An automatic cleaning method, device, electronic device and medium for a dairy product production line

Abstract

The present application relates to the technical field of data processing, and in particular, to an automatic cleaning method, device, electronic device and medium for a dairy product production line. The method includes obtaining image information of the equipment to be cleaned; identifying target features included in the image information of the equipment to be cleaned and recording the position information of the target features; obtaining the current cleaning stage and the status information of the cleaning equipment; determining a cleaning instruction according to the current cleaning stage, the position information of the target features and the status information of the cleaning equipment, where the cleaning instruction includes a cleaning route and cleaning control information, and the cleaning control information includes cleaning duration, cleaning pressure and cleaning pH value; controlling the cleaning equipment to clean the equipment to be cleaned according to the cleaning instruction. The present application can improve the efficiency of cleaning the dairy product production line.

Description

Technical Field

[0001] The present application relates to the technical field of data processing, and in particular, to an automatic cleaning method, device, electronic device and medium for a dairy product production line. Background Art

[0002] For dairy product enterprises and the general consumers, the hygiene and safety of dairy products are particularly important. Since dairy products contain a large amount of grease, scale may be generated in equipment such as filling equipment, milk storage tanks, and milk cans during the transportation and processing of dairy products. If the generated scale is not removed in time, chemical changes may occur due to the reproduction of microorganisms, resulting in the generation of endotoxins or heat-resistant enzymes inside and outside. If dairy products come into contact with endotoxins or heat-resistant enzymes generated by microbial reproduction during production, storage, processing, etc., it may affect the shelf life of dairy products.

[0003] When cleaning the scale in equipment such as filling equipment, milk storage tanks, and milk cans, the CIP (clean in place) five-step cleaning process is generally used for cleaning, that is, the five-step cleaning method of water washing - alkali washing - water washing - acid washing - water washing. By setting the cleaning time for different steps, relevant staff are reminded to manually switch the cleaning steps. However, problems such as missed cleaning and wrong cleaning often occur during manual switching of the cleaning method, which may reduce the efficiency of the cleaning work. Summary of the Invention

[0004] In order to improve the efficiency of cleaning a dairy product production line, the present application provides an automatic cleaning method, device, electronic device and medium for a dairy product production line.

[0005] In a first aspect, the present application provides an automatic cleaning method for a dairy product production line, adopting the following technical solution:

[0006] An automatic cleaning method for a dairy product production line includes:

[0007] Obtain image information of the equipment to be cleaned;

[0008] Identify the target features included in the image information of the equipment to be cleaned, and record the position information of the target features;

[0009] Obtain the current cleaning stage and the status information of the cleaning equipment;

[0010] Determine a cleaning instruction according to the current cleaning stage, the position information of the target features, and the status information of the cleaning equipment. The cleaning instruction includes a cleaning route and cleaning control information, and the cleaning control information includes cleaning duration, cleaning pressure, and cleaning pH value;

[0011] Control the cleaning device to clean the device to be cleaned according to the cleaning instruction.

[0012] By adopting the above technical solution, before cleaning the device to be cleaned, the position of the target feature appearing in the device to be cleaned is determined according to the image information inside the device to be cleaned, that is, the position where milk scale is generated inside the device to be cleaned is determined according to the image information inside the device to be cleaned, and then the cleaning instruction is determined according to the position of the target feature. Since the positions and quantities of milk scale inside different devices to be cleaned may be different, if the same cleaning method is used to clean different devices to be cleaned or the same device to be cleaned at different cleaning stages, it may lead to poor cleaning effect, and thus the situation of missed cleaning or wrong cleaning may occur. When cleaning the device to be cleaned, a cleaning plan for each device to be cleaned at the corresponding cleaning stage is formulated according to the cleaning state and the actual situation of the existence of milk scale inside the device to be cleaned, so as to improve the adaptability of the cleaning plan to the device to be cleaned, and thus facilitate the improvement of the working efficiency when cleaning the device to be cleaned.

[0013] In a possible implementation manner, after controlling the cleaning device to clean the device to be cleaned according to the cleaning instruction, it further includes:

[0014] Obtain the image information of the device after cleaning, and identify whether there is a remaining target feature in the image information of the device after cleaning;

[0015] If it exists, determine the remaining feature information of the remaining target feature according to the image information of the device after cleaning, where the remaining feature information includes the boundary point coordinates, color, and thickness of the remaining target feature;

[0016] Import the cleaning route included in the cleaning instruction into a preset device model to be cleaned, and determine the cleaning area corresponding to the cleaning route;

[0017] Judge whether the remaining target feature is located within the cleaning area according to the remaining feature information of the remaining target feature;

[0018] If so, determine the target cleaning control information of the remaining target feature from the corresponding relationship between the feature information and the cleaning control information according to the remaining feature information of the remaining target feature and the current cleaning stage, and update the cleaning instruction according to the target cleaning control information to obtain a first updated cleaning instruction, and control the cleaning device to clean the device to be cleaned according to the first updated cleaning instruction.

[0019] By adopting the above technical solution, if the equipment to be cleaned is cleaned according to the first recognition result before cleaning and there are still remaining target features, i.e., stubborn milk scale, inside the equipment to be cleaned, it is necessary to identify the feature information of the remaining target features and re - formulate a cleaning plan for the remaining target features. Since the production line equipment needs to be cleaned regularly during the dairy product production process, the probability of the remaining target features appearing after cleaning is relatively small, and the cleaning time required for cleaning the remaining target features is relatively long. Therefore, only when it is monitored that there are still remaining target features after cleaning, will the cleaning instruction be re - determined according to the corresponding relationship between the feature information and the cleaning control information determined from the historical cleaning data. Since the corresponding relationship between the feature information and the cleaning control information is determined according to the historical actual cleaning situation, the updated cleaning instruction is convenient for improving the accuracy when cleaning the remaining target features, thereby facilitating the improvement of the work efficiency when cleaning the remaining target features.

[0020] In a possible implementation manner, after judging whether the remaining target feature is located within the cleaning area according to the remaining feature information of the remaining target feature, it further includes:

[0021] If the remaining target feature is not located within the cleaning area, obtain the current state information of the cleaning equipment;

[0022] Import the current state information of the cleaning equipment and the remaining target feature information into the preset equipment - to - be - cleaned model, control the simulated cleaning equipment to rotate, and record the corresponding simulated cleaning area after each rotation;

[0023] When it is monitored that the simulated remaining target feature is located within the simulated cleaning area, stop rotating the simulated cleaning equipment and record the current simulated state information;

[0024] Determine the adjustment information of the cleaning equipment according to the current state information and the current simulated state information, update the cleaning instruction according to the adjustment information to obtain a second updated cleaning instruction, and control the cleaning equipment to clean the equipment to be cleaned according to the second updated cleaning instruction.

