Dialysis tank cleaning method and system and terminal

Abstract

The invention relates to a dialysis tank cleaning method, system and terminal, and relates to the field of automation control, and the method comprises the steps: collecting the surface image information of a dialysis tank; responding to the surface image information and preset liquid medicine residue characteristics to obtain a liquid medicine residue distribution condition; generating a flushing angle and a flushing dosage value corresponding to the flushing angle based on the liquid medicine residue distribution condition; obtaining reference flushing duration according to the flushing angle and the flushing dosage value; a preset flushing device is controlled to flush the dialysis tank according to the flushing angle and the flushing dosage value corresponding to the flushing angle, and the flushing duration is collected; when the flushing duration exceeds the reference flushing duration, a preset disinfection device is controlled to disinfect the dialysis tank according to a preset disinfectant dosage value; and controlling the flushing device to flush the dialysis tank according to a preset post-disinfection flushing amount based on a preset reference disinfection time length, and completing flushing after a preset post-disinfection flushing time length. The cleaning device has the effect of improving the cleaning efficiency of the dialysis tank.

Description

Technical Field

[0001] The present invention relates to the field of automated control, and in particular to a dialysis tank cleaning method, system and terminal. Background Art

[0002] A dialysis tank is a device that provides space for dialysate and dialysis bags during dialysis and provides a specific environment for dialysis operations.

[0003] During the dialysis process, the dialysis tank comes into contact with blood, dialysate and other substances, and various pollutants such as proteins, bacteria, viruses, etc. are likely to remain. Therefore, the dialysis tank needs to be thoroughly cleaned and disinfected before and after use.

[0004] When cleaning the dialysis tank, it is usually done manually. Manual cleaning of the dialysis tank requires the operator to clean each part of the dialysis tank one by one. The process is cumbersome, and only one dialysis tank can be cleaned at a time. The cleaning efficiency is too low and needs to be improved. Summary of the Invention

[0005] In order to improve the cleaning efficiency of a dialysis tank, the present invention provides a dialysis tank cleaning method, system and terminal.

[0006] In a first aspect, the present invention provides a dialysis tank cleaning method, which adopts the following technical solution: A dialysis tank cleaning method comprising: Collecting surface image information of the dialysis tank; Responding to the surface image information and the preset liquid medicine residue characteristics to obtain the liquid medicine residue distribution; Generating a flushing angle and a flushing dosage value corresponding to the flushing angle based on the residual distribution of the liquid medicine; The benchmark flushing time is obtained based on the flushing angle and flushing amount; Controlling a preset flushing device to flush the dialysis tank at a flushing angle and a flushing amount value corresponding to the flushing angle, and collecting the flushing time; When the flushing time exceeds the benchmark flushing time, controlling a preset disinfection device to disinfect the dialysis tank with a preset disinfectant dosage value; Based on the preset benchmark disinfection time, the flushing device is controlled to flush the dialysis tank with a preset post-disinfection flushing volume, and the flushing is completed after the preset post-disinfection flushing time.

[0007] By adopting the above technical solution, the surface image information of the dialysis tank is first collected, and its distribution is determined according to the residual characteristics of the drug solution. In this way, the flushing angle, the corresponding flushing amount value and the benchmark flushing time are determined, and the flushing device is controlled to flush and the actual flushing time is collected. If it exceeds the benchmark time, the disinfection device is used to disinfect with a preset disinfectant amount. After the benchmark disinfection time, the flushing device is used to flush with the post-disinfection flushing amount. The cleaning is completed when the post-disinfection flushing time is reached. In this way, the cleanliness of the dialysis tank and the safety and stability of subsequent use are effectively guaranteed, while the cleaning efficiency of the dialysis tank is improved.

[0008] Optionally, also include: After the flushing is completed, the required temperature of the dialysis tank is collected; When the required temperature condition is consistent with the preset low temperature requirement condition, the preset flipping device is controlled to flip the dialysis tank; After the dialysis tank is flipped, flip image information is collected; Combining flipped image information, preset side wall features, and reference objects to determine wide wall position and wide wall size; determining a wide wall insertion position in response to the wide wall position and the wide wall size; The preset water stain removal device is controlled to go to the wide wall insertion position, and after arriving at the position, the device is inserted into the dialysis tank at a preset wide wall insertion speed, and the water stain is removed using a preset water stain removal method.

[0009] Optional water stain removal methods include: When the water stain removal device is inserted, inserting image information is collected; Combining the inserted image information, the preset water damage residual characteristics and the reference object to determine the wide wall water damage residual amount; The blowing force value is obtained based on the wide wall water stain residue and wide wall size; Controlling the blowing device preset on the water stain removal device to blow air at a blowing intensity value; determining a remaining insertion distance in response to the insertion image information, the sidewall feature, and the reference object; When the remaining insertion distance is 0, the air blowing adjustment piece preset on the water stain removal device is controlled to perform air blowing adjustment using a preset air blowing adjustment method; After the air blowing adjustment is completed, the water stain removal device is controlled to pull out the dialysis tank at a preset pulling-out speed to complete the water stain removal on the side wall corresponding to the wide wall position.

[0010] Optional, blowing adjustment methods include: When the remaining insertion distance is 0, the length of the adjusting piece is determined according to the wide wall size; determining an angle adjustment parameter based on the adjustment piece length value and a preset reference length value; generating an extension parameter in response to the angle adjustment parameter and the trim piece length value; Determine the blowing change parameter based on the blowing force value and the extension parameter; Controlling the blowing device to adjust the blowing according to the blowing change parameter, controlling the blowing adjustment piece to adjust the angle based on the angle adjustment parameter, and controlling the blowing adjustment piece to extend the length based on the extension parameter; Collect the current length value of the blowing adjustment piece; When the current length value is consistent with the length value of the adjustment piece, the water stain removal device is controlled to pull out the dialysis tank at a preset pulling-out speed to complete the water stain removal on the side wall corresponding to the wide wall position.

[0011] Optionally, also include the removal of validation methods: After the dialysis tank is pulled out by the water stain removal device, image information of the dialysis tank is collected; When the extracted image information contains water stain residue features, combining the extracted image information and the water stain residue features to obtain a water stain residue range; When the residual water stain range exceeds the preset baseline residual range, the device will be reported as abnormal. When the residual water stain range does not exceed the preset reference residual range, the remaining water stain position is determined based on the extracted image information, the residual water stain characteristics, and the reference object; The preset remedial removal device is controlled to remove the residual features of the water stains at the remaining water stain positions, so as to complete the water stain removal on the side wall corresponding to the wide wall position.

