which the material is located is flipped; the control unit is used to sort each material from the flipped grid in which it is located to the target location that matches its identification result.

[0017] In some embodiments, the material sorting device further includes: a second suction assembly, including a plurality of second suction ports corresponding one-to-one with a plurality of grids, each second suction port being mounted on the bearing surface of the corresponding grid; each second suction port generating a suction force toward the bearing surface on the material carried by the grid in response to the grid flipping.

[0018] In some embodiments, the control unit for sorting each material from its flipped grid to a target position that matches its identification result includes: the control unit controlling the second suction port of the grid containing each material to stop generating suction towards the bearing surface, so that the material falls into the target position that matches its identification result.

[0019] In some embodiments, each second suction port generates a suction force toward the bearing surface on the material carried by the grid, the magnitude of which is proportional to the size of the accommodating space of the grid.

[0020] In some embodiments, each of the second suction ports generates a suction force toward the bearing surface on the material carried by the grid, the magnitude of which is proportional to the depth of the grid.

[0021] In some embodiments, the material sorting device further includes a first conveying component for conveying the carrier component, wherein the first conveying component includes: a first conveying section; a second conveying section, which is connected end-to-end with the first conveying section to form an annular conveying section for conveying the carrier component; wherein the first conveying section and the second conveying section are opposite each other, and the carrier component gradually rotates as it is conveyed from the first conveying section to the second conveying section, and the second conveying section is used to convey the carrier component to approach the target position of each material.

[0022] In some embodiments, the bottom of each of the plurality of grids includes an open state or a closed state, which is used to hold material when closed; the control unit is used to place the bottom of the grid containing each material in the open state so that the material falls into the target position that matches its identification result.

[0023] Another aspect of this disclosure provides a material sorting method, comprising: having multiple grids carry multiple materials, wherein the size of the accommodating space inside at least one adjustable grid in the multiple grids is adjustable, and the adjusted accommodating space is used to carry a target quantity of target materials; detecting the multiple materials carried by the multiple grids and obtaining a detection image; processing the detection image to obtain the identification result of each material in the multiple materials, so as to sort each material from its grid to a target position matching its identification result. Attached Figure Description

[0024] The foregoing contents, as well as other objects, features, and advantages of this disclosure, will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0025] Figure 1 schematically shows a structural diagram of a material sorting apparatus according to an embodiment of this application.

[0026] Figure 2 schematically illustrates the overall structure of the adjustable grid according to an embodiment of the present disclosure.

[0027] Figures 3(a) and 3(b) schematically illustrate the structure of the liftable base plate in Figure 2.

[0028] Figure 4 schematically shows a structural diagram of the base plate according to an embodiment of the present disclosure.

[0029] Figure 5 schematically shows a top view of an adjustable grid according to an embodiment of the present disclosure.

[0030] Figure 6 schematically illustrates the structure of a first conveying assembly according to an embodiment of the present disclosure.

[0031] Figure 7 schematically illustrates a flowchart of a material sorting method according to an embodiment of the present disclosure.

[0032] The reference numerals used in the above figures are as follows:

[0033] 100. Conveying assembly; 210. Optical image acquisition assembly; 220. X-ray image acquisition assembly; 300. Bearing assembly; 400. Sorting bin; 500. Control unit; 310. Adjustable grid; 311. Enclosure component; 312. Base plate; 3121. Telescopic mechanism; 313. Screw and nut mechanism; 3131. Screw; 3132. Screw and nut sleeve; 3133. Connector; 110. First conveying assembly; 111. First conveying section; 112. Second conveying section.

[0034] 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 disclosure may be enlarged or reduced, i.e., these drawings are not drawn to actual scale. Detailed Implementation

[0035] The embodiments of the present disclosure 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 the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0036] Figure 1 schematically shows a structural diagram of a material sorting apparatus according to an embodiment of this application.

[0037] As shown in Figure 1, the material sorting device includes a conveying component 100, a detection component (e.g., at least one of an optical image acquisition component 210 and an X-ray image acquisition component 220), a carrying component 300, a sorting bin 400, and a control unit 500.

[0038] For example, the conveying assembly 100 is used to convey materials to be sorted; the conveying assembly 100 may include one or a combination of horizontally arranged conveyor belts, inclined conveyor belts, and angled inclined slides.

[0039] In some embodiments, the carrying component 300 includes multiple grids for carrying multiple materials, wherein the size of the accommodating space inside at least one adjustable grid 310 is adjustable, and the adjusted accommodating space is used to carry a target number of target materials; the detection component is used to detect the multiple materials carried by the multiple grids and obtain a detection image; the control unit 500 is used to process the detection image to obtain the identification result of each material among the multiple materials, and sort each material from its grid to a target position that matches its identification result.

[0040] According to embodiments of this disclosure, because the internal capacity of the adjustable mesh is adjustable, it can hold a target quantity of target material adapted to the detection method, detection parameters, or detection performance of the detection component, thereby avoiding interference with the detection component and maintaining high detection accuracy. The adjustable mesh design can adapt to materials of different sizes and types, increasing the flexibility of the sorting process and improving sorting efficiency and accuracy.

[0041] For example, multiple grids carrying multiple materials include at least some grids carrying more than two materials; for instance, a single grid can carry one or more materials. Adjustable accommodating space size includes at least one of length, width, and depth being adjustable.

