Automatic powder making device, method and system based on multiple sensors and electronic equipment

Abstract

The invention belongs to the field of metal pulverization, and relates to an automatic pulverization device, method and system based on multiple sensors and electronic equipment.The automatic pulverization device comprises a feeding bin, a reaction chamber feeding window, a reaction chamber, a cooling spheroidizing chamber, a screening chamber and a retention chamber which are sequentially arranged from top to bottom, and an infrared sensor and a material recognition sensor are arranged in the feeding bin; a reaction chamber material sensor, a vacuum rate sensor, a temperature sensor and an airflow sensor are arranged in the reaction chamber, a pressure sensor, a granularity detection sensor and a delivery temperature sensor are arranged in the cooling spheroidizing chamber, and a retention chamber position sensor is arranged in the retention chamber. By reasonably setting the mounting distances of the multiple sensors in the feeding bin, the reaction chamber and the cooling spheroidizing chamber, key parameters such as the vacuum rate, the temperature, the pressure, the airflow and the granularity are accurately obtained, so that the actual powder making state in the reaction bin and the cooling spheroidizing chamber is accurately fed back, and the powder making efficiency and the powder making quality are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the field of metal powder making, and in particular relates to a multi-sensor automatic powder making device, method, system and electronic equipment. Background Art

[0002] At present, the market of lithium battery materials and conductive paste is booming, and the demand for nano silicon, nickel, silver, etc. has also shown explosive growth. In recent years, the market of spherical titanium alloy powder in the aerospace industry alone has reached 215 billion US dollars. Various signs show that advanced production modes such as powder metallurgy and additive manufacturing are rapidly popularizing from military and aerospace fields to civilian use, and the market prospects for spherical and nano high-end powders are bright. With the in-depth research on powder metallurgy around the world, new powder metallurgy technologies are constantly emerging, and plasma technology has become one of the promising powder metallurgy technologies with its unique chemical activity and high energy. The radio frequency plasma flame can reach an extreme high temperature of 10000K and can process almost all refractory materials. It has great advantages in the modification of metal powders. For example, when used for powder spheroidization, it can process zirconium oxide, magnesium oxide, aluminum oxide, silicon oxide, yttrium oxide and nitrides, carbides, borides and other powders, as well as tungsten, molybdenum, tantalum, niobium and other refractory metals and their alloys; when used for powder nano-processing, it can process silicon, nickel, copper, silver, etc. RF plasma also has many advantages, such as no electrode pollution and high material purity; large plasma flame volume, high temperature and large processing capacity; relatively low plasma velocity and more prominent material modification; it can be applied to a variety of working environments such as inert atmosphere, oxidizing atmosphere and reducing atmosphere. The above characteristics make RF plasma the most cutting-edge choice for industrial material production.

[0003] However, there is no complete and real-time display of various data of RF induction plasma spheroidization powder making from the feed inlet to the reaction chamber to the product outlet and the recovery chamber, as well as the automatic optimization processing and alarm device in the prior art. Usually, only limited sensors are used to characterize the internal data of the reaction chamber. This detection method has the following disadvantages: first, the feed and product delivery and recycling modules cannot be automated; second, it is too harsh to manually change the deviated environment inside the reaction chamber in real time relying solely on the data sent back by limited sensors; third, it is impossible to achieve automatic optimization processing for small deviations in the reaction chamber. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an automated flour milling method, system, device and electronic equipment based on multiple sensors to solve the problems of flour milling efficiency, accuracy and safety.

[0005] The technical solution of the present invention is: an automatic powder making device based on multiple sensors, comprising: a feed bin, a reaction chamber feed window, a reaction chamber, a cooling and spheroidizing chamber, a screening chamber and a retention chamber arranged in sequence from top to bottom, an infrared sensor and a material recognition sensor are arranged in the feed bin, a reaction chamber material sensor, a vacuum rate sensor, a temperature sensor and an airflow sensor are arranged in the reaction chamber, a pressure sensor, a particle size detection sensor and a delivery temperature sensor are arranged in the cooling and spheroidizing chamber, and a retention chamber position sensor is arranged in the retention chamber.