[0012] Optionally, also include longwall water stain removal methods: After the water stains on the side wall corresponding to the wide wall position are removed, the tilt direction is determined according to the wide wall position; Based on the tilt direction and the preset tilt angle value, the dialysis tank is controlled to tilt in the direction. After the tilt, the preset lighting device is controlled to illuminate the inside of the dialysis tank with a preset lighting intensity value, and the reflection parameters in the tank are collected; determining the amount of longwall water stain accumulation in response to the reflective parameters and the tilt angle value in the trough; Combining flipped image information, side wall features, wide wall position, and reference objects to determine the long wall insertion position and long wall size; Obtain the inclined blowing force value based on the amount of water stain accumulation on the long wall, the inclination angle value and the long wall size; Controlling a preset oblique removal device to be inserted into the dialysis tank based on the long wall insertion position, and after the insertion, controlling a blowing device preset on the oblique removal device to blow air at an oblique blowing intensity value; After a preset reference blowing time, the inclined removal device is controlled to pull out the dialysis tank at a pulling-out speed to complete the water stain removal on the side wall corresponding to the long wall insertion position.

[0013] Optionally, the remaining water stain removal method is also included: Collect model information of water stain removal equipment; generating a removal impact range in response to the model information; Based on the removal impact range and wide wall size to obtain the residual removal equipment model; Combining the tilt direction, wide wall position, and wide wall size to derive the bottom insertion position; According to the model of the residue removal device, the corresponding residue removal device is controlled to be inserted into the bottom surface insertion position, and after insertion, the auxiliary blowing device preset on the residue removal device is controlled to perform auxiliary blowing at a preset guide wind force value; Control the residual removal device to move and remove stains at a preset device moving speed, and collect the moving distance value; When the moving distance value is consistent with the preset adjustment distance value, the residual removal device is controlled to perform blowing adjustment using the preset residual adjustment method, and after the adjustment, the residual removal device is controlled to pull out the dialysis tank at a pulling-out speed to complete the water stain removal of the dialysis tank.

[0014] Optional remaining adjustment methods include: When the moving distance value is consistent with the adjustment distance value, the blowing device preset on the residual removal device is controlled to blow air at a preset blowing force value; Responding to the travel distance value and the long wall size to obtain a remaining travel distance; The blast angle adjustment value is known according to the remaining moving distance and the blast strength value; determining an auxiliary angle adjustment value based on the blast angle adjustment value; The residual removal device is controlled to adjust the angle according to the blowing angle adjustment value, and the auxiliary blowing device is controlled to adjust the angle based on the auxiliary angle adjustment value. After the adjustment, the residual removal device is controlled to pull out the dialysis tank at a pulling-out speed to complete the water stain removal of the dialysis tank.

[0015] In a second aspect, the present application provides a dialysis tank cleaning system, which adopts the following technical solution: A dialysis tank cleaning system, comprising: The acquisition module is used to collect surface image information, flushing time, required temperature, flip image information, insertion image information, current length value, removal image information, groove reflection parameters, model information and moving distance value; A memory for storing a program for any of the above-mentioned dialysis tank cleaning methods; The processor is configured to load, execute, and implement the program stored in the memory.

[0016] In a third aspect, the present application provides a terminal that adopts the following technical solution: A terminal includes a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and execute any of the above-mentioned dialysis tank cleaning methods.

[0017] In summary, this application includes at least one of the following beneficial technical effects: 1. By first collecting image information of the dialysis tank surface, the distribution of residual drug solution is determined based on its characteristics, and the flushing angle, corresponding flushing amount and benchmark flushing time are determined. The flushing device is controlled to flush and the actual flushing time is collected. If the benchmark time is exceeded, the disinfection device is used to disinfect with a preset disinfectant amount. After the benchmark disinfection time, the flushing device is used again with the post-disinfection flushing amount. The cleaning is completed when the post-disinfection flushing time is reached. This effectively ensures the cleanliness of the dialysis tank and the safety and stability of subsequent use, while improving the cleaning efficiency of the dialysis tank. 2. Through multi-parameter linkage control, precise control of the blowing device and adjustment piece is achieved to ensure efficient removal of water stains on the wide wall of the dialysis tank, improving the quality and efficiency of dialysis tank cleaning; 3. By first controlling the tilt of the dialysis tank based on the tilt direction and angle, while simultaneously understanding the reflective parameters within the tank, the amount of water stains accumulated on the longwalls can be determined. The insertion position and dimensions of the longwalls are then determined, and the amount of water stains accumulated is combined with other parameters to determine the tilted blowing force. Finally, the tilted removal device is inserted and blows with the appropriate force. After the reference blowing time is reached, it is removed to complete the longwall and sidewall water stain removal. This allows for precise location and thorough removal of water stains, reducing residual water stains on the dialysis tank longwalls to near zero, ensuring the cleanliness of the dialysis tank. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a method flow of a dialysis tank cleaning method in an embodiment of the present invention Figure 1 ; Figure 2 This is a method flow of a dialysis tank cleaning method in an embodiment of the present invention Figure 2 . DETAILED DESCRIPTION

[0019] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0020] Reference Figure 1 The present invention discloses a method for cleaning a dialysis tank, comprising the following steps: Step 100: Collect surface image information of the dialysis tank.

[0021] A dialysis tank refers to a tank used for performing dialysis procedures. In this embodiment, the dialysis tank is a rectangular parallelepiped tank. Surface image information refers to an image of the inner surface of the dialysis tank. Surface image information is captured by a camera.

[0022] Step 101: Obtaining the distribution of residual drug liquid in response to surface image information and preset residual drug liquid characteristics.

[0023] The residual characteristics of the drug solution refer to the appearance characteristics when dialysate remains in the tank. The residual characteristics of the drug solution are set in advance by those skilled in the art and will not be described in detail here. The residual distribution of the drug solution refers to the distribution of the residual dialysate at various positions in the dialysis tank after the dialysis operation is completed. The residual distribution of the drug solution can be obtained by performing feature recognition on the residual characteristics of the drug solution in the surface image information through a preset feature recognition library. The feature recognition library contains the correspondence between the surface image information and the residual characteristics of the drug solution and the residual distribution of the drug solution. The feature recognition library is an artificially set database and will not be described in detail here.

[0024] Step 102: Generate a flushing angle and a flushing amount value corresponding to the flushing angle based on the residual distribution of the liquid medicine.

[0025] The flushing angle refers to the angle of the flushing device when flushing the dialysis tank. The flushing dosage value refers to the amount of water required when the flushing device flushes at a flushing angle. Different flushing angles require different dosages. The flushing device refers to a device used to flush the dialysis tank. The flushing angle corresponding to the residual distribution of the drug solution and the flushing dosage value corresponding to the flushing angle can be matched through the preset flushing database, which includes the correspondence between the residual distribution of the drug solution, the flushing angle and the flushing dosage value. The flushing database is a manually set database and will not be described in detail here.

[0026] Step 103: Calculate a baseline flushing time based on the flushing angle and the flushing amount.