[0042] For example, the detected image may include materials and a grid, and the control unit 500 may be interfered with by the grid during the process of obtaining the recognition result. To reduce interference, the grid can be made of low-density materials, such as low-density polyethylene (LDPE) (LDPE can have a density of 0.915 g / cc to 0.940 g / cc) or linear low-density polyethylene (LLDPE) (LLDPE has a density of 0.910 g / cc, or 0.915 g / cc, or 0.920 g / cc, or 0.925 g / cc to 0.930 g / cc, or 0.935 g / cc, or 0.940 g / cc).

[0043] For example, the carrier assembly 300 may include a grid tray comprising multiple grids arranged in an array. The grid tray is detachably connected to the conveyor assembly 100. The carrier assembly 300 may also be integrated with the conveyor assembly 100, for example, by mounting grids on the conveyor belt surface to form multiple grids. An adjustable grid 310 refers to a grid whose internal accommodating space size can be adjusted as needed; for example, one or more partitions constituting the grid can be moved to achieve the function of adjusting the accommodating space size.

[0044] Each grid in the carrier component 300 can be independent of each other. The optional implementation of the adjustable grid 310 is illustrated below with reference to Figures 2 to 4.

[0045] Figure 2 schematically shows the overall structure of the adjustable grid 310 according to an embodiment of the present disclosure. Figures 3(a) and 3(b) schematically show the structure of the liftable base plate 312 in Figure 2. Figure 3(a) shows the positional relationship between the base plate 312 and the lead screw and nut mechanism 313, and Figure 3(b) shows the connection between the lead screw and nut sleeve 3132 and the lead screw 3131.

[0046] As shown in Figures 2, 3(a), and 3(b), the adjustable mesh 310 includes a retaining component 311, a base plate 312, and a screw and nut mechanism 313. The retaining component 311 includes four partitions arranged around the base plate 312. The retaining form of the retaining component 311 depends on the shape of the base plate 312; for example, in some embodiments, the retaining component 311 forms a cylindrical partition. The partitions can be rigid structures or replaced with deformable mesh structures or flexible structures to adapt to the contours of different materials. The screw and nut mechanism 313 may include a screw 3131, a screw and nut sleeve 3132, and a connector 3133. Figure 3(a) shows a screw and nut mechanism 313 on each side of the base plate 312. The base plate 312 is connected to the screw and nut sleeve 3132 on both sides via the connector 3133 shown in Figure 3(b). The connector 3133 may include screws, connecting rods, and other components. The bottom of the lead screw 3131 can be connected to a drive mechanism (such as a motor, not shown in the figure).

[0047] During the depth adjustment process, the drive mechanism causes the lead screw 3131 to rotate, which in turn drives the lead screw nut sleeve 3132 to move up and down, thereby causing the base plate 312 to move up and down, thus changing the depth of the adjustable mesh and altering the size of the accommodating space.

[0048] Figure 4 schematically illustrates the structure of a base plate 312 according to an embodiment of the present disclosure. The base plate 312 shown in Figure 4 is one embodiment of the base plate in Figures 2, 3(a), and 3(b).

[0049] As shown in Figure 4, the base plate 312 may include multiple telescopic mechanisms 3121. The enclosure components 311 of the adjustable grid 310 are independent of the base plate 312, and the bottom of each partition can be mounted on a guide rail (not shown in the figure) for movement.

[0050] When adjusting in the length or width direction, one or two partitions located in the corresponding direction can move inward or outward along the guide rail, reducing or increasing the distance between the partitions. The telescopic mechanism 3121 of the base plate 312 can be a telescopic shaft structure. For example, when a partition begins to move inward or outward, the telescopic mechanism 3121 of the base plate 312 also begins to respond, synchronously telescopicating inward or outward. Once the partitions and the base plate 312 are adjusted to the desired position, the position of the partitions is locked, and the telescopic mechanism 3121 is locked, forming a new adjustable grid 310 that accommodates spatial changes.

[0051] In some embodiments, the control unit 500 can adjust the size of the containment space according to the target quantity and particle size of the target material to be contained in each adjustable grid 310. For example, a pre-simulated experiment can be conducted, placing materials of different particle sizes, quantities, and types in containment spaces of different sizes, and using a detection component to detect each placement condition (particle size, quantity, and type) to obtain detection results. The accuracy of the identified material type is evaluated based on the detection results. For accurately identified placement conditions, the correspondence between particle size, quantity, type, and containment space is obtained, for example, by storing this correspondence in a table. In practical applications, the control unit 500 can further adjust the containment space by looking up a table based on real-time feedback (such as material type, particle size, and current containment space size).

[0052] The particle size of a material usually refers to the size of the material particles. For example, the particle size of ore refers to the size of the ore particles. The particle size of ore can be determined by sieving, which is the maximum size of the ore particles that can pass through a sieve with a specific aperture.

[0053] The target material can be determined based on one or more factors such as material category and volume. The target quantity can be determined based on the accuracy of the target material identification. For example, if the target material is a metallic ore, two stacked metallic ores are prone to interference, leading to inaccurate identification; therefore, the target quantity is 1. If the target material is a non-metallic ore, two stacked non-metallic ores can be accurately identified, but three stacked in pairs or layers will result in inaccurate identification; therefore, the target quantity is less than or equal to 2. For example, using an X-ray image recognition algorithm, two stacked target materials will result in inaccurate identification; therefore, the target quantity is 1. If three target materials can be accurately identified even when stacked in pairs or layers, then the target quantity is less than or equal to 3.

