WO2024217407A1

WO2024217407A1 - Sorting method, sorting system and sorting apparatus for mining blowing

Info

Publication number: WO2024217407A1
Application number: PCT/CN2024/088022
Authority: WO
Inventors: 汪海山; 周承丞
Original assignee: 北京霍里思特科技有限公司
Priority date: 2023-04-18
Filing date: 2024-04-16
Publication date: 2024-10-24

Abstract

Provided in the present application are a sorting method, sorting system and sorting apparatus for mining blowing. The sorting method is used for at least sorting a first object block out of sorting objects containing the first object block and a second object block, and comprises: an information acquisition step: when the first object block is adjacent to the second object block, acquiring first object block information corresponding to the first object block and second object block information corresponding to the second object block; a blowing range determination step: comparing the first object block information with the second object block information to determine, at least on the basis of a comparison result, a first target blowing range containing the mass center position of the first object block; and a blowing step: generating first blowing data on the basis of the first target blowing range, and executing a blowing operation on the first object block according to the first blowing data. Therefore, the sorting precision of mining blowing can be improved.

Description

A mining injection sorting method, sorting system and sorting equipment

This application is based on and enjoys the priority of Chinese patent application CN202310415729.4 (filing date: April 18, 2023) and CN202310418378.2 (filing date: April 18, 2023). This application includes all the contents of the application by reference.

Technical Field

The present application generally relates to the technical field of mining injection, and more specifically, to a sorting method, a sorting system, and a sorting device for mining injection.

Background Art

In the mining process, some waste rock or ore with low useful target components is often mixed in, making the purity of the ore low, so it is necessary to screen (sort) the mined blocks, for example, the ore and waste rock can be separated to extract the ore with higher purity. In addition, considering the needs of industrial production, there are also cases where waste rock, tailings and concentrates in the mined blocks are separated, or tailings, middlings and concentrates in the mined blocks are separated.

When sorting the mined blocks, firstly, the blocks are collected, identified and processed by the mining collection system to generate block information. Then, a sorting machine is used to determine the injection range based on the block information, and then the mined blocks are injected and sorted. However, at present, the injection range is usually determined by making a circumscribed rectangle for the outer contour (or boundary) of the block to be injected, so as to determine the injection range based on the circumscribed rectangle. Although the calculation amount of this method is small, it only considers the block information of the current block and ignores the surrounding blocks, resulting in a high probability of misinjection. The airflow generated by the injection based only on the block information of the current block may cause the surrounding blocks to deviate or rotate, resulting in low sorting accuracy.

In addition, in the prior art, when adjusting the spray range to avoid accidental spraying of surrounding objects, the position of the object's center of mass is usually not taken into consideration, resulting in a deviation between the adjusted spray range and the object's center of mass, causing the sprayed jet to flip the object, resulting in a waste of energy and causing the object to The translation energy is insufficient, and it cannot fly according to the envisioned trajectory, which also reduces the sorting accuracy.

Therefore, in the prior art, how to further improve the sorting accuracy of mining injection has become a technical issue.

Summary of the invention

The purpose of the present application is to provide a mining blowing sorting method that can improve the sorting accuracy. In order to achieve the above purpose, one scheme of the present application is a mining blowing sorting method, which is used to sort out at least the first block from a sorting object containing a first block and a second block; including: S1: information acquisition step, when the first block is adjacent to the second block, obtaining the first block information corresponding to the first block and the second block information corresponding to the second block; S2: blowing range determination step, comparing the first block information with the second block information, and determining the first target blowing range containing the center of mass position of the first block at least based on the comparison result; S3: blowing step, generating first blowing data based on the first target blowing range, and performing a blowing operation on the first block according to the first blowing data.

According to the aforementioned technical solution, the blowing range of the first object can be determined around the center of mass of the first object. While avoiding the blowing airflow interfering with the surrounding second objects, the airflow can also be prevented from deviating from the center of mass of the first object and causing the first object to flip over, thereby avoiding the energy loss and flight trajectory error caused by the flipping of the first object.

In a preferred embodiment, in the blowing range determination step, comparing the first block information with the second block information includes: when the first block and the second block are not blocks of the same type, comparing the positional relationship between a first initial blowing range of the first block and an outer contour of the second block, wherein the first initial blowing range is determined at least based on the outer contour information of the first block.

According to the aforementioned technical solution, when the first block and the second block are not of the same type, the first initial blowing range is compared with the outer contour of the second block to determine whether blowing the first block will interfere with the second block.