[0025] By adopting the above technical solutions, although the cleaning instructions are determined according to the position information of the target features, there may still be some cleaning blind spots during the cleaning process, which may result in some target features not being cleaned. When cleaning the remaining target features not located within the cleaning area, it is not possible to increase the cleaning duration or cleaning pressure, etc. Instead, it is necessary to adjust the angle of the cleaning device according to the position of the remaining target features, so that when the cleaning device cleans the device to be cleaned, the remaining target features can be located within the cleaning area. By means of a model, determine the adjustment information of the cleaning device when the remaining target features are located within the cleaning area, and directly update the cleaning instructions of the cleaning device according to the simulated adjustment information, rather than adjusting the state of the cleaning device based on manual experience. By simulation, it is convenient to improve the accuracy of adjusting the state of the cleaning device, thereby facilitating the improvement of the work efficiency when cleaning the remaining target features.

[0026] In a possible implementation manner, determining the remaining feature information of the remaining target features according to the image information of the device after cleaning includes:

[0027] Rasterize the image information of the device after cleaning to obtain device image raster data;

[0028] Import the device image raster data into a trained DEM digital elevation recognition model to identify the edge information of the image of the device after cleaning, and obtain the spatial coordinate information of the remaining target features;

[0029] Import the image information of the device after cleaning into a trained HSV color recognition model to obtain the color vector of the remaining target features;

[0030] Determine the remaining feature information of the remaining target features according to the spatial coordinate information and the color vector.

[0031] By adopting the above technical solutions, the remaining target features appearing in the image of the device after cleaning are identified by a DEM digital elevation recognition model and an HSV color recognition model, and the spatial coordinate information and color vector of the remaining target features are obtained. By the spatial coordinate information and color vector, edge coordinates, thickness, and color recognition are determined, which is convenient for improving the accuracy when determining the remaining feature information.

[0032] In a possible implementation manner, determining the cleaning route according to the position information of the target features and the state information of the cleaning device includes:

[0033] When the number of the target features is multiple, obtain the position information of the multiple target features;

[0034] Determine the distance between each target feature and the cleaning device according to the position information of each target feature and the status information of the cleaning device;

[0035] Sort the multiple target features according to the distance between each target device and the cleaning device to obtain a cleaning sequence corresponding to the multiple target features;

[0036] Determine the cleaning route according to the status information of the cleaning device and the cleaning sequence of the multiple target features.

[0037] By adopting the above technical solution, determining the cleaning sequence according to the distance between each target feature and the cleaning device facilitates the cleaning of each target feature, thereby reducing the probability of missed cleaning during the cleaning process.

[0038] In a possible implementation manner, after controlling the cleaning device to clean the device to be cleaned according to the cleaning instruction, it further includes:

[0039] When the current cleaning stage is the water washing stage, obtain the water washing agent for the current stage, perform water quality detection on the water washing agent for the current stage, and obtain water quality detection data, where the water quality detection data includes the oil content and the pH value;

[0040] When the water quality detection data meets the preset conditions, generate a recovery instruction.

[0041] Among them, the preset conditions include:

[0042] The oil content is lower than the preset oil standard value; and,

[0043] The pH value is within the preset standard pH value range.

[0044] By adopting the above technical solution, since there are three water washing processes in the PIC five-step cleaning method, if the current stage is the water washing stage, it may be the pre-rinsing stage, or it may be the residual rinsing stage when removing alkaline residues or acidic residues. The cleaning agent may contain a large amount of oil or excessive acid-base residues. However, since different water washing stages require long-term injection of water, and after long-term rinsing, the oil content in the cleaning agent in the device to be cleaned will decrease, and the acid-base residues will also decrease. At this time, the cleaning agent in the device to be cleaned that meets the preset conditions can be recovered for reuse, thereby facilitating the reduction of water resource waste.

[0045] In a possible implementation manner, the method further includes:

[0046] Determine the cleaning end time of the current cleaning stage according to the cleaning instruction information corresponding to the current cleaning stage;

[0047] Determine the start time of the next cleaning stage of the current cleaning stage based on the end time of the current cleaning stage and the cleaning stage process information.

[0048] By adopting the above technical solution, by calculating the cleaning duration corresponding to the current cleaning stage, predicting the end time of the current cleaning stage, and predicting the start time of the next cleaning stage based on the end time of the current stage, it is convenient to realize the automatic switching of the cleaning stage without manual switching, reducing the work burden of the relevant staff, and determining the end time of the current stage through the formulated cleaning instructions is convenient for improving the accuracy when completing the cleaning stage switching.

[0049] In a second aspect, the present application provides an automatic cleaning device for a dairy product production line, adopting the following technical solution:

[0050] An automatic cleaning device for a dairy product production line, comprising:

[0051] An image information acquisition module, configured to acquire image information of the equipment to be cleaned;

[0052] A target feature recognition module, configured to recognize the target features included in the image information of the equipment to be cleaned and record the position information of the target features;

[0053] An information acquisition module, configured to acquire the status information of the current cleaning stage and the cleaning equipment;

[0054] A cleaning instruction determination module, configured to determine a cleaning instruction according to the current cleaning stage, the position information of the target features, and the status information of the cleaning equipment, where the cleaning instruction includes a cleaning route and cleaning control information, and the cleaning control information includes a cleaning duration, a cleaning pressure, and a cleaning pH value;

[0055] An instruction execution module, configured to control the cleaning equipment to clean the equipment to be cleaned according to the cleaning instruction.

[0056] By adopting the above technical solution, before cleaning the equipment to be cleaned, the position of the target feature appearing in the equipment to be cleaned is determined according to the image information inside the equipment to be cleaned, that is, the position where milk scale is generated inside the equipment to be cleaned is determined according to the image information inside the equipment to be cleaned, and then the cleaning instruction is determined according to the position of the target feature. Since the positions and quantities of milk scale inside different equipment to be cleaned may be different, if the same cleaning method is used to clean different equipment to be cleaned or the same equipment to be cleaned in different cleaning stages, it may lead to poor cleaning effect, and thus the situation of missed cleaning or wrong cleaning may occur. When cleaning the equipment to be cleaned, the cleaning plan for each equipment to be cleaned in the corresponding cleaning stage is formulated according to the cleaning state and the actual situation of the existence of milk scale inside the equipment to be cleaned, so as to improve the adaptability of the cleaning plan to the equipment to be cleaned, and thus facilitate the improvement of the working efficiency when cleaning the equipment to be cleaned.

[0057] In a possible implementation manner, the device further includes:

[0058] An obtained result image module, configured to obtain the image information of the equipment after cleaning and identify whether there is a remaining target feature in the image information of the equipment after cleaning;

[0059] A determined remaining feature information module, configured to, if there is a remaining target feature in the image information of the equipment after cleaning, determine the remaining feature information of the remaining target feature according to the image information of the equipment after cleaning, where the remaining feature information includes the boundary point coordinates, color, and thickness of the remaining target feature;

[0060] A determined cleaning area module, configured to import the cleaning route included in the cleaning instruction into a preset equipment model to be cleaned and determine the cleaning area corresponding to the cleaning route;

[0061] A judgment module, configured to judge whether the remaining target feature is located within the cleaning area according to the remaining feature information of the remaining target feature;

[0062] A first update instruction module, configured to, if the remaining target feature is located within the cleaning area, determine the target cleaning control information of the remaining target feature from the corresponding relationship between the feature information and the cleaning control information according to the remaining feature information of the remaining target feature and the current cleaning stage, and update the cleaning instruction according to the target cleaning control information to obtain a first updated cleaning instruction, and control the cleaning equipment to clean the equipment to be cleaned according to the first updated cleaning instruction.