[0006] Furthermore, the infrared sensor and the material identification sensor are located at the bottom of the feed bin and 20-30 mm away from the top of the reaction chamber feed window; the reaction chamber material sensor is located on the left side of the reaction chamber and 10-20 mm away from the top of the reaction chamber, the vacuum rate sensor is located on the right side of the reaction chamber and is set at the same height as the reaction chamber material sensor, and the temperature sensor is placed below the RF plasma torch and 30-50 mm away from the bottom of the reaction chamber; the pressure sensor in the cooling spheroidizing chamber is set at the same height as the shipping temperature sensor, both of which are 20-30 mm away from the top of the cooling spheroidizing chamber, and the particle size detection sensor is placed directly below the pressure sensor.

[0007] Further, the retention chamber position sensor is 80-100 mm away from the bottom of the retention chamber.

[0008] Furthermore, the multi-sensor based automatic powder making device also includes an external workbench, including: a main control, an OLED display screen for providing real-time feedback of the internal data of the reaction chamber to the operator, a water-cooled temperature control adjustment knob, a pressure adjustment knob, an airflow adjustment knob, an alarm light, a buzzer, a start button, an emergency stop button, and a main power button.

[0009] The present invention also discloses a multi-sensor based automatic flour milling method, comprising the following steps: Step S1: When the infrared sensor detects that the material enters the feed port, it sends a signal to wake up the material recognition sensor to identify the material characteristics, determine the material and external characteristics of the material, start the RF plasma power supply, water cooling unit and gas supply system, and dynamically adjust the power of the RF plasma torch according to the feedback data of the material recognition sensor; Step S2: When the reaction chamber material sensor measures that the material is completely fed into the reaction chamber, the reaction chamber feed window is closed, and the radio frequency plasma torch starts to make powder. At the same time, the temperature sensor, pressure sensor, vacuum rate sensor, airflow sensor, and particle size detection sensor send real-time detection data to the main control; if the real-time value range is within the set value range, the internal data of the reaction chamber and the cooling spheroidization chamber are detected in real time. When the particle size detection sensor measures that the product particle size meets the requirements, step S6 is executed; if the real-time value range exceeds the set value range, step S3 is executed; Step S3: Collect the temperature, pressure, vacuum rate, milling time, and product particle size parameters in the reaction chamber and the cooling spheroidizing chamber. If any of the above parameters exceeds the set threshold by less than 5% and lasts for less than 1 minute, execute step S4; if any of the above parameters exceeds the threshold by 5%, execute step S5; if any of the above collected parameters exceeds the set threshold by less than 5% but lasts for more than 1 minute, still execute step S5; Step S4: The control buzzer sends out an intermittent alarm and the alarm light flashes. The main control uses PID adjustment until the internal values ​​of the reaction chamber and the cooling spheroidization chamber are within the threshold. If this step lasts for more than 1 minute, execute step S5; Step S5: The control buzzer continuously sounds an alarm and the alarm light is always on. When the operator adjusts the parameters within the specified time so that the internal values ​​of the reaction chamber and the cooling spheroidization chamber are within the threshold value, the alarm stops. Otherwise, the control buzzer continuously sounds an alarm and the alarm light is always on. Step S6: After the product particle size meets the standard, turn off the RF plasma torch and wait for the temperature to drop. When the delivery temperature sensor measures that the temperature drops to the threshold, start the cooling spheroidization chamber discharge window, and the product enters the screen for screening. Qualified products enter the next process, and unqualified products enter the retention chamber. When the retention chamber position sensor measures that the number of unqualified products in the retention chamber reaches the threshold, the unqualified products are sent to the feed port at the same time as the next batch of feed.

[0010] Furthermore, when the values ​​inside the reaction chamber and the cooling spheroidization chamber exceed the threshold by 5% or are less than 5% but for more than 1 minute, the buzzer continues to sound the alarm until it detects that the data inside the reaction chamber returns to normal, and the buzzer stops sounding the alarm.