In a preferred embodiment, if there is an intersection between the first initial blowing range and the outer contour of the second object, the first initial blowing range is narrowed to obtain the first target blowing range; otherwise, the first initial blowing range is determined as the first target blowing range. Blowing range.

According to the aforementioned technical solution, whether to reduce the first initial blowing range is determined based on whether the first initial blowing range intersects with the outer contour of the second object.

In a preferred embodiment, when the first block and the second block are of the same type: if there is an intersection between the first initial blowing range and the second initial blowing range, and the first initial blowing range is larger than the second initial blowing range, the first initial blowing range is narrowed to obtain a first target blowing range; wherein the second initial blowing range is determined based at least on the outer contour information of the second block; if there is no intersection between the first initial blowing range and the second initial blowing range, the first initial blowing range is determined as the first target blowing range.

According to the aforementioned technical solution, when the first block and the second block are of the same type, since the second block also needs to be sprayed, it is determined whether to narrow the first initial blowing range based on whether there is an intersection between the first initial blowing range and the second initial blowing range.

In a preferred embodiment, when reducing the first initial blowing range, the outer contour of the first block is reduced in such a manner as to keep its center of mass consistent, and then the first target blowing range is generated based on the reduced outer contour of the first block.

According to the aforementioned technical solution, when reducing the first initial blowing range, the center of mass position of the first object block is ensured to remain unchanged, the outer contour of the first object block is first reduced around the center of mass position, and then the first target blowing range is determined based on the reduced outer contour.

In a preferred embodiment, when the first initial blowing range is reduced, the outer contour of the first block is proportionally reduced toward the center of mass thereof.

According to the aforementioned technical solution, the outer contour of the first block is proportionally reduced toward its center of mass, which can reduce the amount of calculation while maintaining the consistency of the center of mass and improve the calculation efficiency.

In a preferred embodiment, the reduced size of the outer contour of the first block is determined based on the size of an overlapping area between the first initial blowing range and the outer contour of the second block or the second initial blowing range.

According to the aforementioned technical solution, the reduced size of the outer contour of the first block can be reasonably determined to avoid excessive reduction.

In a preferred embodiment, if the first initial spray range is If there is an intersection between the blowing ranges and the first initial blowing range is smaller than the second initial blowing range, the second initial blowing range is reduced to obtain a second target blowing range; if there is no intersection between the first initial blowing range and the second initial blowing range, the second initial blowing range is determined as the second target blowing range; second blowing data is generated based on the second target blowing range, and a blowing operation is performed on the second object according to the second blowing data.

According to the aforementioned technical solution, when the first initial blowing range and the second initial blowing range intersect, the relatively smaller range therein is reduced to improve the operating efficiency.

In a preferred embodiment, the first object block information includes at least the outer contour information of the first object block; and the second object block information includes at least the outer contour information of the second object block.

In a preferred embodiment, the first spraying data includes the number of corresponding nozzles, the positions of corresponding nozzles, the opening time of corresponding nozzles and/or the pressure of the corresponding nozzles sprayed.

In addition, another aspect of the present application is a mining blowing sorting system, which is used to sort out at least the first block from a sorting object containing a first block and a second block; it includes at least one sorting control unit, at least one sorting execution unit and at least one blowing unit; when the first block is adjacent to the second block, the at least one sorting control unit is used to receive first block information corresponding to the first block and second block information corresponding to the second block; the first block information is compared with the second block information, and a first target blowing range is determined based on at least the comparison result and the center of mass position of the first block; first blowing data is generated based on the first target blowing range; and the at least one sorting execution unit controls the blowing unit to perform a blowing operation on the first block according to the first blowing data.

In addition, another aspect of the present application is a mining injection sorting device, comprising: a processor; a memory, which stores program instructions for mining injection sorting, and when the program instructions are executed by the processor, the aforementioned mining injection sorting method is implemented.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other purposes, features and advantages of the exemplary embodiments of the present application will become easier to understand by reading the following detailed description with reference to the accompanying drawings. Several embodiments of the present application are shown in a non-limiting manner, and the same or corresponding numbers represent the same or corresponding parts, wherein:

FIG. 1 is an exemplary schematic diagram of a separation method using blasting for mining.

FIG. 2 is another exemplary schematic diagram of a mine blowing separation method.

FIG. 3 is an exemplary flow chart of a separation method using mining injection.

FIG. 4 is a schematic diagram showing the principle of cache duration.

FIG. 5 is an exemplary schematic diagram of determining a first target blowing range.

