A multi-rope traction type powder storage and unloading system

Abstract

A multi-rope traction type powder warehouse cleaning system comprises a cleaning machine and a control system; the cleaning machine is provided with a driving device and a cleaning head, the driving device is connected with the cleaning head; the control system is connected with the driving device; further comprising an ultrasonic detection device, a posture detection device and a positioning device; the ultrasonic detection device is installed on the cleaning head to detect the distance information between the ultrasonic detection device and the powder warehouse wall; the posture detection device is installed on the driving device to detect the posture information; the positioning device is installed on the cleaning head to detect the position information; the control system processes the distance information to obtain the three-dimensional appearance of the powder warehouse wall, processes the posture information to obtain the posture of the driving device and displays it, and processes the position information to obtain the spatial position of the cleaning head and displays it. The application combines 5G communication technology and human-computer interaction technology with the powder warehouse cleaning machine to realize the out-of-sight cleaning operation.

Description

Technical Field

[0001] This invention relates to the field of cement machinery and equipment, and in particular to a multi-rope traction type powder silo cleaning system. Background Technology

[0002] Cement is a common building material that plays a vital role in my country's economic development. However, cement sales experience peak and off-peak seasons, making it crucial to balance production and sales. Storing cement produced during the off-peak season in cement silos for sale during the peak season effectively solves this problem. However, cement can clump together in humid environments or be improperly piled, leading to blockages. This can reduce the silo's capacity, preventing cement from flowing out, causing material shortages and production stoppages, and impacting cement production efficiency. Therefore, regular cleaning of cement silos is often necessary.

[0003] Cleaning clumped material from inside powder silos has always been a critical issue in the cement industry. Currently, the main methods for cleaning silos are manual and mechanical cleaning. However, manual cleaning is inefficient and poses significant safety hazards. Furthermore, with the cement industry's increasing emphasis on safety during powder silo cleaning, manual cleaning is increasingly being replaced by mechanical cleaning. Mechanical cleaning requires operators to monitor the equipment in real-time on-site. Additionally, due to severe dust pollution inside the silo, operators struggle to control the posture and spatial position of the cleaning equipment, significantly reducing the cleaning cycle time and the ease of operation of the equipment. Summary of the Invention

[0004] The main objective of this invention is to overcome the aforementioned deficiencies in the prior art and propose a multi-rope traction type powder silo cleaning system that combines 5G communication technology and human-machine interaction technology with a powder silo cleaning machine to achieve cleaning operations beyond line of sight.

[0005] The present invention adopts the following technical solution:

[0006] A multi-rope traction type powder silo cleaning system includes a cleaning machine and a control system. The cleaning machine is installed in the powder silo and is equipped with a drive device and a cleaning head. The drive device is connected to the cleaning head. The control system is connected to the drive device to control the drive device to move the cleaning head and perform the cleaning action. The system is characterized by further including an ultrasonic detection device, an attitude detection device, and a positioning device. The ultrasonic detection device is installed on the cleaning head to detect the distance between the ultrasonic detection device and the powder silo wall. The attitude detection device is installed on the drive device to detect attitude information. The positioning device is installed on the cleaning head to detect position information. The control system is connected to the ultrasonic detection device, the attitude detection device, and the positioning device to process and image the distance information to obtain a three-dimensional shape of the powder silo wall, process and display the attitude of the drive device based on the attitude information, and process and display the spatial position of the cleaning head based on the position information.

[0007] The cleaning machine also includes a support base, a vertical arm beam, and a horizontal arm beam; the support base is fixed to the powder silo; one end of the vertical arm beam is fixed to the support base, and the other end can extend along a first direction and be rotatably connected to one end of the horizontal arm beam; the other end of the horizontal arm beam extends along a second direction and is connected to the cleaning probe.

[0008] The ultrasonic detection device includes a housing, a first control module, a plurality of ultrasonic probes, and a first 5G communication module; the housing is fixed to the cleaning head; the plurality of ultrasonic probes are distributed on the housing with their detection ends facing the side wall of the powder silo; the first control module is connected to the ultrasonic probes and the first 5G communication module to transmit the distance information to the control system.

