CN116140243B - Mining blowing sorting method, sorting system, equipment and storage medium - Google Patents
Mining blowing sorting method, sorting system, equipment and storage medium Download PDFInfo
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- CN116140243B CN116140243B CN202310415729.4A CN202310415729A CN116140243B CN 116140243 B CN116140243 B CN 116140243B CN 202310415729 A CN202310415729 A CN 202310415729A CN 116140243 B CN116140243 B CN 116140243B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/365—Sorting apparatus characterised by the means used for distribution by means of air using a single separation means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/363—Sorting apparatus characterised by the means used for distribution by means of air
- B07C5/367—Sorting apparatus characterised by the means used for distribution by means of air using a plurality of separation means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
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Abstract
The application discloses a mining blowing sorting method, a sorting system, equipment and a storage medium, wherein the sorting method comprises the following steps: receiving object block information of a plurality of object blocks acquired by a mining acquisition system, and extracting object block information of an effective object block from the object block information of the plurality of object blocks; in response to the predetermined blowing type being satisfied, comparing the object block information of the effective object block to be subjected to the first blowing with the object block information of the effective object block of the second blowing therearound to determine a first target blowing range; generating first injection data based on the first target injection range; and executing a first blowing operation on the effective object blocks to be subjected to the first blowing according to the first blowing data to a target area so as to realize mining blowing sorting. By utilizing the scheme of the application, the sorting precision of mining injection can be improved.
Description
Technical Field
The application relates to the technical field of mining blowing. More particularly, the present application relates to a mining blowing sorting method, sorting system, apparatus, and computer readable storage medium.
Background
In the process of mining minerals, some waste rock or ores with lower useful target components are often doped, so that the purity of the ores is lower, and thus the mined materials need to be screened (sorted), for example, the ores and the waste rock can be separated to extract ores with higher purity. In addition, in view of industrial production requirements, there are also situations where waste rock, tailings and concentrate in mined material are separated or where tailings, middlings and concentrate in mined material are separated.
When the mined materials are sorted, firstly, the mining collection system is used for collecting and identifying the materials and then generating the information of the blocks. And then, determining a blowing range by adopting a separator based on the object block information, and further blowing and separating the mined material. However, currently, determining the blowing range generally employs circumscribed rectangles on the outer contour (or boundary) of the object to be blown, so as to determine the blowing range based on the circumscribed rectangles. Although the calculated amount of the method is small, only the object block information of the current object block is considered, surrounding object blocks are ignored, so that the probability of misspraying is high, and the surrounding object blocks can deviate or rotate due to air flow generated by spraying according to the object block information of the current object block, so that the sorting accuracy is low.
In view of this, it is desirable to provide a mining jet sorting scheme to improve the sorting accuracy of mining jets.
Disclosure of Invention
In order to solve at least one or more of the technical problems mentioned above, the present application proposes, in various aspects, a mining-blown sorting scheme.
In a first aspect, the application provides a mining blowing sorting method, comprising: receiving object block information of a plurality of object blocks acquired by a mining acquisition system, and extracting object block information of an effective object block from the object block information of the plurality of object blocks; in response to the predetermined blowing type being satisfied, comparing the object block information of the effective object block to be subjected to the first blowing with the object block information of the effective object block of the second blowing therearound to determine a first target blowing range; generating first injection data based on the first target injection range; and executing a first blowing operation on the effective object blocks to be subjected to the first blowing according to the first blowing data to a target area so as to realize mining blowing sorting.
In an embodiment, the object block information includes at least outer contour information and centroid information of the object block.
In another embodiment, the second shot comprises a shot that is not shot, is opposite the first shot, or is opposite the first shot.
In yet another embodiment, wherein comparing the object information of the effective object to be first blown with the object information of the surrounding second blown effective object to determine the first target blowing range includes: comparing the position relation between the initial blowing range of the effective object block to be subjected to the first blowing and the outer contour of the effective object block subjected to the second blowing around the effective object block, wherein the initial blowing range is determined according to the outer contour information of the effective object block; and determining the first target blowing range according to a comparison result of the position relationship between the initial blowing range of the effective object block to be subjected to the first blowing and the outer contour of the surrounding effective object block subjected to the second blowing.
In yet another embodiment, comparing the position relationship between the initial blowing range of the effective mass to be subjected to the first blowing and the outer contour of the effective mass of the surrounding second blowing includes: and calculating whether the initial blowing range of the effective object block to be subjected to the first blowing is crossed with the boundary of the outer contour of the effective object block of the second blowing around the effective object block to be subjected to the first blowing so as to compare the position relationship between the initial blowing range of the effective object block to be subjected to the first blowing and the outer contour of the effective object block of the second blowing around the effective object block.
In yet another embodiment, determining the first target blowing range according to a comparison result of a positional relationship between an initial blowing range of the effective mass to be subjected to the first blowing and an outer contour of the surrounding second blowing effective mass includes: in response to the fact that the intersection exists between the initial blowing range of the effective object block to be subjected to first blowing and the boundary of the outer outline of the effective object block around the effective object block to be subjected to second blowing, performing shrinking operation on the initial blowing range of the effective object block to be subjected to first blowing so as to determine the first target blowing range; or determining the initial blowing range of the effective mass to be subjected to the first blowing as the first target blowing range in response to no intersection between the initial blowing range of the effective mass to be subjected to the first blowing and the boundary of the outer contour of the effective mass around the effective mass to be subjected to the second blowing.
In yet another embodiment, the sorting method further includes performing a narrowing operation of the initial blowing range of the effective mass to be subjected to the second blowing to determine a second target blowing range in response to the intersection between the initial blowing range of the effective mass to be subjected to the first blowing and the initial blowing range of the surrounding effective mass to be subjected to the second blowing.