[0063] In a possible implementation manner, the device further includes:

[0064] An obtaining status information module, configured to obtain the current status information of the cleaning device if the retained target feature is not located within the cleaning area;

[0065] A simulated rotation module, configured to import the current status information of the cleaning device and the retained target feature information into the preset cleaning device model to be cleaned, control the simulated cleaning device to rotate, and record the corresponding simulated cleaning area after each rotation;

[0066] A recording simulated status module, configured to stop rotating the simulated cleaning device when it is monitored that the simulated retained target feature is located within the simulated cleaning area, and record the current simulated status information;

[0067] A second update instruction module, configured to determine the adjustment information of the cleaning device according to the current status information and the current simulated status information, update the cleaning instruction according to the adjustment information to obtain a second updated cleaning instruction, and control the cleaning device to clean the device to be cleaned according to the second updated cleaning instruction.

[0068] In a possible implementation manner, when the determining retained feature information module determines the retained feature information of the retained target feature according to the image information of the device after cleaning, it is specifically configured to:

[0069] Perform rasterization processing on the image information of the device after cleaning to obtain device image raster data;

[0070] Import the device image raster data into a trained DEM digital elevation recognition model to perform edge information recognition on the image of the device after cleaning, and obtain the spatial coordinate information of the retained target feature;

[0071] Import the image information of the device after cleaning into a trained HSV color recognition model to obtain the color vector of the retained target feature;

[0072] Determine the retained feature information of the retained target feature according to the spatial coordinate information and the color vector.

[0073] In a possible implementation manner, when the determining cleaning instruction module determines the cleaning route according to the position information of the target feature and the status information of the cleaning device, it is specifically configured to:

[0074] When the number of the target features is multiple, obtain the position information of the multiple target features;

[0075] Determine the distance between each target feature and the cleaning device according to the position information of each target feature and the status information of the cleaning device;

[0076] Sort the multiple target features according to the distance between each target device and the cleaning device to obtain a cleaning sequence corresponding to the multiple target features;

[0077] Determine the cleaning route according to the status information of the cleaning device and the cleaning sequence of the multiple target features.

[0078] In a possible implementation manner, the device further includes:

[0079] A water quality detection module, configured to, when the current cleaning stage is a water washing stage, obtain the water washing agent for the current stage, detect the water quality of the water washing agent for the current stage, and obtain water quality detection data, where the water quality detection data includes an oil content and a pH value;

[0080] A condition judgment module, configured to generate a recycling instruction when the water quality detection data meets a preset condition,

[0081] where the preset condition includes:

[0082] The oil content is lower than a preset oil standard value; and,

[0083] The pH value is within a preset standard pH value range.

[0084] In a possible implementation manner, the device further includes:

[0085] An end time determination module, configured to determine the cleaning end time of the current cleaning stage according to the cleaning instruction information corresponding to the current cleaning stage;

[0086] A start time determination module, configured to determine the start time of the next cleaning stage of the current cleaning stage according to the cleaning end time of the current cleaning stage and the cleaning stage process information.

[0087] In a third aspect, the present application provides an electronic device, adopting the following technical solution:

[0088] An electronic device, the electronic device includes:

[0089] At least one processor;

[0090] A memory;

[0091] At least one application program, where the at least one application program is stored in the memory and is configured to be executed by the at least one processor, and the at least one application program is configured to: execute the above-mentioned automatic cleaning method for a dairy product production line.

[0092] In a fourth aspect, the present application provides a computer-readable storage medium, adopting the following technical solution:

[0093] A computer-readable storage medium, comprising: a computer program stored thereon that can be loaded and executed by a processor to perform the above-mentioned automatic cleaning method for a dairy product production line.

[0094] In summary, the present application includes at least one of the following beneficial technical effects:

[0095] Before cleaning the equipment to be cleaned, the position of the target feature appearing in the equipment to be cleaned is determined according to the image information inside the equipment to be cleaned, that is, the position where milk scale is generated inside the equipment to be cleaned is determined according to the image information inside the equipment to be cleaned, and then the cleaning instruction is determined according to the position of the target feature. Since the positions and quantities of milk scale inside different equipment to be cleaned may be different, if the same cleaning method is used to clean different equipment to be cleaned, or the same equipment to be cleaned at different cleaning stages, it may lead to poor cleaning effect, and thus the situation of missed cleaning or wrong cleaning may occur. When cleaning the equipment to be cleaned, the cleaning plan for each equipment to be cleaned at the corresponding cleaning stage is formulated according to the cleaning state and the actual situation of the milk scale existing inside the equipment to be cleaned, so as to improve the adaptability of the cleaning plan to the equipment to be cleaned, and thus facilitate the improvement of the working efficiency when cleaning the equipment to be cleaned.

[0096] Since there are three water washing processes in the PIC five-step cleaning method, if the current stage is the water washing stage, it may be the pre-rinsing stage, or the residual rinsing stage when removing alkaline residues or acidic residues. The cleaning agent may contain a large amount of grease or excessive acid-base residues. However, since long-term water supply is required in different water washing stages, and the grease content in the cleaning agent inside the equipment to be cleaned will decrease and the acid-base residues will also decrease after long-term rinsing. At this time, the cleaning agent in the equipment to be cleaned that meets the preset conditions can be recycled for reuse, so as to reduce the waste of water resources. Description of the Drawings

[0097] Figure 1 is a schematic flowchart of an automatic cleaning method for a dairy product production line in an embodiment of the present application;

[0098] Figure 2 is a schematic flowchart of a cleaning stage in an embodiment of the present application;

[0099] Figure 3 is a schematic flowchart of an update process of a cleaning instruction in an embodiment of the present application;

[0100] Figure 4 is a schematic structural diagram of an automatic cleaning device for a dairy product production line in an embodiment of the present application;

[0101] Figure 5 is a schematic structural diagram of an electronic device in an embodiment of the present application. Detailed implementation mode

[0102] The following will further describe the present application in detail with reference to the attached Figures 1-5 drawings.

[0103] After reading this specification, those skilled in the art can make modifications to this embodiment without creative contributions as needed, but as long as they are within the scope of the claims of the present application, they are protected by the Patent Law.

[0104] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts belong to the scope of protection of the present application.

[0105] Specifically, the embodiments of the present application provide an automatic cleaning method for a dairy product production line, which is executed by an electronic device. The electronic device can be a server or a terminal device. Among them, the server can be an independent physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The terminal device can be a smart phone, a tablet computer, a notebook computer, a desktop computer, etc., but is not limited thereto. The terminal device and the server can be directly or indirectly connected through wired or wireless communication methods, and the embodiments of the present application do not make any restrictions here.

[0106] Refer to Figure 1 , Figure 1 which is a schematic flowchart of an automatic cleaning method for a dairy product production line in the embodiments of the present application. The method includes step S110, step S120, step S130, step S140, and step S150, where:

[0107] Step S110: Obtain image information of the device to be cleaned.