[0027] The baseline flushing duration is the time required for the flushing device to completely flush the dialysis tank. The flushing database can be used to match the flushing angle and flushing dosage values ​​to the baseline flushing duration. This database contains the corresponding relationship between the flushing angle, flushing dosage value, and the baseline flushing duration value.

[0028] Step 104: Control the preset flushing device to flush the dialysis tank at a flushing angle and a flushing volume value corresponding to the flushing angle, and collect the flushing time.

[0029] The flushing duration is the duration of time the flushing device flushes the dialysis tank. This duration is measured using a preset electronic timer. When the flushing device begins flushing, the electronic timer begins counting. The flushing device is controlled to flush the dialysis tank at a specific flushing angle and the corresponding flushing volume. The flushing duration is then recorded for subsequent steps.

[0030] Step 105: When the flushing time exceeds the reference flushing time, control a preset disinfection device to disinfect the dialysis tank with a preset disinfectant dosage value.

[0031] The disinfection device refers to a device used to disinfect a flushed dialysis tank. The disinfectant dosage value refers to the amount of disinfectant required to disinfect a flushed dialysis tank. The disinfectant dosage value is pre-determined by those skilled in the art and is not detailed here.

[0032] When the flushing time exceeds the benchmark flushing time, it means that the flushing device has completed flushing the dialysis tank, and the disinfection device needs to be controlled to disinfect the dialysis tank with the disinfectant dosage value for subsequent steps.

[0033] Step 106: Based on the preset baseline disinfection time, the flushing device is controlled to flush the dialysis tank with a preset post-disinfection flushing volume, and the flushing is completed after the preset post-disinfection flushing time.

[0034] The baseline disinfection duration refers to the time required to disinfect a flushed dialysis tank. The post-disinfection flush volume refers to the amount of water required to flush a disinfected dialysis tank again. The post-disinfection flush duration refers to the time required to flush a disinfected dialysis tank again. The baseline disinfection duration, post-disinfection flush volume, and post-disinfection flush duration are all set in advance by those skilled in the art and are not detailed here.

[0035] After the benchmark disinfection time, it means that the disinfection of the dialysis tank has been completed. It is necessary to control the flushing device to flush the dialysis tank with the post-disinfection flushing volume, and complete the removal of the disinfectant in the dialysis tank after the post-disinfection flushing time.

[0036] Reference Figure 2 , further comprising the following steps: Step 200: After the flushing is completed, the required temperature of the dialysis tank is collected.

[0037] The required temperature condition refers to the desired temperature that the dialysis tank must reach and maintain during subsequent dialysis procedures. The required temperature condition is obtained by scanning a pre-applied barcode with a preset scanner. The barcode content obtained by scanning corresponds to the required temperature condition. The location of the barcode is pre-set by those skilled in the art and is not detailed here.

[0038] After the removal of the disinfectant in the dialysis tank is completed, the required temperature of the dialysis tank needs to be collected for subsequent steps.

[0039] Step 201: When the required temperature condition is consistent with the preset low temperature requirement condition, control the preset flipping device to flip the dialysis tank.

[0040] The low temperature requirement refers to the requirement that the dialysis tank needs to reach and maintain a lower suitable temperature value in the subsequent dialysis operation. In this embodiment, the temperature of the dialysis tank needs to be maintained at 2~8°C, that is, 2~8°C is the low temperature requirement in this implementation. The flipping device refers to a device for flipping the dialysis tank 180°. When the required temperature condition is consistent with the low temperature requirement condition, it means that in the subsequent dialysis operation, the dialysis tank needs to reach and maintain a lower suitable temperature value. Therefore, when drying the dialysis tank, it is necessary to first control the flipping device to flip the dialysis tank for subsequent steps. The dialysis tank is separated from the entire operating table to facilitate the flipping and tilting of the dialysis tank.

[0041] Step 202: After the dialysis tank is flipped, flip image information is collected.

[0042] Flipped image information refers to the image of the dialysis tank after it has been flipped. This image information is captured by a camera. After the dialysis tank has been flipped, this image information must be captured for subsequent steps.

[0043] Step 203: Combining the flipped image information, the preset side wall features, and the reference object to determine the wide wall position and wide wall size.

[0044] The sidewall features refer to the appearance features of the four sidewalls of the dialysis trough. The reference object refers to an object used to assist in determining various data. The sidewall features and the position and dimensions of the reference object are all pre-determined by those skilled in the art and are not described in detail here. The widewall position refers to the position of one of the wide walls of the dialysis trough. Since the dialysis trough is a rectangular trough, there are two wide walls. In this embodiment, the wide wall on the left is preferentially selected as the widewall position. Therefore, when removing water stains from the wide wall, only the sidewall corresponding to the widewall position will be removed first, and the other wide wall will not be removed. The widewall size refers to the size of the wide wall of the dialysis trough. The preset image recognition library can match the widewall position and widewall size corresponding to the flipped image information, sidewall features, and reference object. It contains the corresponding relationship between the flipped image information, sidewall features, reference object, widewall position, and widewall size values. The image recognition library is a manually set database and is not described in detail here.

[0045] Step 204 : Determine a wide wall insertion position in response to the wide wall position and the wide wall size.

[0046] The widewall insertion position refers to the location the water stain removal device must first reach when inserted into the dialysis tank. The water stain removal device is used to remove water stains located at the widewall position. A preset insertion database can be used to match widewall positions and dimensions to the widewall insertion position. This database contains the corresponding relationships between widewall positions, dimensions, and widewall insertion positions. This insertion database is manually configured and will not be discussed in detail here.

[0047] Step 205: Control the preset water stain removal device to go to the wide wall insertion position. After arriving at the wide wall insertion position, insert the device into the dialysis tank at a preset wide wall insertion speed and remove the water stain using a preset water stain removal method.

[0048] The wide wall insertion speed refers to the speed at which the water stain removal device is inserted into the dialysis tank from the wide wall insertion position. The wide wall insertion speed is pre-determined by those skilled in the art and is not described in detail here. The water stain removal method refers to the method used to remove water stains from the sidewall corresponding to the wide wall position. The specific water stain removal method is described in detail in subsequent steps 300 to 306 and is not described in detail here.

[0049] The water stain removal device is controlled to move to the wide wall insertion position, and when the water stain removal device reaches the wide wall insertion position, the water stain removal device is controlled to be inserted into the dialysis tank at the wide wall insertion speed, and the water stain removal device is controlled to remove water stains using the water stain removal method.

[0050] The water stain removal method includes the following steps: Step 300: When the water stain removal device is inserted, inserting image information is collected.

[0051] The inserted image information refers to the image presented in front of the water stain removal device when it is inserted into the dialysis tank. The inserted image information is captured by a camera pre-installed on the water stain removal device.

[0052] When the water stain removal device is being inserted into the dialysis tank, insertion image information needs to be collected for subsequent steps.