In yet another embodiment, wherein performing the operation of narrowing the initial blowing range of the effective mass to be first blown to determine the first target blowing range includes: taking the mass center of the effective mass to be subjected to the first blowing as the center, and reducing the preset length to the center along the outer contour of the effective mass to be subjected to the first blowing; and performing a shrinking operation on the initial blowing range of the effective object block to be subjected to the first blowing according to the outer contour size of the effective object block to be subjected to the first blowing after the predetermined length is reduced so as to determine the first target blowing range.
In yet another embodiment, the narrowing the initial blowing range of the effective mass to be first blown to determine the first target blowing range further includes: and performing a narrowing operation on the initial blowing range of the effective object block to be subjected to the first blowing according to the distance between the effective object block to be subjected to the first blowing and the effective object blocks around the effective object block to be subjected to the second blowing so as to determine the first target blowing range.
In yet another embodiment, wherein generating the first injection data based on the first target injection range includes: and determining the number of the spray heads, the positions of the corresponding spray heads and the corresponding time for opening the spray heads according to the first target spraying range so as to generate the first spraying data.
In a second aspect, the present application provides a mining jet sorting system comprising at least one sorting control board, at least one sorting execution board and at least one jet unit, the at least one sorting control board being for: receiving object block information of a plurality of effective object blocks acquired by a mining acquisition system; in response to the predetermined blowing type being satisfied, comparing the object block information of the effective object block to be subjected to the first blowing with the object block information of the effective object block of the second blowing therearound to determine a first target blowing range; generating first injection data based on the first target injection range; and the at least one sorting execution plate is used for controlling the blowing unit to execute first blowing operation on the effective object blocks to be subjected to first blowing to a target area according to the first blowing data so as to realize mining blowing sorting.
In one embodiment, the blowing unit includes a plurality of spray heads, each of the sorting performing plates includes a plurality of performing switches, and each of the plurality of performing switches is correspondingly connected to the plurality of spray heads.
In a third aspect, the application provides a mining blown sorting apparatus comprising: a processor; and a memory storing program instructions for sorting of mining jets, which when executed by the processor, cause implementation of the plurality of embodiments of the foregoing first aspect.
In a fourth aspect, the application provides a computer-readable storage medium having stored thereon computer-readable instructions for mining blowing sorting, which when executed by one or more processors, implement the embodiments as in the first aspect described above.
By the mining blowing sorting scheme provided above, the embodiment of the application determines the first target blowing range by receiving the block information including a plurality of effective blocks, and comparing the block information of the effective block to be subjected to the first blowing with the block information of the effective block of the second blowing around the effective block when the predetermined blowing type is satisfied. And then, generating first blowing data according to the first target blowing range, and executing first blowing operation on the effective object block to be subjected to first blowing according to the first blowing data. That is, when the target blowing range is determined, the embodiment of the application considers the object block information of the surrounding object blocks of the object blocks to be blown, and avoids the influence on sorting caused by the mistaken blowing of the surrounding object blocks, thereby greatly improving the sorting precision of mining blowing.
Further, according to the embodiment of the application, whether the initial blowing range of the effective object block to be subjected to the first blowing is crossed with the boundary of the outer contour of the effective object block to be subjected to the second blowing is compared, so that the first target blowing range is determined, and the effective object block to be subjected to the first blowing can be accurately blown. Still further, the embodiment of the application determines the first target blowing range by reducing the preset length to the mass center so as to ensure that the center position of the object block to be subjected to the first blowing can be aligned, and avoid the influence of the deviation of the object block on other object blocks due to the impact of the object block on the sorting.
Drawings
The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present application will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. In the drawings, embodiments of the application are illustrated by way of example and not by way of limitation, and like reference numerals refer to similar or corresponding parts and in which:
FIG. 1 is an exemplary schematic diagram illustrating sorting of mining jets;
FIG. 2 is yet another exemplary schematic illustrating sorting of mining jets;
FIG. 3 is an exemplary flow diagram illustrating a mining blowing sorting method according to an embodiment of the present application;
FIG. 4 is an exemplary schematic diagram illustrating determining a first target injection range according to an embodiment of the present application;
FIG. 5 is an exemplary block diagram illustrating a mining blowing sorting system according to an embodiment of the present application;
FIG. 6 is an exemplary flow diagram illustrating extraction of valid block information according to an embodiment of the present application;
FIG. 7 is an exemplary flow chart illustrating determining a buffering time according to an embodiment of the present application;
FIG. 8 is an exemplary flow diagram illustrating a blowing process according to an embodiment of the present application; and
fig. 9 is an exemplary block diagram of a mining blowing sorting apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the embodiments described in this specification are only some embodiments of the application provided for the purpose of facilitating a clear understanding of the solution and meeting legal requirements, and not all embodiments of the application may be implemented. All other embodiments, which can be made by those skilled in the art without making any inventive effort, are intended to be within the scope of the present application based on the embodiments disclosed herein.
As will be seen from the background, some waste rock or ore with a lower useful target component is often doped during the mining of minerals, resulting in lower purity of the ore and thus requiring screening (sorting) of the mined material. For example, in some scenarios, ores of higher purity are extracted by separating the ore from waste rock. In some scenarios, considering industrial production requirements, concentrates with high useful target components and tailings with low useful target components in the ore can also be separated, so that waste stones, tailings and concentrates in the mined material are separated or tailings, middlings and concentrates in the mined material are separated, and ores with higher purity are extracted. It will be appreciated that although only two types of sorting (ore, gangue) and three types of sorting (gangue, tailings and concentrate or tailings, middlings and concentrate) have been described above, it is not excluded that there are also more than three types of sorting, for example four types of sorting of gangue, tailings, middlings and concentrate, the application is not limited thereto.