[0108] Specifically, the device to be cleaned can be any device in the dairy product production process. For example, the dairy product production process includes filling equipment, milk storage tanks, and milk cans, etc. Therefore, the device to be cleaned can be any one of filling equipment, milk storage tanks, and milk cans. The image information of the device to be cleaned is the image information inside the device to be cleaned, which can be collected by an image acquisition device arranged inside the device to be cleaned. Specifically, the setting method and setting position of the image acquisition device are not specifically limited in the embodiments of the present application, as long as the image inside the device to be cleaned can be collected and the collected image can be transmitted to the electronic device.

[0109] Step S120: Identify the target features included in the image information of the equipment to be cleaned, and record the position information of the target features.

[0110] Specifically, since dairy products contain a large amount of grease, scale may occur in the equipment for storing or transporting dairy products during the production and processing of dairy products. If the generated scale is not cleaned in time, it may cause the dairy products to deteriorate. Therefore, when cleaning the equipment to be cleaned, the main task is to clean the scale generated during the production and processing. Identifying the target features in the image information of the equipment to be cleaned means identifying the scale in the equipment to be cleaned. The position information of the target features in the image of the equipment to be cleaned is the position information of the scale in the equipment to be cleaned. When identifying the target features included in the image information of the equipment to be cleaned, the image information of the equipment to be cleaned can be imported into a trained target feature recognition model. The trained target feature recognition model outputs the feature recognition result, and the identified target features are marked in the image information of the equipment to be cleaned to form a marked image. By importing the marked image into a preset coordinate system, it is convenient to determine the position information of the target features, where the position information includes the coordinates of the center point of the target features.

[0111] When training the target feature recognition model, a large number of sample images containing scale and labels can be imported into the feature recognition model to be trained for training.

[0112] Step S130: Obtain the status information of the current cleaning stage and the cleaning equipment.

[0113] Specifically, the current cleaning stage can be input by the user. The cleaning stages include the first water wash, alkali wash, second water wash, acid wash, and third water wash. As Figure 2 shown, the current cleaning stage can be any cleaning stage in the five-step cleaning stage. The cleaning equipment can be an equipment including a cleaning nozzle and a rotating device. The cleaning nozzle can be a circular nozzle or a strip nozzle, which is not specifically limited in the embodiments of the present application as long as the rotating device can drive the cleaning nozzle to clean the equipment to be cleaned. In addition, the cleaning equipment further includes a cleaning liquid tank, a cleaning pipeline, and a control device. The cleaning liquid tank can accommodate a certain volume of cleaning agent. Since the cleaning agents corresponding to different cleaning stages are different, for example, the cleaning agent is clean water in the water wash stage, a certain concentration of alkaline liquid in the alkali wash stage, and a certain concentration of acidic liquid in the acid wash stage. One end of the cleaning pipeline is connected to the cleaning liquid tank, and the other end is connected to the equipment to be cleaned. When cleaning the equipment to be cleaned in different cleaning stages, the cleaning liquid tank filled with the corresponding cleaning agent can be selected to be connected. The control device can control the rotating device to drive the cleaning nozzle to rotate. The status information of the cleaning equipment includes the current position information of the cleaning equipment and the relative position information between the cleaning equipment and the equipment to be cleaned.

[0114] Step S140: Determine a cleaning instruction according to the current cleaning stage, the position information of the target feature, and the status information of the cleaning device.

[0115] Among them, the cleaning instruction includes a cleaning route and cleaning control information, and the cleaning control information includes cleaning duration, cleaning pressure, and cleaning pH value.

[0116] Specifically, the position information of the target feature is the position information of milk scale in the device to be cleaned. Determine the cleaning agent according to the current cleaning stage. The pH value of the cleaning agent should not be too high. A too high concentration will lead to a too long cleaning stage. If the cleaning is not careful, it may also cause acid-base residues to enter the dairy products and affect the quality of dairy products. Therefore, the general concentration of acidic liquid is 1%-2%, and the general concentration of alkaline liquid is 1.5%-2.5%. The concentration of the cleaning agent in the current cleaning stage can be input by the user. If the user does not input, the default concentration can also be selected for cleaning. The default concentration is the average concentration in the same cleaning stage during the historical cleaning process. The cleaning pressure and cleaning duration can be input by the user, or the default cleaning pressure and default cleaning duration can be selected for cleaning. The default cleaning pressure and default cleaning duration are the average cleaning pressure and average cleaning duration in the same cleaning stage during the historical cleaning process.

[0117] The cleaning route is determined by the position information of the target feature and the status information of the cleaning device. The starting point of the cleaning route is the current position of the cleaning device, and then the entire device to be cleaned is cleaned according to the position information of the target feature.

[0118] Step S150: Control the cleaning device to clean the device to be cleaned according to the cleaning instruction.

[0119] Specifically, the cleaning instruction is generated by an electronic device and sent by the electronic device to the control device in the cleaning device, so that the control device controls the cleaning nozzle to clean the device to be cleaned according to the cleaning instruction.

[0120] For the embodiments of the present application, before cleaning the equipment to be cleaned, the position of the target feature appearing in the equipment to be cleaned is determined according to the image information inside the equipment to be cleaned, that is, the position where milk scale is generated inside the equipment to be cleaned is determined according to the image information inside the equipment to be cleaned, and then the cleaning instruction is determined according to the position of the target feature. Since the positions and quantities of milk scale inside different equipment to be cleaned may be different, if the same cleaning method is used to clean different equipment to be cleaned, or the same equipment to be cleaned in different cleaning stages, it may lead to poor cleaning effect, and thus the situation of missed cleaning or wrong cleaning may occur. When cleaning the equipment to be cleaned, the cleaning plan for each equipment to be cleaned in the corresponding cleaning stage is formulated according to the cleaning state and the actual situation of the existence of milk scale inside the equipment to be cleaned, so as to improve the adaptability of the cleaning plan to the equipment to be cleaned, and thus facilitate the improvement of the working efficiency when cleaning the equipment to be cleaned.

[0121] Since the shapes corresponding to different equipment to be cleaned may be different, after cleaning the equipment to be cleaned according to the cleaning instruction, it is necessary to judge whether the cleaning result meets the standard. Therefore, after controlling the cleaning equipment to clean the equipment to be cleaned according to the cleaning instruction, the method further includes step Sa, step Sb, step Sc, step Sd and step Se1, as Figure 3 shown, where:

[0122] Step Sa: Obtain the image information of the equipment after cleaning, and identify whether there is a remaining target feature in the image information of the equipment after cleaning.

[0123] Specifically, the method for obtaining the image information of the equipment after cleaning can refer to the method for obtaining the image information of the equipment to be cleaned in step S110 of the above embodiment, which will not be elaborated here. The remaining target feature is the milk scale that still exists after the current stage of cleaning. There may or may not be milk scale in the image information of the equipment after cleaning. Therefore, it is necessary to further identify whether there is milk scale in the image information of the equipment after cleaning. Among them, the method for identifying and judging whether there is a remaining target feature in the image information of the equipment after cleaning can refer to the method for identifying the target feature included in the image information of the equipment to be cleaned in step S120 of the above embodiment, which will not be elaborated here.

[0124] Step Sb: If it exists, determine the remaining feature information of the remaining target feature according to the image information of the equipment after cleaning.