FIG. 6 is an exemplary structural block diagram of a separation system for mining injection.

FIG. 7 is an exemplary structural block diagram of a mine-blasting sorting device.

Caption of the attached figure:
101 Blocks
102 chute
103 ray source
104 detectors
105 Blowing Unit
201 conveyor belt
202 Camera
500 sorting system
501 sorting control unit
502 sorting execution unit
503 Blowing Unit
900 sorting equipment
901 processor
902 Memory

DETAILED DESCRIPTION

The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the accompanying drawings. It should be understood that the embodiments described in this specification are only some embodiments provided by the present application to facilitate a clear understanding of the solutions and comply with legal requirements, and are not necessarily All other embodiments obtained by those skilled in the art based on the embodiments disclosed in this specification without creative work are within the scope of protection of this application.

As described in the background technology, in the mining process, some waste rocks or ores with low useful target components are often mixed, making the purity of the ore low, so it is necessary to screen (sort) the mined blocks. For example, in some scenarios, by separating the ore and the waste rock, a higher purity ore is extracted. In some scenarios, considering the needs of industrial production, the concentrate with high useful target components and the tailings with low useful target components in the ore can also be sorted, so as to separate the waste rock, tailings and concentrate in the mined blocks or the tailings, middlings and concentrates in the mined blocks to extract higher purity ore. It can be understood that although the foregoing only describes two types of sorting (ore, waste rock) and three types of sorting (waste rock, tailings and concentrate, or tailings, middlings and concentrate), it does not exclude the situation that there are more than three types of sorting, such as four types of sorting of waste rock, tailings, middlings and concentrates, and this application is not limited here.

In actual application scenarios, when sorting the mined blocks, the mined blocks can first be transmitted to the mining collection system via a transmission mechanism such as a chute or a conveyor belt, and then the blocks are collected, identified, and processed by the collection system to generate block information. Furthermore, the block information is transmitted to the host computer via the collection system, and then the block information is transmitted to the sorting system via the host computer, and the sorting system sprays and sorts the mined blocks according to the aforementioned block information. In an implementation scenario, the aforementioned collection system may include at least a ray source (such as X-rays) and a detector. In addition, the aforementioned collection system may also include equipment such as cameras, that is, through multi-spectral fusion recognition, to solve the sorting of complex characteristic ores. In an implementation scenario, the sorting system may include a control panel, an execution panel, and a blowing unit to achieve the blowing and sorting of the mined blocks.

FIG1 is an exemplary schematic diagram of a mining blasting sorting method. As shown in FIG1 , the mined block 101 is first transferred to the mining collection system via a transmission structure such as a chute 102. As exemplified in the figure, the collection system includes a ray source 103 arranged above the chute 102 and a detector 104 arranged below the chute 102. In the implementation scenario, when the block 101 is transferred to the collection system via the chute 102, the ray source 103 emits rays to the block 101, and the detector 104 receives the rays transmitted by the block to collect data related to the block. It can be understood that when collecting data related to the block, the data is scanned by the collection system. Scan the blocks in the vertical direction of the plane where the chute 102 is located. The vertical direction here refers to the cross-sectional direction of the chute 102 perpendicular to the forward direction of the blocks 101 during transportation. Therefore, after scanning multiple rows of blocks 101, the data related to the blocks can be processed into a two-dimensional image, and then the two-dimensional image is analyzed and identified to obtain the block information. Based on the obtained block information, the spray range can be determined according to the block information and the spray data can be generated, and then the blocks are sprayed through a spray unit 105 so that the blocks fall into the corresponding area to achieve sorting. As an example, after the above sorting, the blocks 101 are sorted into two categories.

FIG2 is another exemplary schematic diagram of a mining blasting sorting method. As shown in FIG2, the mined block 101 is first transmitted to the mining collection system via a transmission structure such as a conveyor belt 201. As shown in the figure, the collection system includes a ray source 103 arranged above the conveyor belt 201, a camera 202, and a detector 104 arranged below the conveyor belt 201. In the implementation scenario, when the block 101 is transmitted to the collection system via the conveyor belt 201, the ray source 103 emits light to the block 101, the detector 104 receives the rays transmitted by the block, and the camera 202 collects data related to the block 101. Similar to the above scenario, when collecting data related to the block, the collection system also scans the blocks 101 in the longitudinal direction of the plane where the conveyor belt 201 is located. Therefore, after scanning multiple rows of blocks, the data related to the block 101 can be processed into a two-dimensional image, and then the two-dimensional image is analyzed and identified to obtain the block information. Based on the obtained block information, the blowing range can be determined and blowing data can be generated according to the block information, and then the blocks are blown by two blowing units 105 so that the blocks fall into the corresponding areas to achieve sorting. As an example, after the above sorting, the blocks 101 are sorted into three categories.