[0054] In some embodiments, when the number of targets is greater than 1, adjacent target materials carried by the adjusted containment space do not stack, thereby reducing noise to the detection and improving identification accuracy.

[0055] For example, if the target material has a particle size of about 3mm, then the inner diameter of the adjusted containment space should be greater than 3mm multiplied by the target quantity. For instance, if the target quantity is 2, the inner diameter of the adjusted containment space should be 8mm, thus ensuring that adjacent target materials do not stack.

[0056] In the following embodiment, the target quantity is preferably 1, and each grid of the bearing component 300 is an adjustable grid 310.

[0057] In this embodiment, the materials may include ores, food, beverages, or other items to be sorted on a production line. By identifying the material information of the materials to be sorted, the materials are divided into multiple categories based on this information, and the different categories are then sorted. In specific classification, different classification methods may exist depending on the sorting requirements. Material categories may be classified according to shape and size, density, or substance content, etc., and this application is not limited in this regard. The target material can be determined based on parameters such as particle size or category. After determining the target material, the target quantity and the size of the storage space can be determined by looking up a table.

[0058] For example, taking ore beneficiation as an example, ores can be divided into metallic ores and non-metallic ores. Metallic ores include ferrous metals and non-ferrous metals, such as iron, manganese, and chromium; non-ferrous metal ores include copper, lead, zinc, aluminum, tin, molybdenum, nickel, antimony, and tungsten. Non-metallic ores include most oxygen-containing salt ores and some oxide and halide ores, such as diamond, quartz, Iceland spar, boron, tourmaline, mica, topaz, corundum, graphite, gypsum, asbestos, and fuel ores. When classifying ores, material categories are classified according to differences in the types of metals contained, their grade, and chemical composition. Taking ore beneficiation as an example, ores can be classified into three categories based on the content of a specific metal: high-grade ore (highest content of a specific metal), medium-grade ore (medium content of a specific metal), and low-grade ore (lowest content of a specific metal).

[0059] For example, the detected images include optical images and X-ray images. The optical image acquisition component 210 is used to capture optical images of the material to be sorted; the X-ray image acquisition component 220 is used to capture X-ray images of the material to be sorted; and the control unit 500 is used to acquire X-ray images and three-dimensional images, and to identify the category of the material.

[0060] Exemplarily, the X-ray image acquisition assembly 220 may include an X-ray source and an X-ray detector. For example, the X-ray source may be positioned above the material to be sorted, while the X-ray detector may be positioned below the material, such as below the conveyor belt of the conveyor assembly 100. The X-ray detector receives X-rays that have penetrated the material and converts them into an X-ray image.

[0061] For example, the optical image acquisition component 210 may include a three-dimensional structured light camera. This camera projects light with a specific pattern (such as striped or grid-like light) onto the surface of a material. By analyzing the deformation of the light pattern reflected from the material surface, the three-dimensional shape of the material is calculated to obtain a three-dimensional image. For example, the optical image acquisition component 210 may include a line laser binocular stereo camera. This camera uses a linear laser as a light source, projects a straight-line laser beam, and is equipped with two cameras that capture the projection of the laser line onto the material surface from different angles. By analyzing the difference in the position of the laser line in the images captured by the two cameras, the three-dimensional information of the material is calculated to obtain a three-dimensional image.

[0062] The control unit 500 may include a host computer, a terminal device (such as a mobile phone, laptop, desktop computer, or other device), or a server (such as a local server or cloud server). For example, the control unit 500 may perform the following operations: taking the X-ray image and the 3D image as inputs to the two branches of a deep learning model, extracting their respective features, then concatenating the feature maps of the X-ray image and the 3D image to obtain a richer feature representation, converting it into a new feature space through a fully connected layer, and using the softmax function in the classification layer to convert the output of the fully connected layer into a probability distribution to obtain the final recognition result. For example, in a binary classification scenario, the classification layer outputs the predicted probabilities of concentrate and tailings, and takes the one with the higher probability as the recognition result. In a three-class classification scenario, the classification layer outputs the predicted probabilities of concentrate, medium-grade ore, and tailings, and takes the one with the higher probability as the recognition result. It is understood that this disclosure does not limit the number of categories output by the classification layer, and can output predicted probabilities corresponding one-to-one with multiple pre-set categories.

[0063] The detection components may also include an area array camera, a hyperspectral imaging module, a LIBS (laser-induced decomposition spectroscopy) module, a PGNAA (prompt gamma neutron activation analysis) module, an online FTIR (Fourier transform infrared spectroscopy) module, and a magnetic resonance module, etc., for identifying materials within the grid.

[0064] Referring to Figure 1, the material sorting device also includes a material distribution assembly. For example, the material distribution assembly includes a material funnel and a material distribution pipe. The material funnel has a large opening to facilitate the input of materials. The material funnel includes a discharge port, and the material distribution pipe can be a spiral pipe, with its inlet connected and communicating with the discharge port of the material funnel. The outlet of the material distribution pipe extends above the support assembly 300 to place the materials in the corresponding material placement area.

[0065] In some embodiments, the fabric assembly is used to place multiple materials in multiple grids in batches, wherein the particle size of the materials in different batches is different, and the particle size of the materials in the same batch is approximately the same.