In an actual application scene, when the mined material is sorted, the mined material can be firstly transmitted to a mining acquisition system through a transmission structure such as a chute, a conveyor belt and the like, and then the acquisition system is used for carrying out processing operations such as acquisition, identification and the like on the material to generate the material block information. Further, the object block information is transmitted to the upper computer through the acquisition system, then the object block information is transmitted to the sorting system through the upper computer, and the sorting system performs blowing and sorting on the mined materials according to the object block information. In one implementation, the aforementioned acquisition system may include at least a source of radiation (e.g., X-rays) and a detector. In addition, the acquisition system can also comprise equipment such as a camera, namely, the equipment can be identified through multispectral fusion so as to solve the complex characteristic ore sorting. In one implementation, the sorting system may include a control panel, an execution panel, and a blowing unit to effect blowing, sorting of mined material.
Fig. 1 is an exemplary schematic diagram illustrating sorting of mining jets. As shown in fig. 1, mined material 101 is first transported to a mining collection system via a transport structure, such as chute 102. The acquisition system is exemplarily shown comprising a radiation source 103 arranged above the chute 102 and a detector 104 arranged below the chute 102. In an implementation scenario, when the material 101 is transported to the collection system via the chute 102, a light source is emitted by the radiation source 103 to the material 101, and the light source reflected by the material is received by the detector 104 to collect data related to the material. It will be appreciated that in the acquisition of data relating to the material, the acquisition system scans a row of material in the longitudinal direction of the plane in which the chute 102 lies, whereby after scanning a plurality of rows of material, the data relating to the material can be processed into a two-dimensional image which is then analysed and identified to obtain the mass information. Based on the obtained object block information, a blowing range can be determined according to the object block information, and blowing data can be generated, so that the object blocks are blown by one blowing unit 105, and the object blocks fall into corresponding areas, so that sorting is realized. As an example, after the foregoing sorting, the materials are sorted into two categories.
Fig. 2 is yet another exemplary schematic diagram illustrating sorting of mining jets. As shown in fig. 2, mined material 101 is first transported to a mining collection system via a conveying structure, such as conveyor belt 201. The acquisition system is exemplarily shown comprising a radiation source 103 arranged above a conveyor belt 201, a camera 202 and a detector 104 arranged below the conveyor belt 201. In an implementation scenario, when the material 101 is transported to the collection system via the conveyor belt 201, a light source is emitted by the radiation source 103 to the material 101, the light source reflected by the material is received by the detector 104, and data related to the material is collected by the camera 202. Similar to the above scenario, when collecting data related to materials, the collection system scans a row of materials in the longitudinal direction of the plane where the conveyor belt 201 is located, so that after a plurality of rows of materials are scanned, the data related to materials can be processed into a two-dimensional image, and then the two-dimensional image is analyzed and identified to obtain the object block information. Based on the obtained object block information, a blowing range can be determined according to the object block information, blowing data can be generated, and then the object blocks are blown through the two blowing units 105, so that the object blocks fall into corresponding areas, and sorting is achieved. As an example, after the foregoing sorting, the materials are sorted into three categories.
As can be seen from the foregoing description, when determining the blowing range according to the object block information, it is generally adopted in the prior art to make an external rectangle on the outer contour (or boundary) of the object block to be blown, and determine the blowing range based on the external rectangle. Although the calculated amount is smaller in the mode of circumscribed rectangle, only the object block information of the current object block is considered in the mode, surrounding object blocks are ignored, so that the probability of misspraying is larger, and the sorting precision is lower. Based on the method, the mining blowing sorting scheme is provided, and the object block information of the object blocks to be blown is compared with the object block information of the surrounding object blocks to determine the blowing range, so that the influence on sorting caused by misblowing on the surrounding object blocks is avoided, and the mining blowing sorting precision is improved.
Fig. 3 is an exemplary flow diagram illustrating a mining blowing sorting method 300 according to an embodiment of the present application. As shown in fig. 3, at step 301, block information from a plurality of blocks acquired by a mining acquisition system is received and block information for a valid block is extracted from the block information for the plurality of blocks. In one embodiment, the aforementioned object block information may include, but is not limited to, object block outer contour information and centroid information. For example, the object block information may further include information such as position coordinates of the object block, granularity of the object block, or index of the object block.
In one implementation scenario, based on received object block information of a plurality of object blocks, first, the object block information of a valid object block can be extracted from the object block information of the plurality of object blocks by performing validity judgment on the object block information of the plurality of object blocks. Specifically, validity judgment can be performed on a data packet formed by the object block information of the plurality of object blocks and validity judgment can be performed on the receiving time of the object block information of the plurality of object blocks. The validity judgment of the data packet formed by the object block information of the plurality of object blocks can comprise judging whether the data packet is correct, judging whether the length of data in the data packet is correct, and the like. In the application scenario, the validity judgment can be performed on the data packet formed by the object block information of the plurality of object blocks by adopting, for example, cyclic redundancy check (Cyclic Redundancy Check, "CRC"), and when the data transmission is correct after the check and the data length is correct, the validity judgment can be further performed on the receiving time of the object block information of the plurality of object blocks. The judging of the validity of the receiving time of the object block information of the plurality of object blocks may include judging whether the receiving time of the object block information of the plurality of object blocks exceeds the blowing time, if the receiving time exceeds the blowing time, the corresponding object block is invalid; if the blowing time is not exceeded, the corresponding object block is valid, and the receiving time can be marked for the object block information of the valid object block.
Based on the extracted effective mass information of the effective mass, at step 302, in response to the predetermined shot type being satisfied, the mass information of the effective mass to be subjected to the first shot is compared with mass information of effective mass of the second shot therearound to determine a first target shot range. In one embodiment, the foregoing type of blasting may be determined based on the sorting requirements, such as whether to blast waste rock or ore. As an example, when it is desired to sort out the waste rock in the material, the blowing is performed on the waste rock (i.e., the aforementioned first blowing), and the ore is not blown (i.e., the aforementioned second blowing), referring to the above-described scenario shown in fig. 1. Similarly, when ore in the material needs to be sorted out, blowing is performed on the ore (i.e., the aforementioned first blowing), and no blowing is performed on the waste rock (i.e., the aforementioned second blowing). In some embodiments, when it is desired to sort out the gangue from the material, the gangue is subjected to blowing (i.e. the aforementioned first blowing), the concentrate is not subjected to blowing (i.e. the aforementioned second blowing), and the gangue is subjected to blowing opposite (or opposite, opposite) to the first blowing, with reference to the scenario shown in fig. 2 above. That is, the second blowing of the embodiment of the present application may include blowing that is not blowing or that is opposite to the first blowing. In some embodiments, the second shot of an embodiment of the application may also include a shot that is co-directional with the first shot.