[0011] The present invention also provides a multi-sensor based automatic milling system, which is applicable to the above-mentioned multi-sensor based automatic milling device and method, and includes a material shape recognition module, a multi-sensor environment perception module, a central control calculation module, an early warning module and an automatic production module; The material shape recognition module includes halcon machine vision and material recognition sensors; The multi-sensor environment perception module includes a vacuum rate sensor, a temperature sensor, a pressure sensor, an airflow sensor, and a particle size detection sensor; The central control calculation module uses a single-chip microcomputer chip to determine whether the data collected inside the reaction chamber and the cooling spheroidization chamber has reached the set threshold and calculate the excess percentage, and control the material shape recognition module, multi-sensor environment perception module, early warning module, and automatic production module to work together; The early warning module calculates the current working conditions of the reaction chamber and the cooling spheroidization chamber through the collected data of the central control calculation module, and then generates control instructions according to the set threshold value and sends out different signals; The automatic production module is used to discharge and recycle unqualified products.

[0012] Furthermore, the early warning module includes a buzzer, an alarm light and an internal factory alarm, which is suitable for scenarios where the working environment does not meet the standards and reset scenarios.

[0013] Furthermore, the reset scenario is to confirm whether the internal environment of the reaction chamber and the cooling spheroidization chamber meets the standard by adjusting the main control PID or adjusting the reaction chamber environment through the knob under the OLED display. If the alarm is not relieved after 3 minutes, a signal is sent to the internal alarm of the factory.

[0014] The present invention further provides an electronic device, comprising: a memory, a processor and a computer program, wherein the computer program is stored in the memory and configured to be executed by the processor to execute the above multi-sensor based automatic milling method.

[0015] The beneficial technical effects of the present invention are: 1. In view of the fact that existing devices on the market are insufficient in identifying the material at the feed port of the powder making device, the present invention sets an infrared sensor to identify the material and approximate shape and size of the material, thereby starting to calculate and preset the power of the radio frequency plasma torch, the temperature, pressure, vacuum rate, and air circulation rate thresholds in the reaction chamber and the cooling spheroidization chamber; the material of the material at the feed port and the particle size are used to comprehensively calculate the data, which is more intelligent and accurate, and improves the efficiency of powder making; 2. The multi-sensor automatic milling system of the present invention is controlled by a single-chip microcomputer, and the main chip selects a high-performance, low-cost and low-power core, which has obvious price advantages; the communication module used has good signal and small interference; through experimental simulation, testing and analysis, the relative installation position and installation distance of the multi-sensors are determined, and by reasonably setting the installation distance of the multi-sensors in the feed bin, reaction chamber, and cooling spheroidization chamber, the key vacuum rate, temperature, pressure, airflow, particle size and other parameters are accurately obtained, so as to accurately feedback the actual state of milling in the reaction bin and cooling spheroidization chamber. Compared with the single feedback in the prior art, the coordinated use of multiple sensors greatly improves the milling efficiency and quality; 3. When the present invention detects danger in the reaction chamber and the cooling spheroidizing chamber, it will be displayed on the OLED display screen and the alarm will sound, and a signal will be sent to the internal alarm of the factory to alarm again. Compared with the single reminder of the safety of the milling device on the market, the combination of the two reminder methods can greatly increase the safety of milling. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of multi-sensor assembly; Figure 2 It is a schematic diagram of the external workbench; Figure 3It is a schematic diagram of the sensor in the feed bin; Figure 4 It is a schematic diagram of sensors in the reaction chamber and cooling spheroidization chamber; Figure 5 is a schematic diagram of the indoor sensor; In the figure, 1. infrared sensor; 2. material identification sensor; 3. reaction chamber material sensor; 4. vacuum rate sensor; 5. temperature sensor; 6. pressure sensor; 7. air flow sensor; 8. particle size detection sensor; 9. temperature sensor; 10. retention chamber position sensor; 11. main control; 12. OLED display; 13. water-cooled temperature control knob; 14. pressure adjustment knob; 15. air flow adjustment knob; 16. alarm light; 17. buzzer; 18. start button; 19. emergency stop button; 20. main power button. DETAILED DESCRIPTION

[0017] In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the specific implementation methods of the present invention are further described in detail below in conjunction with the drawings and examples. The following examples are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0018] like Figure 1 As shown, an embodiment of the present invention discloses an automatic powder making device based on multiple sensors, including: a feed bin, a reaction chamber feed window, a reaction chamber, a cooling and spheroidizing chamber, a screening chamber and a retention chamber arranged in sequence from top to bottom, an infrared sensor 1 and a material recognition sensor 2 are arranged in the feed bin, a reaction chamber material sensor 3, a vacuum rate sensor 4, a temperature sensor 5 and an airflow sensor 7 are arranged in the reaction chamber, a pressure sensor 6, a particle size detection sensor 8 and a delivery temperature sensor 9 are arranged in the cooling and spheroidizing chamber, and a retention chamber position sensor 10 is arranged in the retention chamber.