[0053] Step 301: Determine the amount of wide-wall water stain residue by combining the inserted image information, the preset water stain residue characteristics, and the reference object.

[0054] The residual water stain feature refers to the feature of residual water stains on the side walls of the dialysis tank. The residual water stain feature is set in advance by a person skilled in the art and will not be described in detail here. The residual water stain amount on the wide wall refers to the amount of water stain remaining at the corner connecting the side wall and the bottom surface corresponding to the wide wall position. The image recognition library can match the inserted image information, the residual water stain feature, and the residual water stain amount on the wide wall corresponding to the reference object, which includes the corresponding relationship between the inserted image information, the residual water stain feature, the reference object, and the residual water stain amount on the wide wall.

[0055] Step 302: Obtain a blowing force value based on the wide wall water stain residue and the wide wall size.

[0056] The blowing force value refers to the force applied by the blowing device to remove water stains. A blowing device is a device used to remove water stains. The blowing device is installed on the water stain removal device. A preset blowing database can be used to match the blowing force value corresponding to the residual amount of wide-wall water stains and wide-wall dimensions. This database contains the corresponding relationship between the residual amount of wide-wall water stains, wide-wall dimensions, and the blowing force value. The blowing database is a manually configured database and will not be described in detail here.

[0057] Step 303: Controlling the blowing device preset on the water stain removal device to blow air at a blowing intensity value.

[0058] The blowing device provided on the water stain removal device is controlled to blow air at a blowing force value, so as to blow the water stains in front of the water stain removal device to the surrounding areas.

[0059] Step 304 : Determine a remaining insertion distance in response to the inserted image information, the wall features, and the reference object.

[0060] The remaining insertion distance refers to the distance remaining from the device's current position until it reaches the bottom of the dialysis tank during insertion. The image recognition library matches the remaining insertion distance to the insertion image information, wall features, and reference objects. This library contains the corresponding relationships between the insertion image information, wall features, reference objects, and the remaining insertion distance.

[0061] Step 305 : When the remaining insertion distance is 0, controlling the air blowing adjustment piece preset on the water stain removal device to perform air blowing adjustment using a preset air blowing adjustment method.

[0062] The blowing adjustment plate is an object used to adjust the direction of the air blown by the blowing device. The blowing adjustment method is a method for adjusting the direction of the air blown by the blowing device. The blowing adjustment method is described in detail in subsequent steps 400 to 406 and is not further described here.

[0063] When the remaining insertion distance is 0, it means that the water spot removal device has abutted against the bottom of the dialysis tank. It is necessary to control the air blowing adjustment piece set on the water spot removal device to perform air blowing adjustment using the air blowing adjustment method for subsequent steps.

[0064] Step 306: After the air blowing adjustment is completed, the water stain removal device is controlled to remove the dialysis tank at a preset removal speed to complete the water stain removal on the side wall corresponding to the wide wall position.

[0065] The removal speed refers to the speed at which the water stain removal device exits the dialysis tank. This speed is pre-set by those skilled in the art and will not be detailed here. After the air blowing adjustment is complete, the water stain removal device is controlled to remove the dialysis tank at the removal speed to complete the removal of water stains from the sidewall corresponding to the wide wall position.

[0066] The blowing adjustment method includes the following steps: Step 400 : When the remaining insertion distance is 0, determine the length of the adjusting piece according to the wide wall size.

[0067] The adjustment tab length value refers to the length required for adjusting the direction of the blower tab. The adjustment tab length value corresponding to the wide wall size can be matched using a preset length database, which contains the corresponding relationship between wide wall size and adjustment tab length. The length database is manually set and will not be detailed here.

[0068] When the remaining insertion distance is 0, the adjustment piece length value must be matched first for subsequent steps.

[0069] Step 401: Determine an angle adjustment parameter based on the adjustment piece length value and a preset reference length value.

[0070] The reference length value refers to the length of the blowing adjustment plate when it is currently mounted on the water stain removal device and has not been adjusted. The reference length value is pre-set by those skilled in the art and is not described in detail here. The angle adjustment parameter refers to the degree to which the angle of the blowing adjustment plate needs to be adjusted. A preset adjustment database can be used to match the angle adjustment parameters corresponding to the adjustment plate length value and the reference length value. This database contains the corresponding relationship between the adjustment plate length value, the reference length value, and the angle adjustment parameters. The adjustment database is a manually set database and is not described in detail here.

[0071] Step 402: Generate an extension parameter in response to the angle adjustment parameter and the adjustment piece length value.

[0072] The extension parameter refers to the length by which the blower tab must be extended during angle adjustment. A preset extension database is used to match angle adjustment parameters to tab length values. This database contains the corresponding relationships between angle adjustment parameters, tab length values, and extension parameters. This extension database is manually configured and will not be discussed further here.

[0073] Step 403: Determine a blowing change parameter according to the blowing force value and the extension parameter.

[0074] The blowing variation parameter refers to the change in blowing force value caused by changes in the angle and length of the blowing adjustment plate. The blowing variation parameter corresponding to the blowing force value and extension parameter can be matched through the blowing database, which contains the corresponding relationship between the blowing force value, extension parameter and blowing variation parameter.

[0075] Step 404: Control the blowing device to adjust the blowing according to the blowing variation parameter, control the blowing adjustment piece to adjust the angle based on the angle adjustment parameter, and control the blowing adjustment piece to extend the length based on the extension parameter.

[0076] The blowing device is controlled to adjust the blowing according to the blowing change parameter, and the blowing adjustment piece is controlled to adjust the angle according to the angle adjustment parameter. While adjusting the angle, the blowing adjustment piece is controlled to extend the length according to the extension parameter.

[0077] Step 405: Collect the current length value of the blowing adjustment piece.

[0078] The current length value refers to the actual length of the blower adjustment tab when extended. This value is collected by a length monitoring terminal pre-set within the water stain removal device. This terminal is used to monitor the current length of the blower adjustment tab in real time and includes a monitoring program related to the current length value. The length monitoring terminal is pre-set by those skilled in the art and is not detailed here.

[0079] Step 406: When the current length value is consistent with the length value of the adjustment piece, the water stain removal device is controlled to remove the dialysis tank at a preset removal speed to complete the water stain removal on the side wall corresponding to the wide wall position.

[0080] When the current length matches the length of the adjustment piece, it indicates that the angle and length of the air blowing adjustment piece have been adjusted, and the water stain removal device can be removed. Therefore, the water stain removal device can be directly controlled to remove the dialysis tank at the removal speed to complete the water stain removal on the side wall corresponding to the wide wall position.

[0081] The removal check method includes the following steps: Step 500: After the dialysis tank is pulled out by the water stain removal device, image information of the dialysis tank is collected.