As can be seen from the above, when determining the injection range based on the block information, the existing method usually uses a circumscribed rectangle for the outer contour (or boundary) of the block 101 to be injected, and determines the injection range based on the circumscribed rectangle. Although the amount of calculation by the circumscribed rectangle method is small, this method only considers the block information of the current block 101 and ignores the surrounding blocks, resulting in a high probability of mis-injection and low sorting accuracy. Based on this, the present application proposes a sorting scheme for mining injection, which compares the block information of the block 101 to be injected with the block information of the surrounding blocks to determine the injection range, avoids mis-injection of the surrounding blocks and affects the sorting, thereby improving the sorting accuracy of mining injection.

Fig. 3 is an exemplary flow chart of a separation method for mining injection. As shown in Fig. 3, At step 301, block information of multiple blocks collected by a mining collection system is received, and block information of valid blocks is extracted from the block information of the multiple blocks. In one embodiment, the block information may include but is not limited to block outer contour information. For example, the block information may also include information such as the location coordinates of the block, the particle size of the block, or the index of the block.

In an implementation scenario, based on the received block information of multiple blocks, first, the block information of multiple blocks can be judged for validity, so as to extract the block information of valid blocks from the block information of multiple blocks. Specifically, the validity of the data packet formed by the block information of multiple blocks and the start scanning time (i.e., the receiving time Tr) of receiving the block information of multiple blocks can be judged for validity. Among them, judging the validity of the data packet formed by the block information of multiple blocks can include judging whether the data packet is correct and judging whether the length of the data in the data packet is accurate. In the application scenario, the validity of the data packet formed by the block information of multiple blocks can be judged by adopting, for example, a cyclic redundancy check ("CRC"), and when the data transmission is correct and the length of the data is correct after verification, the validity of the start scanning time of receiving the block information of multiple blocks can be further judged. Among them, judging the validity of the start scanning time of receiving the block information of multiple blocks can include judging whether the start scanning time of the block information of multiple blocks exceeds the blowing time. If it exceeds the blowing time, the corresponding block is invalid; if it does not exceed the blowing time, the corresponding block is valid, and the start scanning time can be marked for the block information of the valid block.

Based on the extracted block information of the valid blocks, in response to satisfying a predetermined blowing type, first block information of a first block to be subjected to a first blowing is compared with second block information of a surrounding second block to be subjected to a second blowing to determine a first target blowing range.

In one embodiment, the aforementioned blowing type can be determined according to the sorting requirements, for example, whether to blow the waste rock or the ore. As an example, when it is necessary to sort out the waste rock in the block, the waste rock is blown (that is, the aforementioned first blowing), and the ore is not blown, referring to the scenario shown in Figure 1 above. Similarly, when it is necessary to sort out the ore in the block, the ore is blown (that is, the aforementioned first blowing), and the waste rock is not blown. In some embodiments, when it is necessary to sort out the waste rock and tailings in the block, the waste rock is blown (that is, the aforementioned first blowing), the concentrate is not blown, and the tailings are blown. Execute the second blowing, refer to the scene shown in Figure 2 above. The second blowing of the embodiment of the present application may include blowing in the same direction or in a different direction as the first blowing, for example, the second blowing is opposite to or crosses the direction of the first blowing, or the second blowing is in the same direction as the first blowing, but the intensity and duration of the blowing of the two may be different, which is not specifically limited here.

In some implementation scenarios, the block information of the extracted valid blocks can be cached in a cache queue, and the cache duration (or referred to as a predetermined time difference Ts) can be set.

Figure 4 is a schematic diagram of the principle of the cache duration. As shown in Figure 4, in the actual application scenario, it is assumed that the maximum particle size of the block along its running direction, that is, the conveying direction, is L (unit: mm), the speed is v (unit: mm/s), and the effective radius of the spray in its running direction is R (unit: mm). In this scenario, the M2 block shown in the figure is the current target block, and the M1 and M3 blocks are adjacent to it in the running direction, that is, M1, M2, and M3 are arranged in order from back to front in the figure.