[0019] like Figure 2 As shown, the multi-sensor based automatic milling device also includes an external workbench, including: a main control 11, an OLED display screen 12 for feeding back the internal data of the reaction chamber to the operator in real time, a water-cooled temperature control knob 13, a pressure adjustment knob 14, an air flow adjustment knob 15, an alarm light 16, a buzzer 17, a start button 18, an emergency stop button 19, and a main power button 20. In this specific embodiment, the above-mentioned operation buttons greatly improve the human-computer interaction performance.

[0020] Figure 3Schematic diagram of sensors in the feed bin, which characterizes the sensor position layout relationship in the feed bin in this specific embodiment. Specifically, the infrared sensor 1 and the material recognition sensor 2 are located at the bottom of the feed bin and 20-30 mm from the top of the feed window of the reaction chamber. The infrared sensor 1 and the material recognition sensor 2 are arranged at the bottom of the feed bin and 20-30 mm from the top of the feed window of the reaction chamber, which can accurately reflect the delivery of materials in the feed bin.

[0021] Figure 4 Schematic diagram of sensors in the reaction chamber of the present invention. Specifically, the reaction chamber material sensor 3 is located on the left side of the reaction chamber and 10-20 mm away from the top of the reaction chamber, the vacuum rate sensor 4 is located on the right side of the reaction chamber and is arranged at the same height as the reaction chamber material sensor 3, and the temperature sensor 5 is placed below the radio frequency plasma torch and 30-50 mm away from the bottom of the reaction chamber; The pressure sensor 6 in the cooling spheroidizing chamber is arranged at the same height as the delivery temperature sensor 9, both of which are 20-30 mm away from the top of the cooling spheroidizing chamber. The particle size detection sensor 8 is placed directly below the pressure sensor 6.

[0022] like Figure 5 It is a schematic diagram of the retention chamber sensor of the present invention. Specifically, the retention chamber position sensor 10 is 80-100 mm away from the bottom of the retention chamber.

[0023] In this specific embodiment, by setting an infrared sensor 1, a material recognition sensor 2, a reaction chamber material sensor 3, a vacuum rate sensor 4, a temperature sensor 5, an airflow sensor 7, a pressure sensor 6, a particle size detection sensor 8, and a shipping temperature sensor 9, and through experimental simulation, testing and analysis, the relative installation positions and installation distances of the above-mentioned multiple sensors are determined, and by reasonably setting the installation distances of the multiple sensors in the feed bin, reaction chamber, and cooling and spheroidizing chamber, the key vacuum rate, temperature, pressure, airflow, particle size and other parameters are accurately obtained, thereby accurately feeding back the actual state of powder making in the reaction bin and the cooling and spheroidizing chamber. Compared with the single feedback in the prior art, the coordinated use of multiple sensors greatly improves the powder making efficiency and quality.

[0024] More specifically, the infrared sensor 1 is an infrared inductive electronic sensor, which is used to detect whether there is material entering the feed bin. When the material enters its sensing range, it outputs a high level. When the material leaves its sensing range, it automatically delays and turns off the high level and outputs a low level.