[0066] For example, a fabric assembly may include multiple sieves with different aperture sizes. First, using the smallest aperture sieve, such as 1mm (for example only), materials with a particle size smaller than 1mm are placed as a batch into multiple grids. Then, using a slightly larger aperture sieve, such as 2mm (for example only), materials with a particle size between 1mm and 2mm are placed as a batch into multiple grids. This process is repeated until all materials have been placed. The materials being of roughly the same particle size can be defined as having a particle size difference less than a certain threshold, such as 1mm (for example only).

[0067] In some embodiments, the control unit 500 is used to adjust the size of the accommodating space of the adjustable grid 310 that does not contain material according to the target quantity and particle size of each batch.

[0068] During the gradual distribution of materials in multiple batches, the materials in each batch can be determined in order of increasing particle size. For example, the control unit 500 can acquire the particle size of each batch, use that batch as the target material, determine the target quantity based on the particle size, and then uniformly change the size of the adjustable grid 310's capacity. If the adjustable grid 310 already contains material, no further adjustment is needed. Since the adjusted capacity is insufficient to accommodate materials with larger particle sizes, the new batch of material can be placed into an empty grid.

[0069] According to embodiments of this disclosure, batch fabrication can uniformly change the size of the accommodating space of the adjustable mesh 310 in each batch, which is beneficial for the adjusted accommodating space to be able to hold the target quantity of target material in the corresponding batch.

[0070] In some implementations, the multiple grids include multiple adjustable grids 310, wherein the multiple adjustable grids 310 are located in multiple regions, each region including at least one adjustable grid 310; the control unit 500 is used to adjust the accommodating space of each adjustable grid 310 according to the multiple regions, wherein the accommodating space of the adjustable grids 310 in different regions is different in size, and the accommodating space of the adjustable grids 310 in the same region is approximately the same in size.

[0071] For example, in a scenario where multiple materials are laid in batches using a fabric assembly, multiple areas can correspond one-to-one with multiple batches. That is, the target material carried by the adjustable mesh 310 within each area is the material of the corresponding batch. Therefore, the accommodating space of the adjustable mesh 310 within each area is adjusted according to the particle size of the material in the corresponding batch. This allows for simultaneous adjustment of multiple areas, reducing adjustment time and facilitating rapid batch laying by the fabric assembly.

[0072] Figure 5 schematically shows a top view of an adjustable grid 310 according to an embodiment of the present disclosure.

[0073] In some implementations, multiple regions are distributed sequentially along the target direction, and the accommodating space of the adjustable grid 310 in adjacent regions gradually increases along the target direction. The material sorting device also includes a leveling component (not shown in the figure), which is used to push multiple materials placed in the first region along the target direction until they pass through the second region. The first region is the region with the largest accommodating space of the adjustable grid 310 among the multiple regions, and the second region is the region with the smallest accommodating space of the adjustable grid 310 among the multiple regions.

[0074] The leveling component may include a push rod or a push plate. When each batch of material is placed in its corresponding area, there may be accumulation. The leveling component can push the accumulated material into each grid. As shown in Figure 5, areas A, B, and C are distributed along the target direction, and the capacity of the adjustable grid 310 in each area gradually increases. The batch of material in area A has the smallest particle size, and the batch in area C has the largest particle size. Using the leveling component to push the material in the target direction shown in Figure 5, the smallest particle size material can first fall into the grid of area A, while larger particle sizes cannot. Then, slightly larger particle sizes can fall into the grid of area B, while the largest particle size cannot. Finally, the largest particle size material falls into the grid of area C. This ensures that at least some of the material particle sizes match the grid capacity to a certain extent.

[0075] In some implementations, each of the multiple grids includes a bearing surface and a containment component 311. The containment component 311 is telescopically mounted on the bearing surface, wherein the containment component 311 and the bearing surface form a receiving space; when the detection assembly detects multiple materials, the containment component 311 retracts to a predetermined position, wherein, at the predetermined position, the top of the containment component 311 is lower than or substantially flush with the bearing surface.

[0076] The structure of the adjustable mesh 310 is shown in Figure 2. The structure of the non-adjustable mesh can be based on the structure shown in Figure 2 by removing the screw and nut mechanism 313. The bearing surface is the upward-facing surface of the base plate 312 shown in Figure 2, used to bear materials. For example, the enclosure component 311 may include a telescopic spring assembly. The telescopic spring assembly consists of components such as a spring and a threaded rod, and is assembled at the bottom of the enclosure component 311. The compression or release of the spring by the threaded rod provides the power for the enclosure component 311 to extend or retract. It is understood that the extension and retraction of the enclosure component 311 can use other mechanical structures besides the telescopic spring assembly, and this disclosure does not limit it.

[0077] When the detection components detect multiple materials, the optical image acquisition component 210 and the X-ray image acquisition component 220 may capture images of the barrier component 311 while capturing images of the materials to be sorted. Since the barrier component 311 is close to the materials, it will cause interference during image recognition and reduce the accuracy of material type recognition.

[0078] According to embodiments of this disclosure, by providing a retractable enclosure component 311, it is possible to avoid capturing images of the enclosure component 311, thereby reducing interference during image recognition and improving the accuracy of material type identification.

[0079] In some implementations, the material sorting device further includes a first suction assembly, which includes a plurality of first suction ports corresponding one-to-one with a plurality of grids, each first suction port being mounted on the bearing surface of the corresponding grid; in response to the enclosure member 311 retracting to a predetermined position, each first suction port generates a suction force toward the bearing surface on the material carried in the grid.