[0009] The driving device includes a motor unit and a winch unit; the motor unit drives the cleaning head to move; the winch unit is equipped with several wire ropes, which are located at different positions in the powder silo and connected to the crossbeam to drive it to move.

[0010] The winch unit includes a first winch, a second winch, a third winch, a fourth winch, and a fifth winch, which are distributed circumferentially along the inner wall of the powder silo. The attitude detection device includes a first attitude sensor, a second attitude sensor, a third attitude sensor, a fourth attitude sensor, a fifth attitude sensor, and a sixth attitude sensor. The first, second, third, fourth, and fifth attitude sensors are respectively installed on the wire ropes of the first, second, third, fourth, and fifth winches to detect attitude angles. The sixth attitude sensor is installed on the crossarm beam to detect the attitude angle of the crossarm beam.

[0011] The attitude detection device further includes a second control module and a second 5G communication module. The second control module is connected to the first attitude sensor, the second attitude sensor, the third attitude sensor, the fourth attitude sensor, the fifth attitude sensor and the sixth attitude sensor to obtain the attitude angle. The second 5G communication module is connected to the second control module to transmit the attitude angle to the control system.

[0012] The positioning device includes a positioning tag, several positioning base stations, a third control module, and a third 5G communication module. The positioning tag is installed on the cleaning head, and the several positioning base stations are distributed on the same horizontal plane above the powder silo and are arranged in a circular interval. The third control module is connected to the positioning base stations and the third 5G communication module to obtain the position information of the positioning tag and transmit it to the control system.

[0013] The control system includes a control handle and a fourth 5G communication module; the control handle is manipulated to output control commands, and the fourth 5G communication module sends the control commands to the drive device to control its operation; the fourth 5G communication module also receives the distance information, the attitude information, and the position information.

[0014] The control system also includes a host computer, which is equipped with a CAN transceiver interface display, a cleaning machine attitude interface display, a silo imaging interface display, and a positioning interface display. The transceiver interface display is used to display received or sent control commands. The cleaning machine attitude interface display is used to display the attitude of the drive device based on the attitude information. The silo imaging interface displays the three-dimensional shape of the inner wall of the powder silo based on the distance information. The positioning interface display displays the three-dimensional spatial position of the cleaning head based on the position information.

[0015] As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following beneficial effects:

[0016] The system of this invention is equipped with an ultrasonic detection device, an attitude detection device, and a positioning device. The ultrasonic detection device detects the distance between itself and the wall of the powder silo. The attitude detection device detects the attitude of the drive device. The positioning device detects the position of the cleaning head. The control system processes the distance information to obtain an image of the three-dimensional shape of the powder silo wall. The attitude information is processed to obtain and display the attitude of the drive device. The position information is processed to obtain and display the spatial position of the cleaning head, thus realizing a silo cleaning operation beyond visual range.

[0017] The system of this invention combines 5G communication technology and human-computer interaction technology with a powder silo cleaning machine to dynamically perceive the clumping situation inside the silo, the posture of the crossbeam and rope, and the position of the cleaning head. Remote operators can use the combination of the three information—the imaging inside the silo, the posture of the wire rope and crossbeam, and the spatial positioning of the cleaning head—in conjunction with the control handle to achieve beyond-line-of-sight operations; thus improving the cycle of mechanical silo cleaning and the convenience of operating the cleaning equipment. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the warehouse clearing machine structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the main structure of the present invention;

[0020] Figure 3 This is a schematic diagram of the ultrasonic detection device of the present invention;

[0021] Figure 4 This is a flowchart of the attitude detection device of the present invention.