[0025] The embodiment of the present invention also provides a multi-sensor based automatic flour milling method, comprising the following steps: Step S1: When the infrared sensor 1 detects that the material enters the feed port, it sends a signal to wake up the material recognition sensor 2 to identify the material characteristics, determine the material and external characteristics of the material, start the radio frequency plasma power supply, water cooling unit and gas supply system, and dynamically adjust the power of the radio frequency plasma torch according to the feedback data of the material recognition sensor 2; Step S2: When the reaction chamber material sensor 3 detects that the material is completely fed into the reaction chamber, the reaction chamber feed window is closed, and the radio frequency plasma torch starts to make powder. At the same time, the temperature sensor 5, the pressure sensor 6, the vacuum rate sensor 4, the airflow sensor 7, and the particle size detection sensor 8 send real-time detection data to the main control; if the real-time value range is within the set value range, the internal data of the reaction chamber and the cooling spheroidization chamber are detected in real time. When the particle size detection sensor 8 measures that the product particle size meets the requirements, step S6 is executed; if the real-time value range exceeds the set value range, step S3 is executed; Step S3: Collect the temperature, pressure, vacuum rate, milling time, and product particle size parameters in the reaction chamber and the cooling spheroidizing chamber. If any of the above parameters exceeds the set threshold by less than 5% and lasts for less than 1 minute, execute step S4; if any of the above parameters exceeds the threshold by 5%, execute step S5; if any of the above collected parameters exceeds the set threshold by less than 5% but lasts for more than 1 minute, still execute step S5; Step S4: The control buzzer sends out an intermittent alarm and the alarm light flashes. The main control uses PID adjustment until the internal values ​​of the reaction chamber and the cooling spheroidization chamber are within the threshold. If this step lasts for more than 1 minute, execute step S5; Step S5: The control buzzer continuously sounds an alarm and the alarm light is always on. When the operator adjusts the parameters within the specified time so that the internal values ​​of the reaction chamber and the cooling spheroidization chamber are within the threshold value, the alarm stops. Otherwise, the control buzzer continuously sounds an alarm and the alarm light is always on. Step S6: After the product particle size meets the standard, turn off the RF plasma torch and wait for the temperature to drop. When the delivery temperature sensor 9 measures that the temperature drops to the threshold, start the cooling spheroidization chamber discharge window, and the product enters the screen for screening. Qualified products enter the next process, and unqualified products enter the retention chamber. When the retention chamber position sensor 10 measures that the unqualified products in the retention chamber reach the threshold (the particle accumulation reaches a certain height), the unqualified products are sent to the feed port at the same time as the next batch of feed.

[0026] In this specific embodiment, when the values ​​inside the reaction chamber and the cooling spheroidization chamber exceed the threshold value by 5% or are less than 5% but for more than 1 minute, the buzzer continues to sound an alarm until it detects that the data inside the reaction chamber have returned to normal, and the buzzer stops sounding the alarm.

[0027] The present invention also provides a multi-sensor based automatic milling system, which is applicable to the above-mentioned multi-sensor based automatic milling device and method, and includes a material shape recognition module, a multi-sensor environment perception module, a central control calculation module, an early warning module and an automatic production module; The material shape recognition module includes halcon machine vision and material recognition sensors. Halcon machine vision can analyze the general status and state of the material. The material recognition sensor can judge the material of the material, and then set the power of the RF plasma torch and the milling operation time, and wake up the multi-sensor environmental perception module, central control calculation module and early warning module at the same time; The multi-sensor environment perception module includes a vacuum rate sensor 4, a temperature sensor 5, a pressure sensor 6, an airflow sensor 7, and a particle size detection sensor 8. The above sensors are used together to collect the temperature, pressure, vacuum rate, airflow, and product particle size inside the reaction chamber and the cooling spheroidization chamber, and send them to the central control calculation module; The central chip of the central control calculation module is a single-chip microcomputer chip, which is used to determine whether the data collected inside the reaction chamber and the cooling spheroidization chamber has reached the set threshold and calculate the excess percentage, and control the material shape recognition module, multi-sensor environment perception module, early warning module, and automatic production module to work together; Among them, the automatic production module is used to discharge and recycle unqualified products; Among them, the early warning module calculates the collected data (vacuum rate, temperature, pressure, airflow, particle size and other parameters) through the central control calculation module to determine the current working conditions of the reaction chamber and the cooling spheroidization chamber, and then generates control instructions according to the set threshold value to determine whether to activate the alarm module (buzzer alarm) and send out different signals.