[0082] The extraction image information refers to the image of the dialysis tank after the water stain removal device is removed from the dialysis tank. This extraction image information is captured by a camera. After the water stain removal device is removed from the dialysis tank, further verification of the water stain removal status within the dialysis tank is required. Therefore, the extraction image information of the dialysis tank is collected for subsequent steps.

[0083] Step 501: When the extracted image information includes a water stain residue feature, the extracted image information and the water stain residue feature are combined to obtain a water stain residue range.

[0084] The residual water stain range refers to the size of the water stain remaining in the dialysis tank after the water stain removal device is removed. The image recognition library identifies and selects the residual water stain range based on the residual water stain features in the removal image information. The image recognition library contains the corresponding relationship between the removal image information, the residual water stain features, and the residual water stain range.

[0085] When the extracted image information contains water stain residue features, it means that the water stain removal device has not completely removed the water stains, and the water stain residue range needs to be matched first for subsequent steps.

[0086] Step 502: When the water stain residual range exceeds the preset reference residual range, a device abnormality prompt is reported.

[0087] The baseline residual range refers to the maximum allowable range for water stains. The equipment abnormality alert is a notification when the equipment used to remove water stains from the dialysis tank experiences an abnormality. Both the baseline residual range and the equipment abnormality alert are pre-determined by those skilled in the art and are not detailed here.

[0088] When the residual range of water stains exceeds the baseline residual range, it means that the residual range of water stains is too large, which means that there is an abnormality in the water stain removal equipment and the equipment abnormality prompt needs to be reported.

[0089] Step 503 : When the water stain residue range does not exceed the preset reference residue range, determine the remaining water stain position according to the extracted image information, the water stain residue characteristics, and the reference object.

[0090] The remaining water stain location refers to the location of water stains remaining in the dialysis tank. The image recognition library can match the extraction image information, the residual water stain characteristics, and the corresponding residual water stain location of the reference object. This includes the corresponding relationship between the extraction image information, the residual water stain characteristics, the reference object, and the remaining water stain location.

[0091] When the residual range of water stains does not exceed the reference residual range, it means that the residual range of water stains is not too large, and the positions of the remaining water stains need to be matched for subsequent steps.

[0092] Step 504: Control the preset remedial removal device to remove the residual features of the water stain at the remaining water stain position, so as to complete the water stain removal on the side wall corresponding to the wide wall position.

[0093] The remedial removal device is a device used to further remove the remaining water stains in the dialysis tank. The remedial removal device is controlled to remove the residual water stain features at the remaining water stain position, thereby completing the water stain removal on the side wall corresponding to the wide wall position.

[0094] The longwall water stain removal method includes the following steps: Step 600 : After the water stains on the side wall corresponding to the wide wall position are removed, the tilt direction is determined according to the wide wall position.

[0095] The tilt direction refers to the direction in which the dialysis trough tilts when it is tilted. By understanding the wide wall position, we can know the side wall that has been completely water-stained. Therefore, to avoid affecting the side wall that has been water-stained when removing water stains from other side walls, the dialysis trough needs to be tilted accordingly. The tilt direction corresponding to the wide wall position can be matched through a preset tilt database, which contains the corresponding relationship between the wide wall position and the tilt direction. The tilt database is a manually set database and will not be described in detail here.

[0096] After the water stains on the side wall corresponding to the wide wall position are removed, the tilt direction must be matched first for subsequent steps.

[0097] Step 601: The dialysis tank is controlled to tilt based on the tilt direction and the preset tilt angle value. After the tilt, the preset lighting device is controlled to illuminate the inside of the dialysis tank with a preset lighting intensity value, and the reflection parameters in the tank are collected.

[0098] The tilt angle value refers to the angle value of the dialysis trough when the dialysis trough is tilted. The lighting device refers to a device used to illuminate the inside of the dialysis trough. The lighting intensity value refers to the intensity value when the lighting device illuminates the inside of the dialysis trough. The tilt angle value and the lighting intensity value are both set in advance by those skilled in the art and are not described here. The in-tank reflection parameter refers to the intensity value and area of ​​the reflection that appears in the dialysis trough due to water stains when the inside of the dialysis trough is illuminated. The in-tank reflection parameter is measured and collected by a photoelectric sensor.

[0099] The tilting device controls the preset tilting direction and angle to tilt the dialysis tank. After tilting, the lighting device controls the lighting intensity to illuminate the inside of the dialysis tank and collects the reflection parameters inside the tank for subsequent steps. The tilting device is used to assist in tilting the dialysis tank.

[0100] Step 602: Determine the amount of longwall water stain accumulation in response to the reflection parameter and the tilt angle value in the groove.

[0101] Longwall water accumulation refers to the total amount of water accumulated due to the tilt and gravity of the dialysis tank after it is tilted. A preset accumulation database is used to match the longwall water accumulation amount with the tank's internal reflective parameters and tilt angle values. This database contains the corresponding relationship between the tank's internal reflective parameters, tilt angle values, and longwall water accumulation amount. The accumulation database is manually set and will not be detailed here.

[0102] Step 603: Combining the flipped image information, the side wall features, the wide wall position, and the reference object to determine the long wall insertion position and the long wall size.

[0103] The long wall insertion position refers to the position that the tilt removal device needs to reach first when it needs to be inserted into the dialysis trough. The tilt removal device refers to a device used to remove water stains from the long wall of the dialysis trough in a tilted state. The long wall refers to the side wall of the dialysis trough whose two sides are longer than the other two sides. The long wall size refers to the length of the long wall. The image recognition library can match the long wall insertion position and long wall size corresponding to the flipped image information, side wall features, wide wall position and reference object, which includes the correspondence between the flipped image information, side wall features, wide wall position, reference object, long wall insertion position and long wall size.

[0104] In this embodiment, the long wall insertion positions are located at two corners between the two long walls and the wide wall from which water stains have been removed. Therefore, there are two long wall insertion positions, which further indicates that the water stain removal steps for the two long walls will be performed simultaneously.

[0105] Step 604: Obtain the inclined blowing force value based on the longwall water stain accumulation amount, the inclined angle value, and the longwall size.

[0106] The tilted blowing force value is the force used to remove water stains at the corner between the longwall and the bottom of the dialysis tank. The blowing database can be used to match the tilted blowing force value corresponding to the amount of longwall water stain accumulation, tilt angle value, and longwall size. It contains the corresponding relationship between the amount of longwall water stain accumulation, tilt angle value, longwall size, and tilted blowing force value.

[0107] Step 605: Control the preset inclined removal device to be inserted into the dialysis tank based on the long wall insertion position, and after the insertion, control the blowing device preset on the inclined removal device to blow with the inclined blowing force value.