In some implementations, the object block information of the extracted valid object block may be cached in a cache queue before the blowing process is performed, and a cache time (or a predetermined time difference) may be set. In addition, the removal time may also be set to free up the cache space of the cache queue. The set caching time and the granularity of the object blocks are in positive correlation, namely, the greater the granularity of the object blocks is, the greater the caching time is, so that the object block information of the object blocks around the object blocks can be cached. Therefore, before the blowing processing is executed, the buffer time and the removal time of the object block information of the effective object block can be judged, and when the set buffer time is met, the object block information of the effective object block to be subjected to the first blowing is compared with the object block information of the effective object block of the second blowing around the effective object block to determine a first target blowing range so as to execute the blowing processing. When the set cache time is not met, judging whether the removal time is met, and when the removal time is met, treating the influence of the current object block information on the subsequent sorting, so that the object block information of the corresponding object block can be removed from the cache queue.
It will be appreciated that in a practical application scenario, the object block is assumedThe maximum particle size of (a) is L (unit: mm), the velocity is v (unit: mm/s), and the effective coverage radius of the blowing is R (unit: mm). In this scenario, the buffering time (predetermined time difference) t=l/v 3+R/v×2. It should be understood that in the practical application scenario, since stones with granularity exceeding the upper limit exist, the larger the granularity is, the larger the predetermined time difference is, the better, that is, the larger the buffering time is. However, when the cache time is too large, the consumption of memory space and processor increases, and there is little continuous maximum particle occurrence. Therefore, the embodiment of the application sets the preset time difference T to be L/v 3-L/v 5, so that the consumption of a processor and a memory space can be reduced, and the processing efficiency is improved.
Specifically, when determining the first target blowing range, the initial blowing range of the effective mass to be subjected to the first blowing is compared with the outer contour of the effective mass of the surrounding second blowing, and then the first target blowing range is determined according to the comparison result of the position relationship between the initial blowing range of the effective mass to be subjected to the first blowing and the outer contour of the effective mass of the surrounding second blowing. In one embodiment, the positional relationship between the initial blowing range of the effective mass to be subjected to the first blowing and the outer contour of the effective mass to be subjected to the second blowing may be compared by calculating whether the initial blowing range of the effective mass to be subjected to the first blowing and the outer contour of the effective mass to be subjected to the second blowing intersect. In one embodiment, the initial blowing range of the effective mass to be subjected to the first blowing may be determined based on the profile information thereof, or may be calculated by the blowing unit.
More specifically, in response to the intersection between the initial blowing range of the effective mass to be subjected to the first blowing and the boundary of the outer contour of the effective mass of the surrounding second blowing, performing a reduction operation on the initial blowing range of the effective mass to be subjected to the first blowing to determine a first target blowing range; or determining the initial blowing range of the effective mass to be subjected to the first blowing as the first target blowing range in response to no intersection between the initial blowing range of the effective mass to be subjected to the first blowing and the boundary of the outer contour of the effective mass around the effective mass to be subjected to the second blowing. In some embodiments, in response to there being a cross between the initial blowing range of the effective mass to be first blown and the initial blowing range of the surrounding effective mass to be second blown, the initial blowing range of the effective mass to be second blown is narrowed to determine the second target blowing range. For example, when the second blowing is a blowing opposing the first blowing, the initial blowing range of the effective mass to be subjected to the second blowing may be narrowed to determine the second target blowing range.
In one embodiment, the first target blowing range may be determined by reducing the predetermined length toward the center along the outer contour of the effective mass to be first blown, with the center of mass of the effective mass to be first blown as the center, and then performing a reduction operation of the initial blowing range of the effective mass to be first blown according to the outer contour size of the effective mass to be first blown after the reduction of the predetermined length. That is, when there is a crossing of the initial injection range of the first injected mass and the outer contour boundary of the surrounding mass, the determination regarding the first target injection range may be described in detail later with reference to fig. 4 by taking the range in which the outer contour of the first injected mass is reduced by a certain size toward the centroid as the first target injection range.
In another embodiment, the first target blowing range may also be determined by performing a narrowing operation of the initial blowing range of the effective mass to be subjected to the first blowing according to the distance between the effective mass to be subjected to the first blowing and the effective mass around the effective mass to be subjected to the second blowing. In this way, it is ensured that the surrounding object is not erroneously blown when the object to be first blown is blown. Similarly, the second target blowing range may be determined in the foregoing manner, that is, by narrowing the outer contour of the second blown object to a certain size toward the centroid, as the second target blowing range; or determining the second target blowing range according to the distance between the second blown object and the surrounding object.
Further, at step 303, first injection data is generated based on the first target injection range. In one embodiment, the number of jets, the positions of the respective jets, and the times at which the jets are turned on may be determined according to the first target jetting range to generate the first jetting data. In other words, the number of heads (or nozzles) required, the position of the heads, and the opening time of the heads are determined according to the determined blowing range. In some embodiments, the foregoing jetting data may also include a pressure level of the jetting head, and the like. Similarly, second injection data may also be generated according to the second injection range described above, and the second injection data may also include the number of nozzles, the position of the nozzles, the opening time of the nozzles, the pressure magnitude of the nozzles, and the like. After the foregoing first blowing data is generated, at step 304, a first blowing operation is performed on the effective object block to be subjected to the first blowing according to the first blowing data to a target area, so as to implement sorting of mining blowing. That is, the corresponding spray heads are turned on according to the spraying data so as to spray the objects to be sprayed, so that the sorting of the materials (such as the two-type sorting shown in the above figure 1 or the three-type sorting shown in the above figure 2) is realized.