[0080] Referring to Figure 1, the conveying assembly 100 transports the carrier assembly 300 to the detection area of ​​the detection assembly. While the optical image acquisition assembly 210 and the X-ray image acquisition assembly 220 are capturing images, the conveying assembly 100 remains in transport mode, and the carrier assembly 300 continues to move within the detection area. After the enclosure component 311 retracts to a predetermined position, suction is used to fix the material in each grid to prevent relative movement between the material and the conveyor belt and the grid from leaving its location, thus improving sorting accuracy.

[0081] In detail, a photoelectric sensor can be installed in the detection area. The transmitting and receiving ends of the photoelectric sensor can be distributed on both sides of the conveyor belt in the conveying direction. First, the carrier component 300 is conveyed into the detection area, causing the light propagation between the transmitting and receiving ends to be blocked. Then, the control unit 500 receives the signal from the photoelectric sensor and controls the enclosure component 311 to retract to a predetermined position. Then, the control unit 500 receives the signal that the enclosure component 311 has retracted to the predetermined position, or waits for a certain period of time, and sends a command to control the optical image acquisition component 210 and the X-ray image acquisition component 220 to capture images, and sends a command to control each first suction port to generate a suction force towards the bearing surface of the material carried by its grid. Then, the carrier component 300 continues to move within the detection area until the light propagates normally between the transmitting and receiving ends. Then, the control unit 500 receives the signal from the photoelectric sensor and controls the enclosure component 311 to extend. Then, the control unit 500 receives a signal that the enclosure component 311 has extended to the target position, or waits for a certain period of time, and sends a command to control the optical image acquisition component 210 and the X-ray image acquisition component 220 to stop capturing images, and sends a command to control each first suction port to stop generating suction.

[0082] In some implementations, the grid containing each material is flipped when it is close to the target location of each material; the control unit 500 is used to sort each material from the flipped grid to the target location that matches its identification result.

[0083] For example, the grids of the support component 300 are independent of each other, and the grid containing the material near the target position can be taken out of the support component 300. For example, after the control unit 500 controls the robotic arm to take out the grid, it moves it above the target position and causes the material in it to fall into the target position (such as the target distribution bin) by flipping it.

[0084] According to embodiments of this disclosure, materials are sorted to target locations by flipping each grid unit, which can avoid inaccurate spraying and sorting errors. For example, in this embodiment, by combining adjustable grids and photoelectric technology for accurate sorting of foam or powder materials, it is possible to avoid the pollution caused by foam or powder materials scattering into the surrounding environment during spraying. This has certain advantages in reducing energy consumption caused by inaccurate sorting and reducing environmental pollution.

[0085] Unlike each grid which can be flipped independently, as shown in Figure 1, the carrier component 300 can be flipped as a whole first and then approached the target position of each material for sorting.

[0086] In some implementations, the material sorting device also includes a second suction assembly. The second suction assembly includes a plurality of second suction ports corresponding one-to-one with a plurality of grids, each second suction port being mounted on the bearing surface of the corresponding grid; each second suction port, in response to the rotation of the grid it is in, generates a suction force toward the bearing surface on the material carried by the grid in that grid.

[0087] For example, the second suction component can be the first suction component described above, and the second suction port is the first suction port described above. Alternatively, the second suction component can be a different component from the first suction component described above, and the two are independent of each other. Accordingly, the first suction port and the second suction port are also independent of each other. The first suction port or the second suction port may include, for example, a suction cup structure.

[0088] After the entire load-bearing component 300 is flipped over, all the materials in the grid are subjected to gravity. However, some materials in the grid have not reached the target position. Therefore, the second suction component can be used to generate suction on the materials that have not reached the target position, so that they are fixed in the grid, preventing them from falling prematurely before reaching the target position and reducing the probability of sorting errors.

[0089] In some embodiments, the control unit 500 sorts each material from its flipped grid to a target position that matches its identification result by controlling the second suction port of the grid containing each material to stop generating suction towards the bearing surface, so that the material falls into the target position that matches its identification result.

[0090] When the identification result of a material indicates that it should be sorted into a certain sorting bin 400, the target position is determined. When the material approaches the target position, for example, when it is above the target position, the control unit 500 will control the second suction port of the grid containing the material to stop sucking it up, causing it to fall into the specific sorting bin 400.

[0091] Taking the case where the first and second suction ports are independent as an example, referring to Figure 1, for instance, the support component 300 may only flip after the detection is completed and the enclosure component 311 extends from the predetermined position to the target position. Therefore, taking the flipping moment of the support component as the boundary, before the flipping moment, during the detection process of the support component 300, the first suction port performs a suction operation, while the second suction port does not perform a suction operation. After the flipping moment, the second suction port performs a suction operation, while the first suction port does not perform a suction operation. The flipping moment can be the moment when the angle between the bottom surface of the support component and the horizontal plane is greater than or equal to a predetermined angle (such as a 10-degree angle, for example only).

[0092] According to embodiments of this disclosure, the material within each grid can be accurately sorted through the coordinated operation of the control unit 500 and the second suction assembly.

[0093] In some embodiments, each second suction port generates a suction force toward the bearing surface on the material carried by the grid, the magnitude of which is proportional to the size of the accommodating space of the grid.