[0108] The blowing device is used to remove water stains at the corner between the longwall and the bottom of the dialysis tank. The tilt removal device is controlled to move toward the longwall insertion position. Once the tilt removal device reaches the longwall insertion position, it is inserted into the dialysis tank. The blowing device on the tilt removal device is controlled to blow at a predetermined tilt blowing force.

[0109] Step 606: After a preset reference blowing time, control the inclined removal device to pull out the dialysis tank at a pulling-out speed to complete the water stain removal on the side wall corresponding to the long wall insertion position.

[0110] The baseline blowing duration refers to the duration for which the blowing device is required to perform blowing. This baseline blowing duration is pre-determined by those skilled in the art and will not be detailed here. Based on the baseline blowing duration, the tilting removal device must be controlled to remove the dialysis tank at a specific removal speed to complete water stain removal on the sidewall corresponding to the longwall insertion position.

[0111] The remaining water stain removal method includes the following steps: Step 700: Collect model information of the water stain removal device.

[0112] Model information includes the dimensions, power, and cleaning dimensions of the water stain removal device. This information can be obtained by scanning the barcode on the water stain removal device with a pre-set barcode scanner. The information displayed by the scanner corresponds to the model information.

[0113] Step 701: Generate a removal impact range in response to model information.

[0114] The impact range refers to the area of ​​the dialysis tank's bottom surface affected by water stain removal equipment when removing water stains on the wide wall. A pre-set impact database is used to match model information with the impact range. This database contains the corresponding relationship between model information and impact range. The impact database is manually configured and will not be detailed here.

[0115] Step 702: Obtain a remaining removal equipment model based on the removal impact range and the wide wall size.

[0116] The residual removal device model refers to the specific model of the residual removal device, which is used to distinguish residual removal devices of different specifications, performance, and functions. The residual removal device model corresponding to the removal influence range and wide wall size can be matched through the preset removal database, which includes the correspondence between the removal influence range and wide wall size and the residual removal device model. The removal database is a manually set database and will not be described in detail here. The residual removal device refers to a device used to remove water stains from the bottom surface of the dialysis tank and another wide wall that has not yet been water-removed.

[0117] Step 703: Combining the tilt direction, wide wall position, and wide wall size to determine the bottom surface insertion position.

[0118] The bottom insertion position refers to the location the residual removal device must reach before it can begin removing water stains. A pre-set insertion database matches the bottom insertion position to the tilt direction, widewall position, and widewall size. This database contains the corresponding relationships between tilt direction, widewall position, widewall size, and bottom insertion position. This insertion database is manually configured and will not be detailed here.

[0119] Step 704: Control the corresponding residue removal device to be inserted into the bottom insertion position according to the residue removal device model, and after insertion, control the auxiliary blowing device preset on the residue removal device to perform auxiliary blowing with a preset guide wind force value.

[0120] The auxiliary blowing device refers to a device used to prevent water stains from reattaching to the long wall when the residual removal device is performing a water stain removal operation. The diversion wind force value refers to the wind force value used by the auxiliary blowing device to prevent water stains from reattaching to the long wall when the residual removal device is performing a water stain removal operation. The diversion wind force value is set in advance by those skilled in the art and will not be described in detail here. The residual removal device corresponding to the residual removal device model is controlled to be inserted into the bottom surface insertion position, and after insertion, the auxiliary blowing device on the residual removal device is controlled to perform auxiliary blowing at the diversion wind force value to prevent water stains on the bottom surface from reattaching to the long wall.

[0121] Step 705: Control the residual removal device to move and remove stains at a preset device moving speed, and collect the moving distance value.

[0122] The device movement speed refers to the speed at which the residual removal device moves during the water stain removal operation. The device movement speed is pre-set by those skilled in the art and is not detailed here. The movement distance value refers to the distance the residual removal device moves during the water stain removal operation. The movement distance value is measured by a preset infrared sensor.

[0123] Step 706: When the moving distance value is consistent with the preset adjustment distance value, the residual removal device is controlled to perform air blowing adjustment using a preset residual adjustment method. After the adjustment, the residual removal device is controlled to pull out the dialysis tank at a pulling-out speed to complete the water stain removal of the dialysis tank.

[0124] The adjustment distance value refers to the distance at which the residual removal device needs to be adjusted for blowing air when the residual removal device has moved to this value. The adjustment distance value is set in advance by those skilled in the art and is not described in detail here. The residual adjustment method refers to the method used to adjust the residual removal device for blowing air. The specific residual adjustment method is described in detail in subsequent steps 800 to 804 and is not described in detail here.

[0125] When the moving distance value is consistent with the adjustment distance value, it means that the residual removal device can be controlled to perform blowing adjustment. The residual removal device can be directly controlled to perform blowing adjustment using the residual adjustment method. After adjustment, the residual removal device is controlled to pull out the dialysis tank at a pulling-out speed to complete the removal of all water stains in the dialysis tank.

[0126] The residual adjustment method includes the following steps: Step 800: When the moving distance value is consistent with the adjustment distance value, control the blowing device preset on the residue removal device to blow air at a preset blowing force value.

[0127] The air blowing device is used to remove water stains from the bottom surface and at the corner between the bottom surface and the wide wall where water stain removal has not yet been performed. The air blowing force value refers to the force value of the air blowing device during the blowing operation. The air blowing force value is pre-set by those skilled in the art and will not be detailed here.

[0128] When the moving distance value is consistent with the adjustment distance value, it is necessary to control the blowing device on the residual removal equipment to blow air at the blowing intensity value for subsequent steps.

[0129] Step 801: Responding to the moving distance value and the long wall size to obtain the remaining moving distance.

[0130] The remaining travel distance is the distance the residual removal device can still move along the longwall. Knowing the longwall dimensions allows you to determine its length. The remaining travel distance is calculated by calculating the difference between the longwall length and the travel distance.

[0131] Step 802: Calculate the blowing angle adjustment value based on the remaining moving distance and the blowing force value.

[0132] The blast angle adjustment value refers to the value used when the blast device adjusts the blowing angle. The blast angle adjustment value corresponding to the remaining travel distance and the blast force value can be matched by adjusting the database, which includes the corresponding relationship between the remaining travel distance, the blast force value, and the blast angle adjustment value.

[0133] Step 803: Determine an auxiliary angle adjustment value based on the air blowing angle adjustment value.

[0134] The auxiliary angle adjustment value refers to the value used by the auxiliary blowing device to adjust the blowing angle. The auxiliary angle adjustment value corresponding to the blowing angle adjustment value can be matched by adjusting the database, which includes the corresponding relationship between the blowing angle adjustment value and the auxiliary angle adjustment value.

[0135] Step 804: Control the residual removal device to adjust the angle according to the blowing angle adjustment value, and control the auxiliary blowing device to adjust the angle based on the auxiliary angle adjustment value. After the adjustment, control the residual removal device to pull out the dialysis tank at a pulling-out speed to complete the water stain removal of the dialysis tank.