[0022] Figure 5 This is a schematic diagram of the working process of the positioning device of the present invention;

[0023] Figure 6 This is a schematic diagram of the control signal transmission process of the present invention;

[0024] Figure 7 This is a schematic diagram of the host computer of the present invention;

[0025] in:

[0026] 1. Warehouse cleaning machine; 2. Control system; 3. Ultrasonic detection device; 4. Attitude detection device; 5. Drive device; 6. Positioning device; 7. Powder silo; 9. Reel; 10. Motor; 11. Support base; 12. Oil pipe; 13. Vertical arm beam; 14. Horizontal arm beam; 15. Cleaning head; 16. First winch; 17. Second winch; 18. Third winch; 19. Fourth winch; 20. Fifth winch; 21. Second 5G communication module; 24. Third 5G communication module; 25. Housing; 26. Ultrasonic probe; 28. 29. First attitude sensor; 30. Second attitude sensor; 31. Third attitude sensor; 32. Fourth attitude sensor; 33. Fifth attitude sensor; 34. Sixth attitude sensor; 35. TTL to RS232 module; 36. Second power supply module; 37. Second control module; 38. First UWB positioning base station; 39. Second UWB positioning base station; 40. Third UWB positioning base station; 41. Fourth UWB positioning base station; 42. Positioning tag; 45. Handle; 47. Fourth 5G communication module; 48. Host computer.

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Detailed Implementation

[0028] The present invention will be further described below through specific embodiments.

[0029] In this invention, the terms "first," "second," and "third," etc., are used only to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. The use of terms such as "upper," "lower," "left," "right," "front," and "rear" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings and is only for the convenience of describing the invention, not to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the scope of protection of this invention. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0030] Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0031] See Figures 1 to 7A multi-rope traction type powder silo cleaning system includes a cleaning machine 1, a control system 2, an ultrasonic detection device 3, an attitude detection device 4, and a positioning device 6. The cleaning machine 1 is installed on the powder silo 7 and is equipped with a drive unit 5 and a cleaning head 15, with the drive unit 5 connected to the cleaning head 15. The ultrasonic detection device 3 is installed on the cleaning head 15 to detect the distance between the ultrasonic detection device 3 and the wall of the powder silo 7. The attitude detection device 4 is installed on the drive unit 5 to detect attitude information. The positioning device 6 is installed on the cleaning head 15 to detect position information. The control system 2 is connected to the drive unit 5 to control the drive unit 5 to move the cleaning head 15 to perform the cleaning action. The control system 2 is also connected to the ultrasonic detection device 3, the attitude detection device 4, and the positioning device 6 to process and image the distance information to obtain the three-dimensional shape of the wall of the powder silo 7, process the attitude information to obtain and display the attitude of the drive unit 5, and process and display the spatial position of the cleaning head 15 based on the position information.

[0032] Among them, see Figure 1 The silo cleaning machine 1 also includes a support base 11, a vertical arm beam 13, and a horizontal arm beam 14. The support base 11 is fixed to the top of the powder silo 7 near the center, ensuring that the cleaning head 15 can reach any position inside the silo to clean up powder clumps. One end of the vertical arm beam 13 is fixed to the support base 11, and the other end can extend along a first direction and is rotatably connected to one end of the horizontal arm beam 14. The other end of the horizontal arm beam 14 extends along a second direction and is connected to the cleaning probe. Three iron chains are installed on the cleaning head for removing clumps. Wherein, the first direction is perpendicular to the second direction, so the vertical arm beam 13 is perpendicular to the horizontal arm beam 14. The vertical arm beam 13 and the horizontal arm beam 14 adopt a telescopic structure, that is, the vertical arm beam 13 can extend and retract along the first direction, and the horizontal arm beam 14 can extend and retract along the second direction.

[0033] The ultrasonic detection device 3 includes a housing 25, a first control module, several ultrasonic probes 26, and a first 5G communication module. The housing 25 is fixed to the cleaning head 15 and can be located on the side of the cleaning head 15 opposite to the powder hopper 7. Several ultrasonic probes 26 are arrayed on the housing 25, for example, forming a four-row, five-column ultrasonic array, with the detection end of each ultrasonic probe 26 facing the side wall of the powder hopper 7. When the ultrasonic waves emitted by the transmitting end of the ultrasonic probe 26 reach the wall of the powder hopper 7 and are reflected, the receiving end of the ultrasonic probe 26 can receive the reflected ultrasonic waves, thereby obtaining the distance between the location of the ultrasonic probe 26 and the wall of the powder hopper 7, including the distance in the vertical direction or the distance in the radial direction. The first control module is connected to the ultrasonic probes 26 and the first 5G communication module to transmit the distance information to the control system 2. The first control module can be an STM32F407 microcontroller, which communicates with the ultrasonic probes via cables. The ultrasonic detection device 3 also includes a first power supply module to power the first control module, the several ultrasonic probes 26, and the first 5G communication module. After the control system 2 obtains the distance information detected by several ultrasonic probes 26 in sequence, it fits the three-dimensional shape of the wall of the powder silo 7 in the area according to the relative position of the ultrasonic probes 26 in the ultrasonic array and displays it, so as to determine whether the caking material in the area has been cleaned up.