[0125] Among them, the remaining feature information includes the boundary point coordinates, color and thickness of the remaining target feature.

[0126] Specifically, the retained feature information is used to characterize the current state of the retained feature, including the size and color of the retained feature. By means of the retained feature information, it is convenient to determine the cleaning method of the retained target feature, so as to quickly clean the retained target feature. When determining the retained feature information of the retained target feature according to the cleaned device image information, it includes:

[0127] Rasterize the cleaned device image information to obtain device image raster data; import the device image raster data into the trained DEM digital elevation recognition model to identify the edge information of the cleaned device image and obtain the spatial coordinate information of the retained target feature; import the cleaned device image information into the trained HSV color recognition model to obtain the color vector of the retained target feature; determine the retained feature information of the retained target feature according to the spatial coordinate information and the color vector.

[0128] Specifically, rasterize the cleaned device image. After rasterization, the cleaned device image will be converted into a bitmap, that is, the elements contained in a layer form a whole. At this time, various processing and editing can be performed on the cleaned device image information for this layer. The DEM digital elevation recognition model (Digital Elevation Model) can represent a dataset of regular grid point plane coordinates (X, Y) and their elevations (Z) within a certain range. That is, through the trained DEM digital elevation recognition model, it is convenient to determine the edge information and height coordinates of the retained target image in the cleaned device image information, that is, the boundary point coordinates and thickness of the retained target feature can be determined. The training process of the DEM digital elevation recognition model can be to import a large number of sample images containing milk scale and artificial labels into the DEM digital elevation recognition model for training until the matching degree between the recognition result and the artificial label is higher than the preset standard matching degree.

[0129] The HSV color recognition model (Hue Saturation Value) can identify each color in the retained target feature in the cleaned device image information. It is represented by hue (Hue, abbreviated as H), saturation (Saturation, abbreviated as S), and value (Value, abbreviated as V). The color parameters in the model are: hue (H), saturation (S), and brightness (V). The obtained color vector is convenient to determine the color of the retained target feature. The training process of the HSV color recognition model can be to import a large number of sample images containing milk scale and artificial labels into the HSV color recognition model for training until the matching degree between the recognition result and the artificial label is higher than the preset standard matching degree.

[0130] Step Sc: Import the cleaning route included in the cleaning instruction into the preset device to be cleaned model to determine the cleaning area corresponding to the cleaning route.

[0131] Specifically, the preset equipment model to be cleaned is a virtual equipment model established based on the size information of the equipment to be cleaned. By importing the cleaning instruction into this virtual equipment model, it is convenient to simulate the actual cleaning process. Therefore, the cleaning area corresponding to the cleaning route can be recorded through the simulation process. The cleaning area is the spraying area when the cleaning nozzles in the cleaning equipment perform cleaning along the cleaning route.

[0132] Step Sd: According to the retention feature information of the retained target feature, determine whether the retained target feature is within the cleaning area.

[0133] Specifically, since different equipment to be cleaned have different shapes, there may be some cleaning blind spots during the actual cleaning process when cleaning the equipment to be cleaned according to the cleaning instruction. When the position information of the retained target feature is within the cleaning area, it indicates that the retained target feature is not in the cleaning blind spot; when the position information of the retained target feature is not within the cleaning area, it indicates that the retained target feature is in the cleaning blind spot.

[0134] Step Se1: If so, according to the retention feature information of the retained target feature and the current cleaning stage, determine the target cleaning control information of the retained target feature from the corresponding relationship between the feature information and the cleaning control information, and update the cleaning instruction according to the target cleaning control information to obtain the first updated cleaning instruction, and control the cleaning equipment to clean the equipment to be cleaned according to the first updated cleaning instruction.

[0135] Specifically, if the retained target feature is in the cleaning blind spot, it indicates that the cleaning pressure and the corresponding cleaning pH value in the cleaning instruction corresponding to the current cleaning stage are not applicable to the current cleaning stage, that is, the cleaning pressure and the cleaning pH value in the cleaning instruction cannot clean the milk scale that appears in the current cleaning stage. Since the cleaning instruction is determined according to the cleaning pressure or cleaning pH value input by the user, or the default value determined according to the historical cleaning data, if the cleaning instruction cannot remove the milk scale that appears in the current cleaning stage, then at this time, it is necessary to adjust the cleaning pressure or cleaning pH value according to the feature information of the remaining milk scale to enhance the cleaning intensity of the retained target feature.

[0136] The corresponding relationship between the feature information and the cleaning control information includes the cleaning methods corresponding to different size information, different thicknesses, and different colors of milk scale. The cleaning methods include cleaning pressure, cleaning pH value, and cleaning duration, etc. The corresponding relationship between the feature information and the cleaning control information is determined by the cleaning data when the historical cleaning retains milk scale, and is not specifically limited in the embodiments of the present application, and can be added, deleted, and modified by relevant technicians.

[0137] After determining the target control information based on the feature information corresponding to the retention target feature, adjust the cleaning duration, cleaning pressure, and cleaning pH value in the cleaning instruction according to the target control information to update the cleaning instruction. The method of controlling the cleaning device to clean the device to be cleaned according to the first updated cleaning instruction may refer to the method of controlling the cleaning device to clean the device to be cleaned according to the cleaning instruction in the embodiment of step S150 above, which will not be elaborated here.

[0138] If the retention target feature is not located in the cleaning blind area, it indicates that the cleaning route in the cleaning instruction needs to be adjusted. The method further includes steps Se21, Se22, Se23, and Se24, as Figure 3 shown, where:

[0139] Step Se21: If the retention target feature is not located within the cleaning area, obtain the current status information of the cleaning device.

[0140] Specifically, the current status information of the cleaning device is used to represent the current position information of the cleaning device, and change the cleaning route in the cleaning instruction so that the cleaning area generated by the changed cleaning route can include the retention target feature.

[0141] Step Se22: Import the current status information of the cleaning device and the retention target feature information into a preset device-to-be-cleaned model, control the simulated cleaning device to rotate, and record the corresponding simulated cleaning area after each rotation.

[0142] Step Se23: When it is monitored that the simulated retention target feature is located within the simulated cleaning area, stop rotating the simulated cleaning device and record the current simulated status information.

[0143] Specifically, when changing the cleaning route, the rotation angle of the cleaning device can be determined by changing the spraying angle of the cleaning nozzle. Since it is not convenient to view the inside of the device to be cleaned, the cleaning process can be simulated by importing the current status information of the cleaning device and the retention target feature information into a preset device-to-be-cleaned model, so that the user can view the real cleaning effect by observing the model.

[0144] During the simulation process, record the current status information of the cleaning device before starting to rotate. During the simulation process, adjust the rotation angle multiple times until the cleaning area generated during the cleaning process of the adjusted cleaning device includes the retention target feature, and record the current simulated status information. Determine the adjustment information by determining the difference between the current status information and the current simulated status information. The adjustment information is used to adjust the cleaning angle of the cleaning device.

[0145] Step Se24: Determine the adjustment information of the cleaning device according to the current status information and the current simulation status information, update the cleaning instruction according to the adjustment information to obtain a second updated cleaning instruction, and control the cleaning device to clean the device to be cleaned according to the second updated cleaning instruction.