[0028] The early warning module includes a buzzer, an alarm light, and an internal factory alarm, which is applicable to scenarios where the working environment does not meet the standards and reset scenarios. When the values ​​inside the reaction chamber and the cooling spheroidization chamber exceed the threshold by 5% or are less than 5% but exceed 1 minute (the working environment does not meet the standards scenario), the buzzer continues to sound an alarm until it detects that the data inside the reaction chamber and the cooling spheroidization chamber return to normal, and the buzzer stops sounding the alarm.

[0029] The reset scenario is to adjust the reaction chamber environment by adjusting the main control PID or the knob under the OLED display to confirm whether the internal environment of the reaction chamber and the cooling spheroidization chamber meets the standard. If the alarm is not relieved after 3 minutes, a signal is sent to the factory internal alarm.

[0030] The present invention combines five modules, including a material shape recognition module (infrared sensor, halcon image collection), a multi-sensor reaction chamber internal environment perception module (temperature sensor, pressure sensor, particle size detector, airflow detection, vacuum rate detection), an early warning module (buzzer), an automatic production module (retention chamber position sensor), and a central control calculation module. It combines the advantages of multiple modules and can accurately reflect the status of radio frequency induction plasma spheroidization powder making in real time through various data.

[0031] The present invention further provides an electronic device, comprising: a memory, a processor and a computer program, wherein the computer program is stored in the memory and configured to be executed by the processor to execute the above multi-sensor based automatic milling method.

[0032] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the technical principles of the present invention, and these improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. An automatic milling device based on multiple sensors, including: The feed bin, reaction chamber feed window, reaction chamber, cooling and spheroidizing chamber, screening chamber and retention chamber are arranged in order from top to bottom, and are characterized in that an infrared sensor (1) and a material identification sensor (2) are arranged in the feed bin, a reaction chamber material sensor (3), a vacuum rate sensor (4), a temperature sensor (5) and an airflow sensor (7) are arranged in the reaction chamber, a pressure sensor (6), a particle size detection sensor (8) and a delivery temperature sensor (9) are arranged in the cooling and spheroidizing chamber, and a retention chamber position sensor (10) is arranged in the retention chamber.

2. The multi-sensor based automatic flour milling device according to claim 1, characterized in that: The multi-sensor based automatic powder making device also includes an external workbench, which includes: a main control (11), an OLED display screen (12), a water-cooled temperature control knob (13), a pressure adjustment knob (14), an airflow adjustment knob (15), an alarm light (16), and a buzzer (17).

3. The multi-sensor based automatic flour milling device according to claim 2, characterized in that: The infrared sensor (1) and the material identification sensor (2) are located at the bottom of the feed bin and 20-30 mm from the top of the reaction chamber feed window; the reaction chamber material sensor (3) is located on the left side of the reaction chamber and 10-20 mm from the top of the reaction chamber; the vacuum rate sensor (4) is located on the right side of the reaction chamber and is arranged at the same height as the reaction chamber material sensor (3); the temperature sensor (5) is placed below the radio frequency plasma torch and 30-50 mm from the bottom of the reaction chamber; the pressure sensor (6) in the cooling spheroidizing chamber is arranged at the same height as the delivery temperature sensor (9), both of which are 20-30 mm from the top of the cooling spheroidizing chamber; and the particle size detection sensor (8) is placed directly below the pressure sensor (6).

4. The multi-sensor based automatic flour milling device according to claim 3, characterized in that: The retention chamber position sensor (10) is 80-100 mm away from the bottom of the retention chamber.