As can be seen from the above description, when the predetermined blowing type is satisfied, the embodiment of the present application compares the object block information of the effective object block to be blown with the object block information of the surrounding effective object blocks, so as to determine the first blowing range according to the comparison result, and further execute the first blowing operation on the effective object block to be blown according to the first blowing data generated in the first target blowing range, so as to implement mining blowing sorting. According to the scheme provided by the embodiment of the application, the object block information of the surrounding object blocks of the object block to be blown is considered, and the target blowing range is determined according to whether the initial blowing range of the object block to be blown and the outer contour boundary of the surrounding object block are intersected, so that the influence on sorting caused by misblowing on the surrounding object block can be avoided, and the object block to be blown can be blown accurately, so that the sorting precision of mining blowing is improved. Furthermore, the embodiment of the application can ensure the alignment of the center position of the object block to be subjected to the first blowing by reducing the preset length by taking the mass center as the center to determine the target blowing range, and avoid the influence of the deviation of the object block on the other object blocks.
Fig. 4 is an exemplary schematic diagram illustrating determination of a first target injection range according to an embodiment of the present application. As shown in the left-hand diagram of fig. 4, it is assumed that the object block i is an effective object block to be subjected to the first blowing, and the object block j is an effective object block j to be subjected to the second blowing around the effective object block to be subjected to the first blowing. Further, the dashed line in the figure shows the initial blowing range corresponding to the effective mass i to be first blown. In one implementation scenario, the initial blowing range corresponding to the effective object block i to be first blown may be regarded as a rectangle, and the outer contour boundary of each of the effective object block i to be first blown and the effective object block j to be second blown may be regarded as a polygon. Next, it is calculated whether each side of the second blown effective mass j intersects each side of the rectangle formed by the initial blowing range.
For example, when each side of the second shot block j does not intersect each side of the rectangle formed by the initial shot range, it means that the effective block i to be subjected to the first shot does not affect the surrounding blocks. In this case, the initial blowing range corresponding to the first blown effective mass i may be set as the first target blowing range. When each side of the second blown effective object block j crosses at least one side of the rectangle formed by the initial blowing range, it means that the effective object block i to be subjected to the first blowing will affect surrounding object blocks, and the second blown effective object block j may be carried out. In this scenario, the first target blowing range may be determined by performing a reduction operation on the initial blowing range of the effective mass i to be subjected to the first blowing. As described above, the first target blowing range may be determined by reducing the size toward the centroid along the outer contour boundary of the effective mass i to be first blown or by reducing the operation according to the distance between the effective mass i to be first blown and the effective mass j to be second blown.
Taking a certain size reduction to the centroid as an example, in an exemplary scenario, assuming that the outer contour boundary of the effective object block i to be subjected to the first blowing is a polygon abcdef, after each boundary point of the outer contour boundary of the effective object block i to be subjected to the first blowing is reduced to a certain size to the centroid o, a new polygon is formed. Wherein the reduced rangeAs a first target injection range. Further, the first blowing data can be determined according to the first target blowing range so as to blow the effective object block i to be subjected to the first blowing, thereby realizing material sorting.
In one embodiment, an embodiment of the present application provides a mining jet sorting system including at least one sorting control board, at least one sorting execution board, and at least one jet unit. The sorting system will be described in detail below in connection with fig. 5.
Fig. 5 is an exemplary block diagram illustrating a mining blowing sorting system 500 according to an embodiment of the present application. As shown in fig. 5, the sorting system 500 may include at least one sorting control board 501, at least one sorting execution board 502, and at least one blowing unit 503. In one embodiment, the at least one sorting control board 501 may be configured to receive the block information from the plurality of blocks collected by the mining collection system and extract the block information of the valid block from the block information of the plurality of blocks. As can be seen from the foregoing, the block information may include information such as outline information and centroid information of the block, position coordinates of the block, and granularity of the block.
In one implementation scenario, the sorting control board 501 may determine validity of the block information of the plurality of blocks, and extract the block information of the valid block from the block information of the plurality of blocks. For example, validity judgment may be performed on a packet formed by block information of a plurality of blocks and validity judgment may be performed on a reception time of block information of a plurality of blocks to extract block information of a valid block. Specifically, the validity judgment can be performed on the data packet formed by the object block information of the plurality of object blocks by checking, for example, whether the data transmission and the length of the data are correct by CRC. In the scene, when the checked data is transmitted correctly or the length of the data is incorrect, the object block information can be received again; when the data transmission is correct and the data length is correct after verification, the time validity can be further judged. For example, the validity determination may be performed by determining whether the reception time of the block information of the plurality of blocks exceeds the blowing time. When the blowing time is exceeded, the corresponding object block is invalid; when the blowing time is not exceeded, the corresponding block is valid, and the block information of the valid block may be marked with the reception time, which will be described in detail later with reference to fig. 6.
Based on the extracted effective block pieces, the aforementioned sorting control board 501 is further configured to compare the effective block pieces to be subjected to the first blowing with the effective block pieces of the second blowing therearound in response to satisfaction of the predetermined blowing type, so as to determine the first target blowing range. In one embodiment, the type of the blowing may be determined according to the sorting requirement, and the second blowing may be a blowing which is not blowing or is opposite to the first blowing. As an example, the blasting is performed on the waste rock (first blasting), the ore is not blasted (second blasting) or the waste rock is blasted (first blasting), the concentrate is not blasted (second blasting), and the tailings are blasted (second blasting) opposite to the first blasting.