[0146] Specifically, the method of controlling the cleaning device to clean the device to be cleaned according to the second updated cleaning instruction may refer to the method of controlling the cleaning device to clean the device to be cleaned according to the cleaning instruction in the embodiment of step S150 above, which will not be elaborated here.

[0147] The cleaning route included in the cleaning instruction is jointly determined by the position information of multiple target features. Among them, when determining the cleaning route according to the position information of the target features and the status information of the cleaning device, it specifically includes:

[0148] When the number of target features is multiple, obtain the position information of multiple target features; determine the interval distance between each target feature and the cleaning device according to the position information of each target feature and the status information of the cleaning device; sort the multiple target features according to the interval distance between each target device and the cleaning device to obtain a cleaning sequence corresponding to the multiple target features; determine the cleaning route according to the status information of the cleaning device and the cleaning sequence of the multiple target features.

[0149] Specifically, the interval distance between the target feature and the cleaning device is the relative distance between the target feature and the cleaning device. When calculating the relative distance between each target feature and the cleaning device, determine the spatial coordinates of the center point of each target feature according to the spatial coordinate information of each target feature, and determine the spatial coordinates of the center point of the cleaning device in the same way. By calculating the distance between the center point of each target feature and the center point of the cleaning device, the interval distance between each target feature and the cleaning device is obtained.

[0150] When sorting the multiple target features according to the interval distance between each target feature and the cleaning device, the bubble sort method or the quick sort method can be used. In the embodiments of the present application, there is no specific limitation, as long as the cleaning order of the multiple target features can be sorted. Determine the cleaning route according to the cleaning sequence of multiple cleaning devices. For example, there are multiple existing target features, namely target feature a, target feature b, target feature c, and target feature d. Among them, the interval distance between each target feature and the cleaning device is 3 meters, 1 meter, 4.5 meters, and 4 meters respectively. Therefore, after sorting the multiple target features according to the interval distance between each target feature and the cleaning device, the obtained cleaning sequence is target feature b, target feature a, target feature d, target feature c, and the order of cleaning in the generated cleaning route is target feature b, target feature a, target feature d, target feature c.

[0151] For the embodiments of the present application, a cleaning sequence is determined according to the spacing distance between each target feature and the cleaning device, which facilitates cleaning each target feature, thereby reducing the probability of missed cleaning during the cleaning process.

[0152] Further, the cleaning device further includes a reflux device, which includes a reflux pipeline, a reflux valve, and a reflux collection device. One end of the reflux pipeline communicates with the device to be cleaned, and the other end communicates with the reflux collection device. When it is detected that the cleaning agent in the device to be cleaned meets the preset conditions, the reflux valve is controlled to open so that the cleaning agent in the device to be cleaned flows back into the reflux collection device. If the cleaning agent in the device to be cleaned does not meet the preset conditions, the cleaning agent in the device to be cleaned is discharged.

[0153] Among them, the method further includes: when the current cleaning stage is the water washing stage, obtaining the water washing agent for the current stage, performing water quality detection on the water washing agent for the current stage, and obtaining water quality detection data, where the water quality detection data includes the oil content and the pH value; when the water quality detection data meets the preset conditions, a recycling instruction is generated, where the preset conditions include: the oil content is lower than the preset oil standard value; and, the pH value is within the preset standard pH value range.

[0154] Among them, since too high an oil content may cause secondary pollution to the device to be cleaned, and when using a cleaning agent with a relatively high acidity or alkalinity for water washing, acid-base residues may appear. Therefore, when determining whether the cleaning agent in the water washing stage can be reused, it is necessary to judge the oil content in the cleaning agent and the pH value in the cleaning agent. The preset standard pH value range can be input by relevant technical personnel, and the specific numerical range is not specifically limited in the embodiments of the present application, as long as it can ensure that no acid-base residues are generated when using the recycled cleaning agent for water washing.

[0155] For the embodiments of the present application, since there are three water washing processes in the PIC five-step cleaning method, if the current stage is the water washing stage, it may be the pre-rinsing stage, or it may be the residual rinsing stage when removing alkaline residues or acidic residues. The cleaning agent may contain a large amount of oil or excessive acid-base residues. However, since different water washing stages require a long time to inject water, and after a long time of rinsing, the oil content in the cleaning agent in the device to be cleaned will decrease, and the acid-base residues will also decrease. At this time, the cleaning agent in the device to be cleaned that meets the preset conditions can be recycled for reuse, thereby facilitating the reduction of water resource waste.

[0156] Further, since the complete PIC cleaning method includes multiple steps, and it may be necessary to frequently switch between different cleaning steps. When switching, the method further includes:

[0157] Determine the cleaning end time of the current cleaning stage according to the cleaning instruction information corresponding to the current cleaning stage; determine the start time of the next cleaning stage of the current cleaning stage according to the cleaning end time of the current cleaning stage and the cleaning stage process information.

[0158] Specifically, since the cleaning instruction generally includes the cleaning duration, the cleaning duration corresponding to each cleaning stage can be determined according to the cleaning instruction corresponding to each cleaning stage. Record the cleaning start time at the start of cleaning, and then according to the cleaning duration corresponding to each cleaning stage, it is convenient to determine the cleaning end time of each cleaning stage.

[0159] The cleaning stage process information includes the cleaning sequence of the first water wash, alkali wash, second water wash, acid wash, and third water wash. After determining the end time corresponding to the current cleaning stage, determine the next cleaning stage of the current cleaning stage according to the cleaning stage process information, and determine the end time corresponding to the current cleaning stage as the start time of the next cleaning stage.

[0160] When the next cleaning stage is started, the current cleaning liquid tank in the cleaning equipment can be automatically replaced with the cleaning liquid tank corresponding to the next cleaning stage, or a replacement instruction can be generated to remind the relevant staff to replace the current cleaning liquid tank with the cleaning liquid tank corresponding to the next cleaning stage. For example, when the current stage is the first water wash stage and the calculated cleaning end time is 12:30, the cleaning liquid tank filled with clean water corresponding to the first water wash stage can be automatically replaced with the cleaning liquid tank filled with alkaline liquid corresponding to the alkali wash stage.

[0161] For the embodiments of the present application, by calculating the cleaning duration corresponding to the current cleaning stage, predicting the end time of the current cleaning stage, and predicting the start time of the next cleaning stage based on the end time of the current stage, it is convenient to realize the automatic switching of the cleaning stage without manual switching, reducing the work burden of the relevant staff, and determining the end time of the current stage through the formulated cleaning instruction is convenient to improve the accuracy when completing the cleaning stage switching.

[0162] The above embodiments introduce an automatic cleaning method for a dairy product production line from the perspective of the method process. The following embodiments introduce an automatic cleaning device for a dairy product production line from the perspective of virtual modules or virtual units. For details, see the following embodiments.