In this embodiment, since it is necessary to consider the information of the adjacent M1 and M3 blocks when deciding whether to spray the M2 block, the information of the three blocks needs to be stored in the cache queue, so the total scanning time of the three blocks is used as the cache time, specifically the total length of the three blocks in the running direction divided by the running speed v. In order to save storage space, the cache time should be shortened as much as possible, so it is preferred to shorten the total length of the three blocks in the running direction as much as possible. If the three blocks are arranged without any gaps between the front and back, the total length in the running direction is the shortest, but at this time, when the M2 block is sprayed, it will interfere with the adjacent M1 and M3 blocks. Preferably, in order to avoid interfering with the adjacent blocks when spraying the M2 block, the minimum distance between the M2 block and the M1 and M3 blocks is selected as the effective radius R of the spray. At this time, the total time to scan the information of the three blocks M1, M2, and M3 is (3L+2R)/v, so the cache time is set to (3L+2R)/v to ensure that the information of the adjacent blocks around the target block can be received and to avoid the interference of the spraying between the adjacent blocks. When the cache time is exceeded, the information of the current batch of blocks can be removed from the cache queue to avoid affecting the processing of the subsequent batches of block information. As mentioned above, since the information of the adjacent M1 blocks and M3 blocks needs to be considered when deciding whether to spray the M2 block, it is necessary to retain the information of the M2 block and its surrounding adjacent blocks through the cache, and use this cache information as the basis for judging whether to start the spraying when the M2 block is in the spraying range.

It is understandable that in actual application scenarios, due to the existence of stones with particle sizes exceeding the upper limit, The larger the granularity, the larger the cache duration, i.e., the predetermined time difference, should be. However, when the cache duration is too large, the consumption of memory space and processor will increase, and continuous maximum particles will rarely appear. Therefore, as an embodiment, the cache duration T is set to L/v*3~L/v*5 to reduce the consumption of processor and memory space and improve processing efficiency.

Next, the sorting process is described in detail.

In the S1 information acquisition step, when the first object block is adjacent to the second object block, the first object block information and the second object block information are acquired. In the S2 spray range determination step, the first object block information is compared with the second object block information, and a first target spray range including the center of mass position of the first object block is determined based on at least the comparison result. In the S3 spray step, first spray data is generated based on the first target spray range, and a first spray operation is performed on the first object block according to the first spray data.

Exemplarily, the first object block information and the second object block information respectively include information such as outer contour information of the first object block and the second object block, position coordinates on the transmission mechanism, and particle size of the objects.

Specifically, when determining the first target blowing range, if the first block and the second block are not blocks of the same type, firstly, the positional relationship between the first initial blowing range of the first block and the outer contour of the second block is compared, and then the first target blowing range is determined according to the comparison result of the positional relationship between the first initial blowing range and the outer contour of the second block. In one embodiment, the first initial blowing range can be determined based on the outer contour information of the first block, or can be calculated by the blowing unit.

More specifically, if there is an intersection between the first initial blowing range and the boundary of the outer contour of the second object, the airflow blowing the first object will easily interfere with the second object, so the first initial blowing range is narrowed to determine the first target blowing range; if the first initial blowing range does not intersect with the boundary of the outer contour of the second object, the airflow blowing the first object will not easily interfere with the second object, so the first initial blowing range can be determined as the first target blowing range.

In the case where the first block and the second block are of the same type, both the first block and the second block are sprayed, but in order to avoid interference of the airflow of each block on the other during the spraying, the positional relationship between the first initial spraying range of the first block and the second initial spraying range of the second block is compared, wherein the second initial spraying range is based on at least the position of the second block. The outer contour information is determined.

More specifically, if there is an intersection between the first initial blowing range and the second initial blowing range, and the first initial blowing range is larger than the second initial blowing range, the first initial blowing range is reduced to obtain the first target blowing range; if there is an intersection and the first initial blowing range is smaller than the second initial blowing range, the first initial blowing range is used as the first target blowing range, and the second initial blowing range is reduced to obtain the second target blowing range. If there is no intersection between the first initial blowing range and the second initial blowing range, the first initial blowing range is determined as the first target blowing range, and the second initial blowing range is determined as the second target blowing range. Finally, the second blowing data is generated based on the second target blowing range, and the second blowing operation is performed on the second block according to the second blowing data.

It should be noted that the principles of reducing the first initial blowing range and the second initial blowing range are the same. For simplicity, only the reduction operation of the first initial blowing range is taken as an example for specific description.

When reducing the first initial blowing range, the outer contour of the first object is reduced in a manner to keep the center of mass of the first object consistent, and then the first target blowing range is generated based on the reduced outer contour of the first object. In a common example, the center of mass of the first object is equivalent to its centroid, which can be obtained based on the outer contour information of the first object.