[0034] The drive unit 5 includes a motor assembly and a winch assembly. The motor assembly includes a motor 10 and a winch 9. The winch 9 is fixed to a support base 11, and an oil pipe 12 is wound on the winch 9. One end of the oil pipe 12 extends along the vertical arm beam 13 and the horizontal arm beam 14 and connects to the cleaning head 15, providing power for the rotation of the cleaning head 15. The motor 10 is mounted on one side of the winch 9 to drive the winch 9 to rotate. The rotation of the winch 9 causes the oil pipe 12 to pull the cleaning head 15, moving it within a certain range.

[0035] The winch unit includes a first winch 16, a second winch 17, a third winch 18, a fourth winch 19, and a fifth winch 20. The first winch 16, the second winch 17, the third winch 18, the fourth winch 19, and the fifth winch 20 are distributed circumferentially along the inner wall of the powder silo 7. Each winch is equipped with a wire rope, and several wire ropes are located at different positions in the powder silo 7 and connected to the crossbeam 14. By controlling the expansion and contraction of the corresponding wire ropes through these five winches, the crossbeam 14 is moved, which in turn drives the cleaning head 15 to move and perform the silo cleaning action.

[0036] The driving device 5 of the present invention also includes a power module, a relay, and an STM32F407 microcontroller. The power module, relay, and STM32F407 microcontroller are all integrated in the control box. The power module provides power to the components in the control box. The STM32F407 microcontroller controls the relay through a program, thereby controlling the extension and retraction of the wire rope of the winch, thus controlling the rotation and lifting of the crossbeam, and driving the cleaning head to move within the powder silo 7 to clean up the clumps.

[0037] Further, see Figure 4 The attitude detection device 4 includes a first attitude sensor 28, a second attitude sensor 29, a third attitude sensor 30, a fourth attitude sensor 31, a fifth attitude sensor 32, and a sixth attitude sensor 33. The first attitude sensor 28, the second attitude sensor 29, the third attitude sensor 30, the fourth attitude sensor 31, and the fifth attitude sensor 32 are respectively installed on the wire ropes of the first winch 16, the second winch 17, the third winch 18, the fourth winch 19, and the fifth winch 20 to detect the attitude angle of the corresponding wire rope. The Y-axis of the first attitude sensor 28, the second attitude sensor 29, the third attitude sensor 30, the fourth attitude sensor 31, and the fifth attitude sensor 32 can be aligned with the wire ropes of the first winch 16, the second winch 17, the third winch 18, the fourth winch 19, and the fifth winch 20 for installation. The sixth attitude sensor 33 is installed on the crossbeam 14 to detect the attitude angle of the crossbeam 14. The X-axis of the sixth attitude sensor 33 can be aligned with the crossarm beam 14 to obtain its attitude angle.

[0038] The attitude detection device 4 also includes a second control module 36, a second 5G communication module 21, and a second power supply module 35. The second control module 36 is connected to the first attitude sensor 28, the second attitude sensor 29, the third attitude sensor 30, the fourth attitude sensor 31, the fifth attitude sensor 32, and the sixth attitude sensor 33 to acquire attitude angles. This second control module 36 uses an STM32F407 microcontroller. The second 5G communication module 21 is connected to the second control module 36 to transmit the attitude angles to the control system 2. The STM32F407 microcontroller converts the acquired attitude angles of the wire rope and the crossarm beam 14 into RS232 signals via a TTL-to-RS232 module 34, and then transmits them to the control system 2 via the second 5G communication module 21. The second power supply module 35 is used to power the second control module 36, the second 5G communication module 21, and the six attitude sensors.