[0163] Embodiments of the present application provide an automatic cleaning device for a dairy product production line, as Figure 4 shown. The device may specifically include an image information acquisition module 410, a target feature recognition module 420, an information acquisition module 430, a cleaning instruction determination module 440, and an instruction execution module 450, where:

[0164] An image information acquisition module 410, configured to acquire image information of the device to be cleaned;

[0165] A target feature recognition module 420, configured to recognize target features included in the image information of the device to be cleaned and record the position information of the target features;

[0166] An information acquisition module 430, configured to acquire the current cleaning stage and the status information of the cleaning device;

[0167] A cleaning instruction determination module 440, configured to determine a cleaning instruction according to the current cleaning stage, the position information of the target features, and the status information of the cleaning device. The cleaning instruction includes a cleaning route and cleaning control information, and the cleaning control information includes cleaning duration, cleaning pressure, and cleaning pH value;

[0168] An instruction execution module 450, configured to control the cleaning device to clean the device to be cleaned according to the cleaning instruction.

[0169] In a possible implementation manner, the device further includes:

[0170] A result image acquisition module, configured to acquire image information of the device after cleaning and recognize whether there are remaining target features in the image information of the device after cleaning;

[0171] A remaining feature information determination module, configured to, if there are remaining target features in the image information of the device after cleaning, determine the remaining feature information of the remaining target features according to the image information of the device after cleaning. The remaining feature information includes the boundary point coordinates, color, and thickness of the remaining target features;

[0172] A cleaning area determination module, configured to import the cleaning route included in the cleaning instruction into a preset device model to be cleaned and determine the cleaning area corresponding to the cleaning route;

[0173] A judgment module, configured to judge whether the remaining target features are located within the cleaning area according to the remaining feature information of the remaining target features;

[0174] A first update instruction module, configured to, if the remaining target features are located within the cleaning area, determine the target cleaning control information of the remaining target features from the corresponding relationship between the feature information and the cleaning control information according to the remaining feature information of the remaining target features and the current cleaning stage, and update the cleaning instruction according to the target cleaning control information to obtain a first updated cleaning instruction, and control the cleaning device to clean the device to be cleaned according to the first updated cleaning instruction.

[0175] In a possible implementation manner, the device further includes:

[0176] A status information acquisition module, configured to, if the remaining target features are not located within the cleaning area, acquire the current status information of the cleaning device;

[0177] A simulation rotation module, configured to import the current state information of the cleaning device and the retained target feature information into a preset cleaning device model to be cleaned, control the simulated cleaning device to rotate, and record the corresponding simulated cleaning area after each rotation;

[0178] A recording simulation state module, configured to stop rotating the simulated cleaning device and record the current simulation state information when it is monitored that the simulated retained target feature is within the simulated cleaning area;

[0179] A second update instruction module, configured to determine the adjustment information of the cleaning device according to the current state information and the current simulation state information, update the cleaning instruction according to the adjustment information to obtain a second updated cleaning instruction, and control the cleaning device to clean the device to be cleaned according to the second updated cleaning instruction.

[0180] In a possible implementation manner, when the determining retained feature information module determines the retained feature information of the retained target feature according to the device image information after cleaning, it is specifically configured to:

[0181] Perform rasterization processing on the device image information after cleaning to obtain device image raster data;

[0182] Import the device image raster data into a trained DEM digital elevation recognition model to perform edge information recognition on the device image after cleaning, and obtain the spatial coordinate information of the retained target feature;

[0183] Import the device image information after cleaning into a trained HSV color recognition model to obtain the color vector of the retained target feature;

[0184] Determine the retained feature information of the retained target feature according to the spatial coordinate information and the color vector.

[0185] In a possible implementation manner, when the determining cleaning instruction module 440 determines the cleaning route according to the position information of the target feature and the state information of the cleaning device, it is specifically configured to:

[0186] When the number of target features is multiple, obtain the position information of the multiple target features;

[0187] According to the position information of each target feature and the state information of the cleaning device, determine the interval distance between each target feature and the cleaning device;

[0188] Sort the multiple target features according to the interval distance between each target device and the cleaning device to obtain a cleaning sequence corresponding to the multiple target features;

[0189] Determine the cleaning route according to the state information of the cleaning device and the cleaning sequence of the multiple target features.

[0190] In a possible implementation manner, the device further includes:

[0191] A water quality detection module, configured to obtain the water washing agent for the current stage and perform water quality detection on the water washing agent for the current stage to obtain water quality detection data when the current cleaning stage is the water washing stage, where the water quality detection data includes the oil content and the pH value;

[0192] A condition judgment module, configured to generate a recycling instruction when the water quality detection data meets a preset condition,

[0193] wherein the preset condition includes:

[0194] The oil content is lower than a preset oil standard value; and,

[0195] The pH value is within a preset standard pH value range.

[0196] In a possible implementation manner, the device further includes:

[0197] An end time determination module, configured to determine the cleaning end time of the current cleaning stage according to the cleaning instruction information corresponding to the current cleaning stage;

[0198] A start time determination module, configured to determine the start time of the next cleaning stage of the current cleaning stage according to the cleaning end time of the current cleaning stage and the cleaning stage process information.

[0199] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described system, device, and unit can refer to the corresponding processes in the foregoing method embodiments, and will not be described herein again.

[0200] An electronic device is provided in an embodiment of the present application, such as Figure 5 shown, Figure 5 The electronic device 500 shown includes: a processor 501 and a memory 503. Among them, the processor 501 and the memory 503 are connected, such as being connected through a bus 502. Optionally, the electronic device 500 may further include a transceiver 504. It should be noted that in practical applications, the transceiver 504 is not limited to one, and the structure of the electronic device 500 does not constitute a limitation to the embodiments of the present application.

[0201] The processor 501 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of this application. The processor 501 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0202] The bus 502 may include a path for transmitting information between the above components. The bus 502 may be a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus 502 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0203] The memory 503 may be a ROM (Read Only Memory) or other type of static storage device that can store static information and instructions, a RAM (Random Access Memory), or other type of dynamic storage device that can store information and instructions. It may also be an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory), or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0204] The memory 503 is used to store the application program code for executing the solution of this application, and is controlled by the processor 501 to execute. The processor 501 is used to execute the application program code stored in the memory 503 to implement the content shown in the foregoing method embodiments.

[0205] Among them, the electronic device includes but is not limited to: mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Tablet Computers), PMPs (Portable Multimedia Players), in-vehicle terminals (such as in-vehicle navigation terminals), etc. and fixed terminals such as digital TVs, desktop computers, etc. It can also be a server, etc. Figure 5 The shown electronic device is only an example and should not impose any restrictions on the functions and usage scope of the embodiments of this application.

[0206] The embodiments of this application provide a computer-readable storage medium, on which a computer program is stored. When it runs on a computer, it enables the computer to execute the corresponding content in the foregoing method embodiments.

[0207] It should be understood that although the steps in the flowchart of the accompanying drawings are shown in sequence according to the indication of the arrows, these steps do not necessarily have to be executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit and can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages. These sub-steps or stages do not necessarily have to be executed at the same time, but can be executed at different times, and their execution order does not necessarily have to be sequential, but can be executed alternately or alternately with at least a part of other steps or sub-steps or stages of other steps.

[0208] The above are only some embodiments of this application. It should be noted that for those of ordinary skill in the art, without departing from the principle of this application, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of this application.