In one embodiment, the outer contour of the first block can be reduced by a certain size toward the center of mass of the first block, for example, by a proportional reduction, to ensure that the center of mass of the first block remains unchanged relative to the outer contour before and after the outer contour is reduced. The first target spraying range is then determined based on the reduced outer contour. In other words, the first target spraying range can be determined based on the range after the outer contour of the first block is reduced by a certain size toward the center of mass, which will be described in detail later in conjunction with FIG. 5.

Further, in the case where the first block and the second block are not blocks of the same type, the reduced size of the outer contour of the first block is determined based on the size of the overlapping area between the first initial blowing range and the outer contour of the second block, so that the finally determined first target blowing range does not intersect with the outer contour of the second block. In the case where the first block and the second block are blocks of the same type, the reduced size of the outer contour of the first block is determined based on the size of the overlapping area between the first initial blowing range and the second initial blowing range, so that the finally determined first target blowing range does not intersect with the second initial blowing range.

Furthermore, the number of nozzles, the positions of the corresponding nozzles, the time corresponding to the nozzle opening, and the pressure of the injection can be determined according to the first target injection range to generate the first injection data. According to the first injection data, the first injection operation is performed on the first object so that it reaches the target area to achieve the sorting of the mining injection. The principle of generating the second injection data for the second object and performing the second injection is the same, and will not be repeated.

Figure 5 is an exemplary schematic diagram for determining the first target blowing range. As shown in the left figure of Figure 5, it is assumed that block i is the first block and block j is the second block. Furthermore, the dotted line in the left figure of Figure 5 shows the first initial blowing range corresponding to the first block, and each dotted line represents the spray direction of a nozzle. In an implementation scenario, the first initial blowing range can first be regarded as a rectangle, and the six dotted lines in the figure correspond to the jet directions sprayed by the six nozzles. The outer contour boundaries of the first block and the second block are regarded as a polygon. Next, calculate whether each side of the second block intersects with each side of the rectangle of the first initial blowing range.

For example, when each side of the outer contour of the second block does not intersect with each side of the rectangle formed by the first initial blowing range, it means that blowing on the first block will not affect the adjacent second block. In this scenario, the first initial blowing range can be used as the first target blowing range. When each side of the outer contour of the second block intersects with at least one side of the rectangle formed by the first initial blowing range, it means that blowing on the first block will affect the second block and may also bring out the second block. In this scenario, the first initial blowing range can be used to perform a narrowing operation to determine the first target blowing range.

As an example, assuming that the outer contour boundary of the first object block is the polygon abcdef in the right figure of Figure 5, each boundary point of the outer contour boundary of the first object block is proportionally reduced toward the centroid o to form a new polygon a′b′c′d′e′f′ similar to the original polygon abcdef. Among them, the first target blowing range is determined based on the reduced a′b′c′d′e′f′. In one embodiment, the first initial blowing range before reduction corresponds to the jet area of the six dotted lines in the left figure of Figure 5, and the first target blowing range after reduction corresponds to the jet area of the four middle dotted lines in the left figure of Figure 5.

It can be understood that the outer contour of the first object should be reduced so that the center of mass position of the first object remains the same before and after scaling. As an example, as shown in FIG5 , the center of mass o is roughly located in the center area of the polygon abcdef before scaling, and is still roughly located in the center area of the polygon a′b′c′d′e′f′ after scaling, so that the first target spray range obtained after scaling is still roughly centered on the center of mass o, avoiding the jet from deviating from the center of mass o and blowing the first object to roll.

It can be understood that the aforementioned implementation method of proportionally scaling the outer contour does not need to pre-calculate the center of mass position of the first object block. By proportionally scaling the outer contour to ensure that the center of mass position remains unchanged and the center of mass is always within the spraying range, the spray jet can be prevented from deviating from the center of mass, thereby preventing the object from tumbling.

In another embodiment, when reducing the outer contour of the first object, it is not limited to the above-mentioned method of scaling each boundary point toward the center of mass in equal proportion or reducing the outer contour boundary toward the center of mass by a certain size. The center of mass position of the first object can be roughly estimated based on the outer contour abcdef, for example, the center position of the outer contour abcdef is taken as the center of mass. Then, a circle, square, equilateral triangle or other symmetrical polygon is drawn with the center of mass as the center, and the shape is used as the reduced outer contour, and the first target injection range is determined based on the reduced outer contour.