[0039] See Figure 5The positioning device 6 includes a positioning tag 42, several positioning base stations, a third control module, and a third 5G communication module 24. The positioning tag 42 is installed inside the cleaning head 15. The several positioning base stations are distributed on the same horizontal plane above the powder storage 7 and are arranged in a circular pattern, ensuring that the surrounding environment is relatively open. The third control module is connected to the positioning base stations and the third 5G communication module 24 to obtain the location information of the positioning tag 42 and transmit it to the control system 2. The positioning device 6 also includes a third power supply module, which provides power to the third control module, the third 5G communication module 24, the positioning base stations, and the positioning tag 42. The positioning tag 42 is a UWB tag, and the positioning base stations are UWB base stations. That is, the positioning device 6 uses UWB positioning technology, including a first UWB positioning base station 38, a second UWB positioning base station 39, a third UWB positioning base station 40, and a fourth UWB positioning base station 41. The three-dimensional spatial position of the positioning tag 42, which is the cleaning head 15, is obtained by processing the mutual distance between the four positioning base stations and the positioning tag 42.

[0040] The control system 2 includes a control handle 45 and a fourth 5G communication module 47. The control handle 45 can be operated with different handle actions, and different handle actions will output different control commands. The fourth 5G communication module 47 sends control commands to the drive device 5 to control its actions. The fourth 5G communication module 47 wirelessly communicates with the first, second, and third communication modules mentioned above to send control commands and receive distance information, attitude information, and position information.

[0041] In practical applications, see Figure 6 Since the control commands output by the control handle 45 are CAN signals, signal conversion is required. Specifically, the drive unit 5 is equipped with a first CAN-to-Internet converter, and the control system 2 is equipped with a second CAN-to-Internet converter. The second CAN-to-Internet converter is used to convert the CAN signal output by the control handle 45, converting the CAN protocol into the Internet protocol so that it can be transmitted over the network. Then, the signal is sent to the drive unit 5 by the fourth 5G communication module 47. The drive unit 5 is equipped with a corresponding 5G communication module to receive the corresponding information, which is then converted back into a CAN signal by the first CAN-to-Internet converter. The drive unit 5 is equipped with a microcontroller to control the wire rope of the winch unit to move the crossbeam 14 according to the received CAN signal, thereby controlling the sweeping head 15 to move and operate.

[0042] The control system 2 of this invention also includes a host computer 48, which is equipped with a CAN receiving and transmitting interface display, a cleaning machine attitude display, a silo imaging interface display, and a positioning interface display. The CAN receiving and transmitting interface display is used to display received or transmitted control commands. The cleaning machine attitude display is used to display the attitude of the drive device 5 based on attitude information, that is, to display the attitude of the crossarm beam 14 and the wire ropes of each winch based on data animation. The silo imaging interface displays the three-dimensional shape of the inner wall of the powder silo 7 based on distance information; the positioning interface display displays the three-dimensional spatial position of the cleaning head 15 based on position information.

[0043] The system of this invention utilizes a control system 2 to control the scaling of the wire ropes of multiple winches, thereby controlling the movement of the cleaning head 15 to achieve silo cleaning operations. An ultrasonic detection device 3 detects the clumping condition of the silo wall of the powder silo 7 and uploads the data to the host computer 48 of the control system 2 for displaying the silo wall morphology. An attitude detection device 4 collects the attitude of the wire ropes of the multiple winches and the attitude of the crossbeam 14 to obtain the corresponding attitude angles, and uploads this data to the host computer 48 for display. A positioning device 6 locates the spatial position of the cleaning head 15 and uploads the position information to the host computer 48 for display.

[0044] In this invention, the control system 2 enables operators to dynamically perceive the situation inside the warehouse and to issue control commands to remotely control the movement of the cleaning head 15; the 5G communication technology can transmit the data collected by the ultrasonic detection device 3, the attitude detection device 4, and the positioning device 6 to the industrial control computer and display it on the host computer 48.

[0045] The above are merely specific embodiments of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantial modifications made to the present invention using this concept shall be considered as infringing upon the protection scope of the present invention.