Claims

1. An automatic cleaning method for a dairy product production line, characterized in that, Including: Obtain the image information of the device to be cleaned; Identify the target features included in the image information of the device to be cleaned, and record the position information of the target features; Obtain the current cleaning stage and the status information of the cleaning device; Determine a cleaning instruction according to the current cleaning stage, the position information of the target features, and the status information of the cleaning device. The cleaning instruction includes a cleaning route and cleaning control information, and the cleaning control information includes cleaning duration, cleaning pressure, and cleaning pH value; Control the cleaning device to clean the device to be cleaned according to the cleaning instruction; After the step of controlling the cleaning device to clean the device to be cleaned according to the cleaning instruction, it further includes: Obtain the image information of the device after cleaning, and identify whether there are remaining target features in the image information of the device after cleaning; If there are remaining target features, determine the remaining feature information of the remaining target features according to the image information of the device after cleaning. The remaining feature information includes the boundary point coordinates, color, and thickness of the remaining target features; Import the cleaning route included in the cleaning instruction into a preset device model to be cleaned, and determine the cleaning area corresponding to the cleaning route; Judge whether the remaining target features are located within the cleaning area according to the remaining feature information of the remaining target features; If so, determine the target cleaning control information of the remaining target features from the corresponding relationship between the feature information and the cleaning control information according to the remaining feature information of the remaining target features and the current cleaning stage, and update the cleaning instruction according to the target cleaning control information to obtain a first updated cleaning instruction, and control the cleaning device to clean the device to be cleaned according to the first updated cleaning instruction; After the step of judging whether the remaining target features are located within the cleaning area according to the remaining feature information of the remaining target features, it further includes: If the remaining target features are not located within the cleaning area, obtain the current status information of the cleaning device; Import the current status information of the cleaning device and the remaining feature information of the remaining target features into the preset device model to be cleaned, control the simulated cleaning device to rotate, and record the corresponding simulated cleaning area after each rotation; When it is monitored that the simulated remaining target features are located within the simulated cleaning area, stop rotating the simulated cleaning device, and record the current simulated status information; Determine the adjustment information of the cleaning device according to the current status information and the current simulated status information, and update the cleaning instruction according to the adjustment information to obtain a second updated cleaning instruction, and control the cleaning device to clean the device to be cleaned according to the second updated cleaning instruction.

2. The automatic cleaning method for a dairy product production line according to claim 1, wherein, The step of determining the remaining feature information of the remaining target features according to the image information of the device after cleaning includes: Perform rasterization processing on the image information of the device after cleaning to obtain device image raster data; Import the device image raster data into a trained DEM digital elevation recognition model to perform edge information recognition on the image of the device after cleaning, and obtain the spatial coordinate information of the remaining target features; Import the image information of the cleaned device into the trained HSV color recognition model to obtain the color vector of the retained target feature; Determine the retained feature information of the retained target feature according to the spatial coordinate information and the color vector.

3. The automatic cleaning method for a dairy product production line according to claim 1, characterized in that Determine the cleaning route according to the position information of the target feature and the status information of the cleaning device, including: When the number of the target features is multiple, obtain the position information of the multiple target features; According to the position information of each target feature and the status information of the cleaning device, determine the interval distance between each target feature and the cleaning device; Sort the multiple target features according to the interval distance between each target device and the cleaning device to obtain a cleaning sequence corresponding to the multiple target features; Determine the cleaning route according to the status information of the cleaning device and the cleaning sequence of the multiple target features.

4. The automatic cleaning method of a dairy product production line according to claim 1, wherein, After controlling the cleaning device to clean the device to be cleaned according to the cleaning instruction, it further includes: When the current cleaning stage is the water washing stage, obtain the water washing agent for the current stage, perform water quality detection on the water washing agent for the current stage, and obtain water quality detection data, where the water quality detection data includes oil content and pH value; When the water quality detection data meets the preset conditions, generate a recycling instruction, where the preset conditions include: The oil content is lower than the preset oil standard value; and, The pH value is within the preset standard pH value range.

5. A method for automatically cleaning a dairy product production line according to claim 1, characterized in that, It further includes: Determine the cleaning end time of the current cleaning stage according to the cleaning instruction information corresponding to the current cleaning stage; Determine the start time of the next cleaning stage of the current cleaning stage according to the cleaning end time of the current cleaning stage and the cleaning stage process information.

6. An automatic cleaning device for a dairy product production line, characterized in that, It includes: An image information acquisition module, configured to acquire the image information of the device to be cleaned; A target feature recognition module, configured to recognize the target features included in the image information of the device to be cleaned and record the position information of the target features; An information acquisition module, configured to acquire the status information of the current cleaning stage and the cleaning device; A cleaning instruction determination module, configured to determine a cleaning instruction according to the current cleaning stage, the position information of the target feature, and the status information of the cleaning device, where the cleaning instruction includes a cleaning route and cleaning control information, and the cleaning control information includes cleaning duration, cleaning pressure, and cleaning acidity; An instruction execution module, configured to control the cleaning device to clean the device to be cleaned according to the cleaning instruction; The device further includes: A result image acquisition module, configured to acquire the image information of the cleaned device and identify whether there are retained target features in the image information of the cleaned device; A retained feature information determination module, configured to, if there are retained target features in the image information of the cleaned device, determine the retained feature information of the retained target feature according to the image information of the cleaned device, where the retained feature information includes the boundary point coordinates, color, and thickness of the retained target feature; A cleaning area determination module, configured to import a cleaning route included in the cleaning instruction into a preset equipment-to-be-cleaned model, and determine a cleaning area corresponding to the cleaning route; A judgment module, configured to judge whether the retained target feature is located within the cleaning area according to the retained feature information of the retained target feature; A first update instruction module, configured to, if the retained target feature is located within the cleaning area, determine target cleaning control information of the retained target feature from a correspondence between feature information and cleaning control information according to the retained feature information of the retained target feature and the current cleaning stage, and update the cleaning instruction according to the target cleaning control information to obtain a first updated cleaning instruction, and control the cleaning equipment to clean the equipment-to-be-cleaned according to the first updated cleaning instruction; A status information acquisition module, configured to, if the retained target feature is not located within the cleaning area, acquire the current status information of the cleaning equipment; A simulated rotation module, configured to import the current status information of the cleaning equipment and the retained feature information of the retained target feature into the preset equipment-to-be-cleaned model, control the simulated cleaning equipment to rotate, and record the corresponding simulated cleaning area after each rotation; A simulated status recording module, configured to stop rotating the simulated cleaning equipment when it is monitored that the simulated retained target feature is located within the simulated cleaning area, and record the current simulated status information; A second update instruction module, configured to determine adjustment information of the cleaning equipment according to the current status information and the current simulated status information, and update the cleaning instruction according to the adjustment information to obtain a second updated cleaning instruction, and control the cleaning equipment to clean the equipment-to-be-cleaned according to the second updated cleaning instruction.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; A memory; At least one application program, wherein the at least one application program is stored in the memory and configured to be executed by the at least one processor, and the at least one application program is configured to: execute an automatic cleaning method for a dairy product production line according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, Including: A computer program stored with an automatic cleaning method for a dairy product production line that can be loaded and executed by a processor according to any one of claims 1-5.

Images