It should be noted that the outer contour reduction operation is always performed around the center of mass of the first block, so that the center of mass of the first block does not deviate from the first target blowing range. Otherwise, if the center of mass of the first block deviates from the first target blowing range, when the first block is sprayed, the spray force received by various parts of the first block is uneven, which may easily cause the first block to roll over. In this way, the energy originally used to change the flight trajectory of the first block and translate the first block is partially dispersed to the rolling motion, resulting in energy waste, and also making it impossible for the first block to fly according to the envisioned trajectory, and finally fall into the non-target area, reducing the sorting accuracy.

The reason why the center of mass of the first block is used as the key factor for adjusting the spray range is that the ore block usually has a relatively large weight and volume, and whether the spray area is aligned with its center of mass position has an important impact on the flight trajectory and posture of the block after being sprayed. The solution of the present application can make the center of mass of the first block not deviate from the first target spray range, and further, the central area of the first target spray range can be roughly aligned with the center of mass of the first block, further improving the accuracy, efficiency and energy utilization of spray sorting.

In summary, the scheme of the present application takes into account the information of the adjacent first block and the second block, and determines the first target blowing range according to whether the first initial blowing range intersects with the outer contour boundary of the second block or the second initial blowing range, so as to avoid the accidental blowing of the surrounding blocks when the first block is blown, so as to improve the sorting accuracy of the mining blowing. Furthermore, by reducing the outer contour of the first block in a manner that keeps the center of mass of the first block consistent, and then determining the first target blowing range, it is possible to ensure that the jet airflow is aligned with the center of mass position of the first block, so as to avoid the block from tilting and rolling and affecting the sorting accuracy.

In addition, the present application provides a sorting system 500 for mining injection. FIG. 6 is an exemplary structural block diagram of the sorting system 500 for mining injection. As shown in FIG. 6, the sorting system 500 includes at least one sorting control unit 501, at least one sorting execution unit 502, and at least one injection unit 503. In one embodiment, the aforementioned at least one sorting control unit 501 is used to receive block information of multiple blocks collected from the mining collection system, and to extract block information of valid blocks from the block information of the multiple blocks. The specific method and principle are the same as the aforementioned sorting method for mining injection, and will not be repeated.

Based on the extracted block information, when the first block is adjacent to the second block, the sorting control unit 501 is further used to compare the first block information with the second block information in response to satisfying the predetermined injection type, and determine the first target injection range based on at least the comparison result and the centroid position of the first block. The specific method and principle are the same as the aforementioned sorting method for mining injection, and will not be repeated.

After obtaining the first target blowing range, the sorting control unit 501 is further used to generate the first blowing data based on the first target blowing range. The sorting execution unit 502 is used to control the blowing unit 503 to perform the first blowing operation on the first object according to the first blowing data so that it falls into the target area, so as to realize the sorting of mining blowing. The specific method and principle are the same as the aforementioned sorting method of mining blowing, and will not be repeated. Among them, the blowing unit 503 may include multiple nozzles, each sorting execution unit 502 may include multiple execution switches, and the multiple execution switches are connected to the multiple nozzles one by one to respectively open or close the corresponding nozzles to realize the sorting of objects.

FIG7 is an exemplary structural block diagram of a sorting device 900 for mining injection. As shown in FIG7, the device 900 of the present application may include a processor 901 and a memory 902, wherein the processor 901 and the memory 902 communicate with each other via a bus. The memory 902 stores program instructions for sorting mining injection, and when the program instructions are executed by the processor 901, the aforementioned sorting method for mining injection is implemented.

According to the above description in combination with the accompanying drawings, those skilled in the art can also understand that the embodiments of the present application can also be implemented by a software program. Therefore, the present application also provides a computer-readable storage medium. The computer-readable storage medium stores computer-readable instructions for sorting of mining injection, and when the computer-readable instructions are executed by one or more processors, the aforementioned sorting method for mining injection is implemented.

It should be noted that although the operations of the separation method for mining injection of the present application are described in a specific order, this does not require or imply that these operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. On the contrary, the steps depicted in the flow chart can be changed in the order of execution. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step, and/or one step can be decomposed into multiple steps.

It should be understood that when the terms "first", "second", "third" and "fourth" are used in the claims, the specification and the drawings of the present application, they are only used to distinguish different objects, rather than to describe a specific order. The terms "include" and "comprise" used in the specification and claims of the present application indicate the presence of the described features, wholes, steps, operations, elements and/or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and/or their collections.