[0136] The residual removal device is controlled to adjust the angle with the blowing angle adjustment value, and the auxiliary blowing device is controlled to adjust the angle with the auxiliary angle adjustment value. After the adjustment, the residual removal device is controlled to pull out the dialysis tank at the pulling-out speed, so as to fully complete the removal of water stains in the dialysis tank.

[0137] Optionally, the method further includes the following steps after the current length value is consistent with the adjustment piece length value: Step 4061: Collect the surface humidity value of the water stain removal device.

[0138] The surface humidity value refers to the humidity value on the part of the water stain removal device that absorbs water stains. The surface humidity value is measured and collected by a humidity sensor.

[0139] Step 4062: Determine the remaining water absorption amount based on the surface humidity value and a preset reference humidity value.

[0140] The reference humidity value refers to the maximum humidity value that can be reached by a single surface of the part of the water stain removal device used to absorb water stains. The reference humidity value is set in advance by those skilled in the art and will not be described in detail here. In this embodiment, the part of the water stain removal device used to absorb water stains has two surfaces, and the maximum humidity value that can be reached by the two surfaces is the same. The remaining water absorption capacity refers to the amount of water stains that can still be absorbed by the water stain removal device in its current form. The surface humidity value and the reference humidity value corresponding to the residual water absorption capacity can be matched through a preset humidity database, which includes the correspondence between the surface humidity value and the reference humidity value and the residual water absorption capacity. The humidity database is a manually set database and will not be described in detail here.

[0141] Step 4063: Collect stain removal image information.

[0142] The stain removal image information refers to the image of the side wall surface corresponding to the wide wall position after the air blowing adjustment piece is extended and before the water stain removal device is controlled to remove the dialysis tank at the removal speed. The stain removal image information is captured by a camera.

[0143] Step 4064: Determine the amount of residual water on the sidewall based on the stain removal image information, the water stain residual characteristics, and the reference object.

[0144] The residual water volume on the sidewall refers to the amount of water stains on the sidewall surface corresponding to the wide wall position. The image recognition library can match the destaining image information, the residual water stain characteristics, and the corresponding residual water volume on the sidewall with the reference object. This library contains the corresponding relationship between the destaining image information, the residual water stain characteristics, the reference object, and the residual water volume on the sidewall.

[0145] Step 4065: Determine the required water absorption amount based on the residual water amount on the side wall.

[0146] The required water absorption capacity refers to the amount of water stains that the water stain removal device needs to absorb. A preset absorption database is used to match the required water absorption capacity to the amount of residual water on the sidewalls. This database contains the corresponding relationship between residual water on the sidewalls and the required water absorption capacity. The absorption database is manually configured and will not be detailed here.

[0147] Step 4066: When the remaining water absorption capacity is lower than the required water absorption capacity, the remaining residual water capacity is determined based on the remaining water absorption capacity and the required water absorption capacity.

[0148] Residual water volume refers to the amount of water remaining on the sidewalls of a water stain removal device after the surface of the device that absorbs water has run out of water. The residual water volume is calculated by calculating the difference between the remaining water volume and the required water volume.

[0149] When the remaining water absorption is lower than the required water absorption, it means that the single surface of the water stain removal equipment used to absorb water stains cannot completely absorb the water stains on the side wall. The remaining residual water volume needs to be calculated first for subsequent steps.

[0150] Step 4067: When the remaining residual water volume exceeds the preset standby water absorption volume, a water stain abnormality prompt is reported.

[0151] The reserve water absorption capacity refers to the amount of water that can be absorbed by the other side of the water stain removal device. The abnormal water stain indication is an indication when excessive water stains are present on the sidewalls. Both the reserve water absorption capacity and the abnormal water stain indication are pre-set by those skilled in the art and will not be detailed here.

[0152] When the remaining residual water exceeds the reserve water absorption capacity, it means that there are too many water stains on the side walls and an abnormal water stain prompt needs to be reported.

[0153] Step 4068: When the remaining residual water volume does not exceed the preset standby water absorption volume, the water stain removal device is controlled to remove the dialysis tank at a preset removal speed, and the removal moisture absorption value is collected during the removal.

[0154] The extraction moisture absorption value refers to the real-time humidity reading of a single surface of the device used to absorb water stains when the device is being removed from the dialysis tank. This value is measured and collected by a humidity sensor. If the amount of residual water does not exceed the reserve water absorption capacity, it indicates that there is not excessive water stain on the sidewalls. The device can be controlled to remove the dialysis tank at the extraction speed. During removal, the extraction moisture absorption value of the device must be recorded for subsequent steps.

[0155] Step 4069: When the moisture absorption value after extraction is consistent with the reference humidity value, the water stain removal device is controlled to rotate at a preset rotation angle value, and after the rotation, the dialysis tank is continued to be extracted at the extraction speed to complete the water stain removal on the side wall corresponding to the wide wall position.

[0156] The rotation angle value refers to the angle at which the water stain removal device is rotated. This angle value is pre-determined by those skilled in the art and is not detailed here. When the pull-out moisture absorption value matches the baseline humidity value, it indicates that the surface of the water stain removal device currently used for absorbing water stains is no longer capable of absorbing water stains. The water stain removal device needs to be rotated at the rotation angle value to allow the other surface to contact the side wall, allowing it to continue absorbing water stains, thereby achieving the desired effect of removing water stains.

[0157] Therefore, after the water stain removal device has completed the rotation, the water stain removal device can be continued to be controlled to pull out the dialysis tank at the pulling-out speed, thereby completing the water stain removal on the side wall corresponding to the wide wall position.

[0158] Based on the same inventive concept, an embodiment of the present invention provides a dialysis tank cleaning system, comprising: An acquisition module is used to collect surface image information, flushing time, required temperature, flip image information, insertion image information, current length value, removal image information, in-slot reflective parameters, model information, moving distance value, and stain removal image information; A memory for storing a program of a dialysis tank cleaning method; The processor is configured to load, execute, and implement the program stored in the memory.

[0159] Based on the same inventive concept, an embodiment of the present invention provides a terminal including a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executed by a dialysis tank cleaning method.

[0160] Those skilled in the art will clearly understand that for the sake of convenience and brevity, the division of the above-mentioned functional modules is only used as an example for illustration. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working processes of the above-mentioned systems, devices, and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0161] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A dialysis tank cleaning method, characterized in that: include: Collecting surface image information of the dialysis tank; Responding to the surface image information and the preset liquid medicine residue characteristics to obtain the liquid medicine residue distribution; Generating a flushing angle and a flushing dosage value corresponding to the flushing angle based on the residual distribution of the liquid medicine; The benchmark flushing time is obtained based on the flushing angle and flushing amount; Controlling a preset flushing device to flush the dialysis tank at a flushing angle and a flushing amount value corresponding to the flushing angle, and collecting the flushing time; When the flushing time exceeds the benchmark flushing time, controlling a preset disinfection device to disinfect the dialysis tank with a preset disinfectant dosage value; Based on the preset benchmark disinfection time, the flushing device is controlled to flush the dialysis tank with a preset post-disinfection flushing volume, and the flushing is completed after the preset post-disinfection flushing time.