As can be seen from the foregoing description, the sorting control board 501 may also be used to buffer the block information of the extracted valid block into the buffer queue before performing the blowing process, and the buffer time and the removal time may be set. In an application scenario, the buffer time can be set according to granularity of the object blocks, so that it is ensured that object block information of object blocks around the object blocks can be buffered. Preferably, the buffering time may be set to L/v×3 to L/v×5, where L represents granularity information of each effective block and v represents speed information of each effective block. Thus, before performing the blowing process, the sorting control board 501 may determine the buffering time of the object block information of the effective object block, and when the buffering time set as described above is satisfied, the object block information of the effective object block to be subjected to the first blowing may be compared with the object block information of the effective object block to be subjected to the second blowing therearound, so as to determine the first target blowing range, so as to perform the blowing process. When the set cache time is not met, whether the removal time is met or not can be judged, and when the removal time is met, the influence of the current object block information on the subsequent sorting can be regarded as being processed, so that the object block information of the corresponding object block can be moved out of the cache queue. The determination operation of whether to cache will be described in detail later with reference to fig. 7.
In determining the first target blowing range, the sorting control board 501 first compares the position relationship between the initial blowing range of the effective mass to be first blown and the outer contour of the effective mass around the effective mass to be second blown, and then determines the first target blowing range according to the comparison result of the position relationship between the initial blowing range of the effective mass to be first blown and the outer contour of the effective mass around the effective mass to be second blown. In one embodiment, the sorting control board 501 may compare the positional relationship between the initial blowing range of the effective mass to be subjected to the first blowing and the outer contour of the effective mass to be subjected to the second blowing by calculating whether the boundary of the outer contour of the effective mass to be subjected to the first blowing crosses the boundary of the outer contour of the effective mass to be subjected to the second blowing therearound.
More specifically, the sorting control board 501 is configured to perform a narrowing operation on the initial blowing range of the effective mass to be subjected to the first blowing to determine the first target blowing range in response to the intersection between the initial blowing range of the effective mass to be subjected to the first blowing and the boundary of the outer contour of the effective mass around the second blowing; or determining the initial blowing range of the effective mass to be subjected to the first blowing as the first target blowing range in response to no intersection between the initial blowing range of the effective mass to be subjected to the first blowing and the boundary of the outer contour of the effective mass around the effective mass to be subjected to the second blowing. In some embodiments, in response to there being a cross between the initial blowing range of the effective mass to be first blown and the initial blowing range of the surrounding effective mass to be second blown, the initial blowing range of the effective mass to be second blown is narrowed to determine the second target blowing range. For example, when the second shot is a shot opposed to the first shot, the initial shot range of the effective mass to be subjected to the second shot may be subjected to a narrowing operation to determine the second target shot range.
It will be appreciated that the first and second target injection ranges may be determined by scaling down to the centroid along the outer contour of the mass or by the distance between the two masses. Taking the first target blowing range as an example, the sorting control board 501 may determine the first target blowing range by reducing a predetermined length from the outer contour of the effective mass to be first blown to the center by taking the center of mass of the effective mass to be first blown as the center, and then performing a reduction operation on the initial blowing range of the effective mass to be first blown according to the outer contour size of the effective mass to be first blown after reducing the predetermined length. Alternatively, the sort control board 501 may determine the first target blowing range by performing a reduction operation on the initial blowing range of the effective mass to be subjected to the first blowing according to the distance between the effective mass to be subjected to the first blowing and the effective mass to be subjected to the second blowing therearound, and the determination of the first target blowing range will be described in detail later with reference to fig. 8. In this way, it is ensured that the surrounding object is not erroneously blown when the object to be first blown is blown. For more details on determining the first target blowing range by reducing a size along the outer contour of the object block toward the centroid, reference may be made to the description of fig. 4, and the disclosure is not repeated herein.
After the first target blowing range is obtained, the sorting control board 501 is further configured to generate first blowing data based on the first target blowing range. That is, the number of heads required, the position of the heads, the opening time of the heads, the pressure range of the heads, and the like are determined based on the determined blowing range.
In one embodiment, the sorting performing board 502 is configured to control the blowing unit 503 to perform a first blowing operation on the effective object blocks to be subjected to the first blowing according to the first blowing data, so as to implement sorting of mining blowing. The blowing unit 503 may include a plurality of nozzles, each sorting performing board 502 may include a plurality of performing switches, and each of the plurality of performing switches is correspondingly connected to the plurality of nozzles to respectively control the corresponding nozzle to be opened or closed, so as to sort materials.
Fig. 6 is an exemplary flow diagram illustrating extraction of valid block information according to an embodiment of the present application. As shown in fig. 6, at step 601, object block information of a plurality of object blocks is received, which may be, for example, information such as outer contour information and centroid information of the object blocks, position coordinates of the object blocks, and granularity size of the object blocks. Next, at step 602, a validity determination is made for a data packet formed from the object information for the plurality of object blocks. In one implementation scenario, the validity of a data packet formed from the object block information of multiple object blocks may be determined by, for example, CRC checking whether the data transmission and the length of the data are correct. When the checked data transmission or the length of the data is incorrect, the above step 601 may be returned to re-receive the object block information. When the checked data transmission is correct and the data length is correct, at step 603, validity determination is made on the reception time of the object block information of the plurality of object blocks. That is, it is determined whether or not the reception time of the block information of the plurality of blocks exceeds the blowing time, and validity determination is made on the reception time of the block information of the plurality of blocks.
Specifically, when the blowing time is exceeded, i.e., the receiving time of the corresponding block is invalid, so that the block information of the corresponding block is invalid, the block information of the corresponding block is discarded at step 604. When the blowing time is not exceeded, i.e., the receiving time of the corresponding block is valid, the block information of the corresponding block is valid, and the valid block information is extracted, and at step 605, the receiving time is marked for the block information of the valid block. Further, at step 606, the block information of the valid block after the tag reception time may be cached in a cache queue for a subsequent blowing process.