[0094] It's understandable that different sized suction chambers can hold different amounts of material. Larger chambers can hold a greater total weight of material, while smaller chambers can hold a smaller total weight. Therefore, if the same suction force is used for all chambers of different sizes, some material may not be sucked up and may fall out. Alternatively, if all the material that should be sucked up is successfully sucked up, the suction force may be too strong for some materials, leading to waste.

[0095] For example, simulation experiments can be conducted beforehand to determine the correlation between the storage space, material type, material weight, and suction force. For instance, with a target quantity of one, high-grade ore with a particle size of 4mm is placed in a grid with a matching storage space. Then, the grid or the entire support assembly is flipped. During the flipping process, the second suction port of the grid generates suction force towards the support surface. For example, the maximum suction power is initially used, and then gradually reduced until the 4mm high-grade ore falls off, thus achieving a suitable suction force.

[0096] According to embodiments of this disclosure, the suction power can be specifically allocated based on the size of the accommodating space of each grid, so as to save energy while successfully suctioning all the material to be sucked up.

[0097] In some embodiments, each second suction port generates a suction force toward the bearing surface on the material carried by the grid, the magnitude of which is proportional to the depth of the grid.

[0098] It's understandable that different mesh depths can hold different amounts of material, thus requiring different suction power. Suction power can be increased as mesh depth increases to ensure the stability of the material contained within the mesh.

[0099] For example, simulations can be conducted beforehand for different depths, material types, and material weights to obtain the correlation between depth, material type, material weight, and suction power. For instance, multiple combinations of length and width can be provided, with different grid depths adjusted for each combination, and the correlation between various material types, material weights, and suction power determined at each depth.

[0100] According to embodiments of this disclosure, the required suction force can be automatically adjusted for the quantity and type of material carried by grids of different depths, improving flexibility and efficiency while saving energy.

[0101] In some embodiments, the first or second suction assembly may be omitted; for example, a cover may be installed on top of each grid. The control unit 500 can control the opening and closing of each cover. For example, the cover is open when the grid is not carrying material. The cover is closed when the grid is carrying material to prevent other material from entering. The cover closes when a grid or the carrying assembly 300 is flipped over to prevent material from falling. When material reaches above a target location, the cover of the grid containing that material opens, allowing it to fall into the target location.

[0102] Figure 6 schematically illustrates the structure of a first conveying assembly 110 according to an embodiment of the present disclosure.

[0103] In some embodiments, the material sorting device includes a first conveying assembly 110 for conveying the carrier assembly 300, wherein the first conveying assembly 110 includes a first conveying section 111 and a second conveying section 112. The second conveying section 112 is connected end-to-end with the first conveying section 111 to form an annular conveying section for conveying the carrier assembly 300; wherein the first conveying section 111 and the second conveying section 112 are opposite each other, and the carrier assembly 300 gradually rotates as it is conveyed from the first conveying section 111 to the second conveying section 112, and the second conveying section 112 is used to convey the carrier assembly 300 to approach the target position of each material.

[0104] The first conveying assembly 110 shown in Figure 6 is one embodiment of the conveying assembly 100, and it may have the same structure as the conveying assembly 100 shown in Figure 1. Referring to Figure 6, the first conveying segment 111 and the second conveying segment 112 can be distinguished by the center line. It is understood that this disclosure is not limited to using the center line as the dividing point between the first conveying segment 111 and the second conveying segment 112. For example, during the process of the carrier assembly 300 being conveyed from the first conveying segment 111 to the second conveying segment 112, when the flipping angle reaches a certain threshold, it can serve as the dividing point between the first conveying segment 111 and the second conveying segment 112. For example, the bottom surface of the carrier assembly 300 forms a 0-degree angle with the center line in the first conveying segment 111, and after complete flipping, its bottom surface forms a 180-degree angle with the center line in the second conveying segment 112. When the flipping angle reaches a certain threshold, the bottom surface of the carrier assembly 300 may form a 30-degree angle with the center line.

[0105] The bottom of the carrying component 300 can be fixedly connected to the conveyor belt of the first conveying component 110, so that it will not leave the conveyor belt of the first conveying component 110 during the flipping process. Referring to Figure 6, after the carrying component 300 is placed and identified in the first conveying section 111 above the first conveying component 110, the carrying component 300 is moved from the first conveying section 111 to the second conveying section 112 below the first conveying component 110. At this time, the carrying component 300 is flipped 180 degrees, but all the materials are sucked up and cannot fall, or the grid surface is provided with a cover, and the grid is covered with the cover after identification; when a grid moves to the target position corresponding to the material it contains, the suction stops, or the cover is opened, and the material falls freely; other materials continue to move to their respective target positions.

[0106] According to embodiments of this disclosure, the carrying component 300 can be gradually rotated through the conveying path of the first conveying component 110, and the accurate sorting of materials in each grid can be achieved in conjunction with the control unit 500 and the second suction component.

[0107] In some embodiments, the bottom of each of the plurality of grids includes an open state or a closed state, which is used to hold material when closed; the control unit 500 is used to place the bottom of the grid containing each material in the open state so that the material falls into the target position that matches its identification result.

[0108] Unlike the above-described embodiment that sorts materials by flipping, the conveying assembly 100 may include a second conveying assembly (not shown in the figure). For example, the carrying assembly 300 may also be placed on the second conveying assembly that moves in a circular motion from a top view angle and be conveyed; in this case, the grid may not flip throughout the entire process, so no material suction is required; during material discharge, when the material moves to the corresponding target position, the corresponding cover is opened to allow the material to fall freely.