It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this application specification and claims, unless the context clearly indicates otherwise, the singular forms of "a", "an" and "the" are intended to include plural forms. It should also be further understood that the term "and/or" used in this application specification and claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

Although the implementation methods of the present application are as above, the contents described are only examples adopted to facilitate the understanding of the present application, and are not intended to limit the scope and application scenarios of the present application. Any technician in the technical field described in the present application can make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present application, but the scope of patent protection of the present application shall still be subject to the scope defined in the attached claims.

Claims

A mining injection sorting method, used for sorting out at least a first object block from a sorting object containing a first object block and a second object block; characterized by comprising:

S1: an information acquisition step, in which, when the first block is adjacent to the second block, first block information corresponding to the first block and second block information corresponding to the second block are acquired;

S2: a step of determining a spraying range, comparing the first object information with the second object information, and determining a first target spraying range including the centroid position of the first object based at least on the comparison result;

S3: a blowing step, generating first blowing data based on the first target blowing range, and performing a blowing operation on the first object according to the first blowing data.
The mining spraying separation method according to claim 1 is characterized in that:

In the step of determining the spray range, comparing the first object information with the second object information includes:

In the case that the first block and the second block are not blocks of the same type, the positional relationship between a first initial blowing range of the first block and an outer contour of the second block is compared, wherein the first initial blowing range is determined based at least on the outer contour information of the first block.
The separation method for mining by blowing according to claim 2 is characterized in that:

If there is an intersection between the first initial blowing range and the outer contour of the second object, the first initial blowing range is reduced to obtain a first target blowing range; otherwise, the first initial blowing range is determined as the first target blowing range.
The mining spraying separation method according to claim 3 is characterized in that:

When the first block and the second block are of the same type:

If there is an intersection between the first initial blowing range and the second initial blowing range, and the first initial blowing range is larger than the second initial blowing range, the first initial blowing range is reduced. An initial blowing range is used to obtain a first target blowing range; wherein the second initial blowing range is determined based on at least the outer contour information of the second object;

If there is no intersection between the first initial blowing range and the second initial blowing range, the first initial blowing range is determined as the first target blowing range.
The mining blasting separation method according to claim 3 or 4 is characterized in that:

When reducing the first initial blowing range, the outer contour of the first block is reduced in a manner to keep its center of mass consistent, and then the first target blowing range is generated based on the reduced outer contour of the first block.
The mining spraying separation method according to claim 5 is characterized in that:

When the first initial blowing range is reduced, the outer contour of the first block is proportionally reduced toward the center of mass thereof.
The mining spraying separation method according to claim 4 is characterized in that:

The reduced size of the outer contour of the first block is determined based on the size of the overlapping area between the first initial blowing range and the outer contour of the second block or the second initial blowing range.
The mining spraying separation method according to claim 4 is characterized in that:

If there is an intersection between the first initial blowing range and the second initial blowing range, and the first initial blowing range is smaller than the second initial blowing range, then narrowing the second initial blowing range to obtain a second target blowing range;

If there is no intersection between the first initial blowing range and the second initial blowing range, determining the second initial blowing range as the second target blowing range;

Second blowing data is generated based on the second target blowing range, and a blowing operation is performed on the second block according to the second blowing data.
The mining spraying separation method according to claim 1 is characterized in that:

The first object block information includes at least the outer contour information of the first object block; the second object block information includes at least the outer contour information of the second object block.
The mining spraying separation method according to claim 1 is characterized in that:

The first spraying data includes the number of corresponding spray heads, the position of corresponding spray heads, the opening time of corresponding spray heads and/or the spraying pressure of corresponding spray heads.
A mining jet sorting system, used for sorting out at least a first object block from a sorting object including a first object block and a second object block; characterized in that:

It includes at least one sorting control unit, at least one sorting execution unit and at least one blowing unit;

In the case where the first object block is adjacent to the second object block, the at least one sorting control unit is used to receive first object block information corresponding to the first object block and second object block information corresponding to the second object block;

Comparing the first object block information with the second object block information, and determining a first target blowing range based at least on the comparison result and the center of mass position of the first object block;

generating first blowing data based on the first target blowing range;

The at least one sorting execution unit controls the blowing unit to perform a blowing operation on the first object according to the first blowing data.
A mining blowing sorting equipment, characterized by comprising:

processor;

A memory storing program instructions for sorting by mining injection, wherein when the program instructions are executed by the processor, the mining injection sorting method described in any one of claims 1 to 10 is implemented.