Fig. 7 is an exemplary flow chart illustrating determining a buffering time according to an embodiment of the present application. As shown in fig. 7, after the valid block information is cached in the cache queue, first, at step 701, the block information of the valid blocks in the cache queue is scanned sequentially. Next, at step 702, it is determined whether the object block information of the valid object block satisfies the buffering time. As can be seen from the foregoing description, the buffering time can be set according to the granularity of the object block, so as to ensure that the object block information of the object blocks around the object block can be buffered. When the object block information of the valid object block reaches the buffering time (or satisfies the buffering time), at step 703, a blowing process is performed on the corresponding object block. For example, in one exemplary scenario, assuming that the buffering time is T, T may be set to L/v×3 to L/v×5, the receiving time is T1, and the current time is t+t1, and the object block information representing the surrounding object blocks is buffered, the blowing process may be performed.
When the block information of the valid block does not satisfy the buffering time, at step 704, it is further determined whether the removal time is satisfied, that is, whether the influence of the block information on the subsequent sorting has been processed. When the removal time is satisfied, at step 705, the tile information for the corresponding tile is deleted from the cache queue. Otherwise, returning to the foregoing step 701, the foregoing steps 702 to 705 are repeated. For example, in another exemplary scenario, assuming that the buffering time is T, T may be set to L/v×3 to L/v×5, the receiving time is T1, the current time is 2t+t1, and the block information indicating the block has been processed for the subsequent effect may be deleted from the buffering queue.
Fig. 8 is an exemplary flow chart illustrating a blowing process according to an embodiment of the present application. It should be appreciated that fig. 8 is a specific embodiment of step 703 in fig. 7, and thus the description of fig. 7 applies equally to fig. 8.
As shown in fig. 8, at step 801, the block information of the effective block to be subjected to the first blowing in the cache queue is sequentially read and denoted as i. Next, at step 802, it is determined whether the effective mass i satisfies a blowing type, for example, whether the effective mass i is waste rock or ore to be blown. When the valid object i does not satisfy the blowing type, the process returns to step 801. The effective mass i satisfies the blowing type, and at step 803, mass information of the effective mass of the second blowing therearound is scanned and noted as j. Further, at step 804, the initial blowing range of the effective mass i to be subjected to the first blowing is compared with the positional relationship between the outer contours of the effective mass j of the second blowing therearound. Specifically, at step 805, the positional relationship between the initial blowing range of the effective mass to be subjected to the first blowing and the outer contour of the effective mass of the surrounding second blowing is compared by calculating whether the initial blowing range of the effective mass to be subjected to the first blowing and the boundary of the outer contour of the effective mass of the surrounding second blowing intersect.
When the initial blowing range of the effective object block i to be first blown is not intersected with the boundary of the outer contour of the effective object block j around the effective object block i to be second blown, at step 806, the initial blowing range of the effective object block i to be first blown is determined as the first target blowing range, and then blowing data is directly generated according to the initial blowing range of the effective object block i to be first blown. When there is a cross between the initial blowing range of the effective object block i to be first blown and the boundary of the outer contour of the effective object block j around which the second blowing is to be performed, at step 807, a shrinking operation is performed on the initial blowing range of the effective object block i to be first blown, the shrunk blowing range is determined as the first target blowing range, and then the first blowing data is generated. Further, the blowing process may be performed on the effective object block i to be subjected to the first blowing according to the first blowing data.
In one embodiment, the aforementioned shrinking operation may be performed in particular by shrinking a certain size along the outer contour of the object towards the centroid or according to the distance between the two object. For more details on the determination of the first target blowing range by reducing a certain size along the outer contour of the object block toward the centroid, reference is made to the description of fig. 4, and the present application is not repeated here.
Fig. 9 is an exemplary block diagram of a mining blown sorting apparatus 900 according to an embodiment of the present application.
As shown in fig. 9, 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 via a bus. The memory 902 stores program instructions for sorting of mining jets, which when executed by the processor 901, cause the implementation of the method steps according to the preceding description with reference to the accompanying drawings: receiving object block information of a plurality of object blocks acquired by a mining acquisition system, and extracting object block information of an effective object block from the object block information of the plurality of object blocks; in response to the predetermined blowing type being satisfied, comparing the object block information of the effective object block to be subjected to the first blowing with the object block information of the effective object block of the second blowing therearound to determine a first target blowing range; generating first injection data based on the first target injection range; and executing a first blowing operation to the target area according to the first blowing data on the effective object blocks to be subjected to the first blowing so as to realize mining blowing sorting.
Those skilled in the art will also appreciate from the foregoing description, taken in conjunction with the accompanying drawings, that embodiments of the present application may also be implemented in software programs. The present application thus also provides a computer readable storage medium. The computer readable storage medium has stored thereon computer readable instructions for sorting mining jets, which when executed by one or more processors, implement the mining jet sorting method described in connection with fig. 3 of the present application.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
It should be noted that although the operations of the method of the present application are depicted in the drawings in a particular order, this does not require or imply that the operations must be performed in that particular order or that all of the illustrated operations be performed in order to achieve desirable results. Rather, the steps depicted in the flowcharts may change the order of execution. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform.
It should be understood that when the terms "first," "second," "third," and "fourth," etc. are used in the claims, the specification and the drawings of the present application, they are used merely to distinguish between different objects, and not to describe a particular order. The terms "comprises" and "comprising" when used in the specification and claims of the present application are taken to specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification and claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should be further understood that the term "and/or" as used in the present specification and claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
Although the embodiments of the present application are described above, the descriptions are merely examples for facilitating understanding of the present application, and are not intended to limit the scope and application of the present application. Any person skilled in the art can make any modification and variation in form and detail without departing from the spirit and scope of the present disclosure, but the scope of the present disclosure is defined by the appended claims.