5. The milling method according to any one of claims 2 to 4, characterized in that: The following steps are involved: Step S1: When the infrared sensor (1) detects that the material enters the feed port, it sends a signal to wake up the material recognition sensor (2) to identify the material characteristics, determine the material and external characteristics of the material, start the radio frequency plasma power supply, water cooling unit and gas supply system, and dynamically adjust the power of the radio frequency plasma torch according to the feedback data of the material recognition sensor (2); Step S2: When the reaction chamber material sensor (3) detects that the material has been completely fed into the reaction chamber, the reaction chamber feed window is closed, and the radio frequency plasma torch starts to produce powder. At the same time, the temperature sensor (5), the pressure sensor (6), the vacuum rate sensor (4), the air flow sensor (7), and the particle size detection sensor (8) send real-time detection data to the main control; if the real-time value range is within the set value range, the internal data of the reaction chamber and the cooling spheroidization chamber are detected in real time. When the particle size detection sensor (8) detects that the product particle size meets the requirements, step S6 is executed; if the real-time value range exceeds the set value range, step S3 is executed; Step S3: Collect the temperature, pressure, vacuum rate, milling time, and product particle size parameters in the reaction chamber and the cooling spheroidizing chamber. If any of the above parameters exceeds the set threshold by less than 5% and lasts for less than 1 minute, execute step S4; if any of the above parameters exceeds the threshold by 5%, execute step S5; if any of the above collected parameters exceeds the set threshold by less than 5% but lasts for more than 1 minute, still execute step S5; Step S4: The control buzzer sends out an intermittent alarm and the alarm light flashes. The main control uses PID adjustment until the internal values ​​of the reaction chamber and the cooling spheroidization chamber are within the threshold. If this step lasts for more than 1 minute, execute step S5; Step S5: The control buzzer continuously sounds an alarm and the alarm light is always on. When the operator adjusts the parameters within the specified time so that the internal values ​​of the reaction chamber and the cooling spheroidization chamber are within the threshold value, the alarm stops. Otherwise, the control buzzer continuously sounds an alarm and the alarm light is always on. Step S6: After the particle size of the product meets the standard, the RF plasma torch is turned off and the temperature is waited for to drop. When the temperature measured by the delivery temperature sensor (9) drops to the threshold, the cooling spheroidization chamber discharge window is started, and the product enters the screen for screening. The qualified product enters the next process, and the unqualified product enters the retention chamber. When the retention chamber position sensor (10) measures that the number of unqualified products in the retention chamber reaches the threshold, the unqualified product is sent to the feed port together with the next batch of feed.

6. The flour making method according to claim 5, characterized in that: When the values ​​inside the reaction chamber and the cooling spheroidization chamber exceed the threshold by 5% or are less than 5% but for more than 1 minute, the buzzer will continue to sound the alarm until it detects that the data inside the reaction chamber has returned to normal, and then the buzzer stops sounding the alarm.

7. A multi-sensor based automatic milling system, applicable to the multi-sensor based automatic milling device according to any one of claims 1 to 4 and the automatic milling method according to any one of claims 5 to 6, comprising a material shape recognition module, a multi-sensor environment perception module, a central control calculation module, an early warning module and an automatic production module; The material shape recognition module includes halcon machine vision and material recognition sensors; The multi-sensor environment perception module includes a vacuum rate sensor (4), a temperature sensor (5), a pressure sensor (6), an air flow sensor (7), and a particle size detection sensor (8); The central control calculation module uses a single-chip microcomputer chip to determine whether the data collected inside the reaction chamber and the cooling spheroidization chamber has reached the set threshold and calculate the excess percentage, and control the material shape recognition module, multi-sensor environment perception module, early warning module, and automatic production module to work together; The early warning module calculates the current working conditions of the reaction chamber and the cooling spheroidization chamber through the collected data of the central control calculation module, and then generates control instructions according to the set threshold value and sends out different signals; The automatic production module is used to discharge and recycle unqualified products.

8. The automatic flour milling system according to claim 7, characterized in that: The early warning module includes a buzzer, an alarm light and an internal factory alarm, and is suitable for scenarios where the working environment does not meet the standards and for reset scenarios.

9. The automatic flour milling system according to claim 8, characterized in that: The reset scenario is to confirm whether the internal environment of the reaction chamber and the cooling spheroidization chamber meets the standard by adjusting the main control PID or adjusting the reaction chamber environment through the knob under the OLED display. If the alarm is not relieved after 3 minutes, a signal is sent to the internal alarm of the factory.

10. An electronic device, comprising: A memory, a processor and a computer program, wherein the computer program is stored in the memory and is configured so that the processor executes the multi-sensor based automatic flour milling device according to any one of claims 1 to 4, the automatic flour milling method according to any one of claims 5 to 6, and the automatic flour milling system according to any one of claims 7 to 9.

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