[0109] According to embodiments of this disclosure, material sorting can be achieved by opening the bottom of the grid during the conveying process of the carrying component 300, which is highly convenient.

[0110] According to the material sorting device provided in this disclosure, a material sorting method is also provided.

[0111] Figure 7 schematically illustrates a flowchart of a material sorting method according to an embodiment of the present disclosure.

[0112] As shown in Figure 7, the material sorting method of this embodiment includes:

[0113] In operation S710, multiple grids are made to carry multiple materials, wherein the size of the accommodating space inside at least one adjustable grid 310 of the multiple grids is adjustable, and the adjusted accommodating space is used to carry a target quantity of target materials; for example, multiple grids of the carrying assembly 300 are made to carry multiple materials.

[0114] In operation of S720, multiple materials carried by multiple grids are detected to obtain detection images; for example, detection images are obtained using detection components, and the detection images may include optical images and X-ray images.

[0115] In operation S730, the detected image is processed to obtain the identification results of each material among multiple materials, so as to sort each material from its grid to the target location that matches its identification result. For example, operation S730 is performed by control unit 500 to sort each material.

[0116] In some embodiments, the control unit 500 adjusts the size of the accommodating space according to the target quantity and the particle size of the target material.

[0117] In some embodiments, when the target quantity is greater than 1, adjacent target materials held in the adjusted containment space do not stack.

[0118] In some embodiments, multiple materials are placed in multiple grids in batches, wherein the particle size of the materials in different batches is different, and the particle size of the materials in the same batch is approximately the same. For example, a fabric assembly is used to achieve batch fabrication.

[0119] In some embodiments, the control unit 500 adjusts the size of the accommodating space of the adjustable grid 310 that does not contain material according to the target quantity and particle size of each batch.

[0120] In some embodiments, the plurality of grids includes a plurality of adjustable grids 310, wherein the plurality of adjustable grids 310 are located in a plurality of regions, each region including at least one adjustable grid 310; the control unit 500 adjusts the accommodating space of each adjustable grid 310 according to the plurality of regions, wherein the accommodating space of the adjustable grids 310 in different regions is different in size, and the accommodating space of the adjustable grids 310 in the same region is approximately the same in size.

[0121] In some embodiments, each of the plurality of grids includes a bearing surface and a containment member 311. The containment member 311 is telescopically mounted on the bearing surface, wherein the containment member 311 and the bearing surface form a receiving space; when the detection assembly detects multiple materials, the containment member 311 retracts to a predetermined position, wherein, at the predetermined position, the top of the containment member 311 is lower than or substantially flush with the bearing surface.

[0122] In some embodiments, the material sorting device further includes a first suction assembly. The first suction assembly includes a plurality of first suction ports corresponding one-to-one with a plurality of grids, each first suction port being mounted on the bearing surface of the corresponding grid; in response to the enclosure member 311 retracting to a predetermined position, each first suction port generates a suction force toward the bearing surface on the material carried in the grid.

[0123] In some embodiments, when the target location of each material is close, the grid in which the material is located is flipped; causing the control unit 500 to sort each material from its flipped grid to a target location that matches its identification result.

[0124] In some embodiments, the material sorting device further includes a second suction assembly. The second suction assembly includes a plurality of second suction ports corresponding one-to-one with a plurality of grids, each second suction port being mounted on the bearing surface of the corresponding grid; each second suction port generates a suction force toward the bearing surface on the material carried by the grid in response to the grid flipping.

[0125] In some embodiments, the control unit 500 sorts each material from its flipped grid to a target position that matches its identification result by: causing the control unit 500 to control the second suction port of the grid where each material is located to stop generating suction towards the bearing surface, so that the material falls into the target position that matches its identification result.

[0126] In some embodiments, each second suction port generates a suction force toward the bearing surface on the material carried by the grid, the magnitude of which is proportional to the size of the accommodating space of the grid.

[0127] In some embodiments, the material sorting device further includes a first conveying component 110 for conveying the carrying component 300, wherein the first conveying component 110 includes a first conveying section 111; and a second conveying section 112 connected end-to-end with the first conveying section 111 to form an annular conveying section for conveying the carrying component 300; wherein the first conveying section 111 and the second conveying section 112 are opposite to each other, and the carrying component 300 gradually rotates as it is conveyed from the first conveying section 111 to the second conveying section 112, so that the second conveying section 112 conveys the carrying component 300 to approach the target position of each material.

[0128] In some embodiments, the bottom of each of the plurality of grids includes an open state or a closed state, which is used to hold material when closed; the control unit 500 causes the bottom of the grid containing each material to be placed in the open state so that the material falls into the target position that matches its identification result.

[0129] The above-described one or more embodiments have the following beneficial effects: Because the internal capacity of the adjustable grid is adjustable, it can hold a target quantity of material that is compatible with the detection method, detection parameters, or detection performance of the detection component, thereby avoiding interference with the detection component and maintaining high detection accuracy. The adjustable grid design can adapt to materials of different sizes and types, increasing the flexibility of the sorting process and improving sorting efficiency and accuracy. For example, by combining the adjustable grid with photoelectric technology for accurate sorting of shavings or powders, it is possible to avoid pollution caused by splattering of shavings or powders into the surrounding environment during spraying. This offers advantages in reducing energy consumption caused by inaccurate sorting and reducing environmental pollution.