Claims (10)
1. A mining blowing sorting method, comprising:
receiving object block information of a plurality of object blocks acquired by a mining acquisition system, and extracting object block information of an effective object block from the object block information of the plurality of object blocks;
in response to the predetermined blowing type being satisfied, comparing the object block information of the effective object block to be subjected to the first blowing with the object block information of the effective object block of the second blowing therearound to determine a first target blowing range;
generating first injection data based on the first target injection range; and
performing a first blowing operation on the effective object blocks to be subjected to the first blowing to a target area according to the first blowing data so as to realize mining blowing sorting,
Wherein the method further comprises: caching the extracted object block information of the effective object block into a cache queue;
wherein determining the object block information of the effective object block includes:
judging whether a data packet formed by object block information of a plurality of object blocks is correct or not and whether the length of the data packet is correct or not;
judging whether the receiving time of the object block information of the plurality of object blocks exceeds the blowing time or not;
comparing the object block information of the effective object block to be subjected to the first blowing with the object block information of the surrounding effective object blocks subjected to the second blowing, so as to determine the first target blowing range comprises:
calculating whether the initial blowing range of the effective object block to be subjected to first blowing is crossed with the boundary of the outer contour of the effective object block of the second blowing around the effective object block to be subjected to first blowing or not, so as to compare the position relationship between the initial blowing range of the effective object block to be subjected to first blowing and the outer contour of the effective object block of the second blowing around the effective object block, wherein the initial blowing range is determined according to the outer contour information of the object block; and
in response to the intersection between the initial blowing range of the effective object block to be subjected to the first blowing and the boundary of the outer contour of the effective object block around the effective object block to be subjected to the second blowing, taking the mass center of the effective object block to be subjected to the first blowing as the center, and reducing the preset length from the outer contour of the effective object block to be subjected to the first blowing to the center;
And performing a shrinking operation on the initial blowing range of the effective object block to be subjected to the first blowing according to the outer contour size of the effective object block to be subjected to the first blowing after the preset length is shrunk so as to determine the first target blowing range.
2. The sorting method according to claim 1, characterized in that the object block information comprises at least outer contour information and centroid information of the object block.
3. The method of sorting of claim 1, wherein the second shot comprises a shot that is not shot, is opposite to the first shot, or is co-current with the first shot.
4. The method of sorting of claim 1, wherein determining the first target blowing range further comprises:
and determining the initial blowing range of the effective object block to be subjected to the first blowing as the first target blowing range in response to no intersection between the initial blowing range of the effective object block to be subjected to the first blowing and the boundary of the outer contour of the effective object block around the effective object block to be subjected to the second blowing.
5. The sorting method according to claim 1, characterized by further comprising:
and performing a narrowing operation on the initial blowing range of the effective object block to be subjected to the first blowing according to the distance between the effective object block to be subjected to the first blowing and the effective object blocks around the effective object block to be subjected to the second blowing so as to determine the first target blowing range.
6. The sorting method of claim 1, wherein generating first shot data based on the first target shot range comprises:
and determining the number of the spray heads, the positions of the corresponding spray heads and the corresponding time for opening the spray heads according to the first target spraying range so as to generate the first spraying data.
7. A mining blowing sorting system is characterized by comprising at least one sorting control board, at least one sorting execution board and at least one blowing unit,
the at least one sorting control board for:
receiving object block information of a plurality of object blocks acquired by a mining acquisition system, and extracting object block information of an effective object block from the object block information of the plurality of object blocks;
in response to the predetermined blowing type being satisfied, comparing the object block information of the effective object block to be subjected to the first blowing with the object block information of the effective object block of the second blowing therearound to determine a first target blowing range;
generating first injection data based on the first target injection range; and
the at least one sorting execution plate is used for controlling the blowing unit to execute a first blowing operation on the effective object blocks to be subjected to first blowing to a target area according to the first blowing data so as to realize mining blowing sorting,
Wherein the at least one sorting control board is further for: caching the extracted object block information of the effective object block into a cache queue;
wherein determining the object block information of the effective object block includes:
judging whether a data packet formed by object block information of a plurality of object blocks is correct or not and whether the length of the data packet is correct or not;
judging whether the receiving time of the object block information of the plurality of object blocks exceeds the blowing time or not;
wherein the at least one sorting control board is further for:
calculating whether the initial blowing range of the effective object block to be subjected to first blowing is crossed with the boundary of the outer contour of the effective object block of the second blowing around the effective object block to be subjected to first blowing or not, so as to compare the position relationship between the initial blowing range of the effective object block to be subjected to first blowing and the outer contour of the effective object block of the second blowing around the effective object block, wherein the initial blowing range is determined according to the outer contour information of the object block; and
in response to the intersection between the initial blowing range of the effective object block to be subjected to the first blowing and the boundary of the outer contour of the effective object block around the effective object block to be subjected to the second blowing, taking the mass center of the effective object block to be subjected to the first blowing as the center, and reducing the preset length from the outer contour of the effective object block to be subjected to the first blowing to the center;
And performing a shrinking operation on the initial blowing range of the effective object block to be subjected to the first blowing according to the outer contour size of the effective object block to be subjected to the first blowing after the preset length is shrunk so as to determine the first target blowing range.
8. The sorting system of claim 7, wherein the blowing unit includes a plurality of spray heads, each of the sorting execution boards includes a plurality of execution switches, and each of the plurality of execution switches is correspondingly connected to the plurality of spray heads.
9. A mining jet sorting apparatus comprising:
a processor; and
a memory storing program instructions for mining blowing sorting, which when executed by a processor, cause the sorting method according to any one of claims 1-6 to be implemented.
10. A computer readable storage medium having stored thereon computer readable instructions for mining blowing sorting, which when executed by one or more processors, implements the sorting method of any of claims 1-6.
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| CN117443748A (en) * | 2023-12-20 | 2024-01-26 | 北京霍里思特科技有限公司 | Control method of object block sorting system and object block sorting system |
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