Claims

1. A multi-rope traction type powder silo cleaning system, comprising a cleaning machine and a control system; the cleaning machine is installed in the powder silo and is equipped with a drive device and a cleaning head, the drive device being connected to the cleaning head; the control system is connected to the drive device to control the drive device to move the cleaning head and perform the cleaning action; characterized in that: It also includes an ultrasonic detection device, an attitude detection device, and a positioning device; the ultrasonic detection device is installed on the cleaning head to detect the distance information between the ultrasonic detection device and the powder hopper wall; the attitude detection device is installed on the drive device to detect attitude information; the positioning device is installed on the cleaning head to detect position information; the control system is connected to the ultrasonic detection device, the attitude detection device, and the positioning device to process and image the distance information to obtain the three-dimensional shape of the powder hopper wall, process the attitude information to obtain and display the attitude of the drive device, and process and display the spatial position of the cleaning head based on the position information. The cleaning machine also includes a support base, a vertical arm beam, and a horizontal arm beam; the support base is fixed to the powder silo; one end of the vertical arm beam is fixed to the support base, and the other end can extend along a first direction and be rotatably connected to one end of the horizontal arm beam, and the other end of the horizontal arm beam extends along a second direction and is connected to the cleaning head. The driving device includes a motor unit and a winch unit; the motor unit is connected to drive the cleaning head to move; the winch unit is provided with several steel wire ropes, which are located at different positions in the powder silo and connected to the crossarm beam to drive it to move. The winch unit includes a first winch, a second winch, a third winch, a fourth winch, and a fifth winch, which are distributed circumferentially along the inner wall of the powder silo. The attitude detection device includes a first attitude sensor, a second attitude sensor, a third attitude sensor, a fourth attitude sensor, a fifth attitude sensor, and a sixth attitude sensor. The first, second, third, fourth, and fifth attitude sensors are respectively installed on the wire ropes of the first, second, third, fourth, and fifth winches to detect attitude angles. The sixth attitude sensor is installed on the crossarm beam to detect the attitude angle of the crossarm beam.

2. The multi-rope traction type powder silo cleaning system as described in claim 1, characterized in that: The ultrasonic detection device includes a housing, a first control module, a plurality of ultrasonic probes, and a first 5G communication module; the housing is fixed to the cleaning head; the plurality of ultrasonic probes are distributed on the housing with their detection ends facing the side wall of the powder silo; the first control module is connected to the ultrasonic probes and the first 5G communication module to transmit the distance information to the control system.

3. The multi-rope traction type powder silo cleaning system as described in claim 1, characterized in that: The attitude detection device further includes a second control module and a second 5G communication module. The second control module is connected to the first attitude sensor, the second attitude sensor, the third attitude sensor, the fourth attitude sensor, the fifth attitude sensor and the sixth attitude sensor to obtain the attitude angle. The second 5G communication module is connected to the second control module to transmit the attitude angle to the control system.

4. The multi-rope traction type powder silo cleaning system as described in claim 1, characterized in that: The positioning device includes a positioning tag, several positioning base stations, a third control module, and a third 5G communication module. The positioning tag is installed on the cleaning head, and the several positioning base stations are distributed on the same horizontal plane above the powder silo and are arranged in a circular interval. The third control module is connected to the positioning base stations and the third 5G communication module to obtain the position information of the positioning tag and transmit it to the control system.

5. The multi-rope traction type powder silo cleaning system as described in claim 1, characterized in that: The control system includes a control handle and a fourth 5G communication module; the control handle is manipulated to output control commands, the fourth 5G communication module sends the control commands to the drive device to control its operation, and the fourth 5G communication module also receives the distance information, the attitude information and the position information.

6. The multi-rope traction type powder silo cleaning system as described in claim 1, characterized in that: The control system also includes a host computer, which is equipped with a CAN receiving and transmitting interface display, a cleaning machine attitude interface display, a silo imaging interface display, and a positioning interface display. The CAN receiving and transmitting interface display is used to display received or transmitted control commands. The cleaning machine attitude interface display is used to display the attitude of the driving device based on the attitude information. The silo imaging interface displays the three-dimensional shape of the inner wall of the powder silo based on the distance information. The positioning interface display displays the three-dimensional spatial position of the cleaning head based on the position information.

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