[0130] For any part not mentioned in the method section, please refer to the various embodiments of the apparatus described above. That is, the method section includes various steps performed using any of the structural embodiments described above. Furthermore, the implementation methods, technical problems solved, functions achieved, and technical effects of each corresponding step in the method section embodiments are the same as or similar to the implementation methods, technical problems solved, functions achieved, and technical effects of each component in the apparatus section embodiments, and will not be repeated here.

[0131] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure can be combined or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0132] The embodiments described above are for illustrative purposes only and are not intended to limit the scope of this disclosure. 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 disclosure 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 disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A material sorting device, comprising: A support component includes multiple grids for supporting multiple materials, wherein the size of the accommodating space inside at least one adjustable grid is adjustable, and the adjusted accommodating space is used to support a target quantity of target materials; A detection component is used to detect the multiple materials carried by the multiple grids and obtain a detection image; The control unit is used to process the detected image to obtain the identification result of each material among the plurality of materials, so as to sort each material from its grid to the target position that matches its identification result.

2. The material sorting device according to claim 1, wherein, The control unit is used to adjust the size of the containment space according to the number of targets to be carried by the adjustable grid and the particle size of the target material.

3. The material sorting device according to claim 1 or 2, wherein, When the number of targets is greater than 1, no stacking occurs between adjacent target materials held in the adjusted containment space.

4. The material sorting device according to claim 2, wherein, The material sorting device further includes: A fabric assembly for placing the plurality of materials into the plurality of grids in batches, wherein the particle size of the materials in different batches is different, and the particle size of the materials in the same batch is approximately the same.

5. The material sorting device according to claim 4, wherein, The control unit is used to adjust the size of the accommodating space of the adjustable grid that does not hold material, based on the target quantity and particle size of each batch.

6. The material sorting device according to claim 5, wherein, The plurality of grids includes a plurality of adjustable grids, wherein the plurality of adjustable grids are located in a plurality of regions, and each region includes at least one adjustable grid; The control unit is used to adjust the accommodating space of each adjustable grid according to the multiple regions, wherein the accommodating space of the adjustable grid in different regions is different, and the accommodating space of the adjustable grid in the same region is approximately the same.

7. The material sorting device according to claim 1, wherein, Each of the plurality of grids includes: Bearing surface; A fencing component is retractably mounted on the bearing surface, wherein the fencing component and the bearing surface constitute the receiving space; When the detection component detects the plurality of materials, the enclosure component retracts to a predetermined position, wherein, at the predetermined position, the top of the enclosure component is lower than or approximately flush with the bearing surface.

8. The material sorting device according to claim 7, wherein, The material sorting device further includes: The first suction assembly includes a plurality of first suction ports corresponding one-to-one with the plurality of grids, and each first suction port is mounted on the bearing surface of the corresponding grid; In response to the enclosure component retracting to a predetermined position, each of the first suction ports generates a suction force toward the bearing surface on the material carried by the grid.

9. The material sorting device according to claim 1, wherein, When the material is near its target location, the grid containing that material flips. The control unit is used to sort each material from its flipped grid to a target location that matches its identification result.

10. The material sorting device according to claim 9, wherein, The material sorting device further includes: The second suction assembly includes a plurality of second suction ports corresponding one-to-one with the plurality of grids, and each second suction port is mounted on the bearing surface of the corresponding grid; Each of the second suction ports, in response to the flipping of the grid it is in, generates a suction force on the material carried by the grid toward the bearing surface.

11. The material sorting device according to claim 10, wherein, The control unit is used to sort each material from its flipped grid to a target location that matches its identification result, including: The control unit is used to control the second suction port of each material grid to stop generating suction towards the bearing surface, so that the material falls into the target position that matches its identification result.

12. The material sorting device according to claim 10, wherein, The magnitude of the suction force exerted by each second suction port on the material carried by its grid toward the carrying surface is proportional to the size of the space contained in the grid.

13. The material sorting device according to claim 10 or 12, wherein, Each of the second suction ports generates a suction force towards the surface of the material carried by the grid, the magnitude of which is proportional to the depth of the grid.

14. The material sorting device according to claim 9, wherein, The material sorting device further includes a first conveying component for conveying the carrying component, wherein the first conveying component includes: First conveyor section; The second conveying section is connected end-to-end with the first conveying section to form a ring-shaped conveying section for conveying the load-bearing component; The first conveying section is opposite to the second conveying section, and the carrying component gradually flips as it is conveyed from the first conveying section to the second conveying section. The second conveying section is used to convey the carrying component to the target position of each material.

15. The material sorting device according to claim 1, wherein, The bottom of each of the plurality of grids includes an open state or a closed state, which is used to hold materials when the grid is closed; The control unit is used to open the bottom of the grid containing each material so that the material falls into the target position that matches its identification result.

16. A material sorting method, comprising: Multiple grids can hold multiple materials, wherein the size of the internal holding space of at least one adjustable grid is adjustable, and the adjusted holding space is used to hold a target quantity of target materials; Detect the multiple materials carried by the multiple grids to obtain a detection image; The detected image is processed to obtain the identification result of each material among the plurality of materials, so as to sort each material from its grid to the target position that matches its identification result.

Images