2. A dialysis tank cleaning method according to claim 1, characterized in that: Also includes: After the flushing is completed, the required temperature of the dialysis tank is collected; When the required temperature condition is consistent with the preset low temperature requirement condition, the preset flipping device is controlled to flip the dialysis tank; After the dialysis tank is flipped, flip image information is collected; Combining flipped image information, preset side wall features, and reference objects to determine wide wall position and wide wall size; determining a wide wall insertion position in response to the wide wall position and the wide wall size; The preset water stain removal device is controlled to go to the wide wall insertion position, and after arriving at the position, the device is inserted into the dialysis tank at a preset wide wall insertion speed, and the water stain is removed using a preset water stain removal method.

3. A dialysis tank cleaning method according to claim 2, characterized in that, Water stain removal methods include: When the water stain removal device is inserted, inserting image information is collected; Combining the inserted image information, the preset water damage residual characteristics and the reference object to determine the wide wall water damage residual amount; The blowing force value is obtained based on the wide wall water stain residue and wide wall size; Controlling the blowing device preset on the water stain removal device to blow air at a blowing intensity value; determining a remaining insertion distance in response to the insertion image information, the sidewall feature, and the reference object; When the remaining insertion distance is 0, the air blowing adjustment piece preset on the water stain removal device is controlled to perform air blowing adjustment using a preset air blowing adjustment method; After the air blowing adjustment is completed, the water stain removal device is controlled to pull out the dialysis tank at a preset pulling-out speed to complete the water stain removal on the side wall corresponding to the wide wall position.

4. A dialysis tank cleaning method according to claim 3, characterized in that: Blowing adjustment methods include: When the remaining insertion distance is 0, the length of the adjusting piece is determined according to the wide wall size; determining an angle adjustment parameter based on the adjustment piece length value and a preset reference length value; generating an extension parameter in response to the angle adjustment parameter and the trim piece length value; Determine the blowing change parameter based on the blowing force value and the extension parameter; Controlling the blowing device to adjust the blowing according to the blowing change parameter, controlling the blowing adjustment piece to adjust the angle based on the angle adjustment parameter, and controlling the blowing adjustment piece to extend the length based on the extension parameter; Collect the current length value of the blowing adjustment piece; When the current length value is consistent with the length value of the adjustment piece, the water stain removal device is controlled to pull out the dialysis tank at a preset pulling-out speed to complete the water stain removal on the side wall corresponding to the wide wall position.

5. A dialysis tank cleaning method according to claim 4, characterized in that: Also includes methods to remove validation: After the dialysis tank is pulled out by the water stain removal device, image information of the dialysis tank is collected; When the extracted image information contains water stain residue features, combining the extracted image information and the water stain residue features to obtain a water stain residue range; When the residual water stain range exceeds the preset baseline residual range, the device will be reported as abnormal. When the residual water stain range does not exceed the preset reference residual range, the remaining water stain position is determined based on the extracted image information, the residual water stain characteristics, and the reference object; The preset remedial removal device is controlled to remove the residual features of the water stains at the remaining water stain positions, so as to complete the water stain removal on the side wall corresponding to the wide wall position.

6. A dialysis tank cleaning method according to claim 4, characterized in that: Also includes longwall water stain removal methods: After the water stains on the side wall corresponding to the wide wall position are removed, the tilt direction is determined according to the wide wall position; Based on the tilt direction and the preset tilt angle value, the dialysis tank is controlled to tilt in the direction. After the tilt, the preset lighting device is controlled to illuminate the inside of the dialysis tank with a preset lighting intensity value, and the reflection parameters in the tank are collected; determining the amount of longwall water stain accumulation in response to the reflective parameters and the tilt angle value in the trough; Combining flipped image information, side wall features, wide wall position, and reference objects to determine the long wall insertion position and long wall size; Obtain the inclined blowing force value based on the amount of water stain accumulation on the long wall, the inclination angle value and the long wall size; Controlling a preset oblique removal device to be inserted into the dialysis tank based on the long wall insertion position, and after the insertion, controlling a blowing device preset on the oblique removal device to blow air at an oblique blowing intensity value; After a preset reference blowing time, the inclined removal device is controlled to pull out the dialysis tank at a pulling-out speed to complete the water stain removal on the side wall corresponding to the long wall insertion position.

7. A dialysis tank cleaning method according to claim 6, characterized in that: Also includes methods for removing remaining water stains: Collect model information of water stain removal equipment; generating a removal impact range in response to the model information; Based on the removal impact range and wide wall size to obtain the residual removal equipment model; Combining the tilt direction, wide wall position, and wide wall size to derive the bottom insertion position; According to the model of the residual removal device, the corresponding residual removal device is controlled to be inserted into the bottom surface insertion position, and after the insertion, the auxiliary blowing device preset on the residual removal device is controlled to perform auxiliary blowing at a preset guide wind force value; Control the residual removal device to move and remove stains at a preset device moving speed, and collect the moving distance value; When the moving distance value is consistent with the preset adjustment distance value, the residual removal device is controlled to perform blowing adjustment using the preset residual adjustment method, and after the adjustment, the residual removal device is controlled to pull out the dialysis tank at a pulling-out speed to complete the water stain removal of the dialysis tank.

8. A dialysis tank cleaning method according to claim 7, characterized in that: The remaining adjustment methods include: When the moving distance value is consistent with the adjustment distance value, the blowing device preset on the residual removal device is controlled to blow air at a preset blowing force value; Responding to the travel distance value and the long wall size to obtain a remaining travel distance; The blast angle adjustment value is known according to the remaining moving distance and the blast strength value; determining an auxiliary angle adjustment value based on the blast angle adjustment value; The residual removal device is controlled to adjust the angle according to the blowing angle adjustment value, and the auxiliary blowing device is controlled to adjust the angle based on the auxiliary angle adjustment value. After the adjustment, the residual removal device is controlled to pull out the dialysis tank at a pulling-out speed to complete the water stain removal of the dialysis tank.

9. A dialysis tank cleaning system, characterized in that: include: The acquisition module is used to collect surface image information, flushing time, required temperature, flip image information, insertion image information, current length value, removal image information, groove reflection parameters, model information and moving distance value; A memory for storing a program of a dialysis tank cleaning method according to any one of claims 1 to 8; The processor is configured to load, execute, and implement the program stored in the memory.

10. A terminal, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program that can be loaded by the processor and executes a dialysis tank cleaning method according to any one of claims 1 to 8.

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